Mechatronics Project: Line Follower Robot Design & Implementation

This project report details the design and implementation of a line follower robot completed as part of a Mechatronic Engineering program at Ain Shams University. The project involved a team of students and covered various aspects of mechatronics, including electronic circuit design, C# programming, and mechanical design. The student, acting as team leader, oversaw the project's scope definition, component research, cost calculation, and team coordination. The report describes the robot's design, including the use of IR sensors, DC motors, and a Meccano chassis, along with the C# code used for programming the robot's movement. It highlights the iterative design process, including troubleshooting and adjustments to improve the robot's line-following capabilities. The project provided practical application of theoretical knowledge and enhanced teamwork and project management skills. The project culminated in a demonstration and presentation to the teaching staff, showcasing the robot's functionality and potential applications in automated transportation systems.

Career Episode 1
(Project on Line follower robot)
Introduction:
Career Episode 1.1:
I have done my bachelor’s in Mechatronic Engineering from Ain Shams University that is
Egypt’s 3rd oldest university. The university has started Mechatronic Engineering stream in the
year 2004. The project on Line follower robot that was given as spring project is based on
several electronic circuit courses and computer programming. It took one month to complete the
project from March 2007 to April 2007.
Background:
Career Episode 1.2:
The project was done by dividing total number of students into group of 4. I helped in identifying
main idea of the project along with coordinating and distributing tasks among group members. It
was my responsibility to deliver the project on time. As a result, I divided the project into small
deliverables. I assigned the group members with the following work:
 Circuit design
 Coding
 Testing
 Trouble shooting and
 Robot mechanical design

 Material selection for robot fabrication
Career Episode 1.3:
The project was necessary for passing 4th year electronic circuit course in Mechatronic
Engineering. I designed the prototype of the line follower robot by applying knowledge of
electronic circuit and computer programming along with some knowledge of mechanical design
that I have gained from my summer internship in a bus assembly plant. The advantage of line
follower is that it allows automatic transportation of goods within factories, warehouses and
plants. Additionally, it reduces the cost and improves precision.
Career Episode 1.4:
Prof. Dr. Mohamed Refaat with Nader Adeeb as project leader supervised the project. The other
members in my team were Hani Amin, Mina Sameh and Ramy Salib. The supervisors were
professors from Mechanical Department.
Prof. Dr. Mohamed
Refaat (Project
Supervisor))
Nader Adeeb
(Project Leader)

Activities involved in preparing the robot:
Career Episode 1.5:
I was the team leader and had the responsibility of delivering project on time. The tasks that I
performed using the knowledge of engineering were as follows:
 Defining scope of the project and liner follower robot
 Researching for available mechanical and electrical components
 Calculating cost of designing robot
 Work in a team for ensuring compatibility and synergy between electrical and mechanical
design.
 Finalizing project within a particular CPS to ensure timeliness closure
 Assigning work to several team members
 Robot testing and trouble shooting
 Documenting the final project and presentation
Career Episode 1.6:
At first, I started researching books from university library, internet sources, textbooks of
programming and electronics, training sessions from assistant teacher as well as from class
lecture notes. I collected information regarding industrial application of line follower robot.
Career Episode 1.7:
Hani Amin (Team
Member)
Mina Sameh
(Team Member)
Ramy Salib
(Team Member)

At first, I started working on robot motion design with the help of the other team members. For
this, I required the following devices:
 2 IR sensors that consists of photodiode and infrared LED that are kept in a reflective
manner. It serves the purpose of detecting proximity of sensors with the reflective surface
by the light emitted from infrared LED. The amount of light emitted depends on surface
colour the light is emitted to.
 2 DC motors that is powered by 2.9V dry batteries
 C# programming is required to be done using visual studio and
 The chassis of robot is built using Meccano.
Career Episode 1.8:
Secondly, when requirements were identified, I shared the outcome of research and project
design with the professor. The programming of the chip was made by me using Visual Studio
and the code is as follows:
int mot1=9;
int mot2=6;
int mot3=5;
int mot4=3;
int left=13;
int right=12;
int Left=0;
int Right=0;
void LEFT (void);

void RIGHT (void);
void STOP (void);
void setup()
{
pinMode(mot1,OUTPUT);
pinMode(mot2,OUTPUT);
pinMode(mot3,OUTPUT);
pinMode(mot4,OUTPUT);
pinMode(left,INPUT);
pinMode(right,INPUT);
digitalWrite(left,HIGH);
digitalWrite(right,HIGH);
}
void loop()
{
analogWrite(mot1,255);
analogWrite(mot2,0);
analogWrite(mot3,255);
analogWrite(mot4,0);
while(1)
{
Left=digitalRead(left);
Right=digitalRead(right);

if((Left==0 && Right==1)==1)
LEFT();
else if((Right==0 && Left==1)==1)
RIGHT();
}
}
void LEFT (void)
{
analogWrite(mot3,0);
analogWrite(mot4,30);
while(Left==0)
{
Left=digitalRead(left);
Right=digitalRead(right);
if(Right==0)
{
int lprev=Left;
int rprev=Right;
STOP();
while(((lprev==Left)&&(rprev==Right))==1)
{
Left=digitalRead(left);
Right=digitalRead(right);

}
}
analogWrite(mot1,255);
analogWrite(mot2,0);
}
analogWrite(mot3,255);
analogWrite(mot4,0);
}
void RIGHT (void)
{
analogWrite(mot1,0);
analogWrite(mot2,30);
while(Right==0)
{
Left=digitalRead(left);
Right=digitalRead(right);
if(Left==0)
{
int lprev=Left;
int rprev=Right;
STOP();
while(((lprev==Left)&&(rprev==Right))==1)
{

Left=digitalRead(left);
Right=digitalRead(right);
}
}
analogWrite(mot3,255);
analogWrite(mot4,0);
}
analogWrite(mot1,255);
analogWrite(mot2,0);
}
void STOP (void)
{
analogWrite(mot1,0);
analogWrite(mot2,0);
analogWrite(mot3,0);
analogWrite(mot4,0);
}
From the code, I got the information about the motion that is needed for the movement of robot.
Career Episode 1.9:
Hani was responsible for circuit design after programming was done. The circuit was designed
and then integrated with robot chassis to complete the design of robot. I placed the light sensors
in the back end of the robot whereas geared motors in the front. After assembling the devices, I

tested the robot. The observation that I made is that it was difficult to trace the line and had lag in
steering. I then reviewed the previous design and tested the final one. The changes that I made
was switching the position of sensors from back to front of the robot and moving geared motors
to the back end of the robot.
Career Episode 1.10:
After testing the design, I began to gather materials for documentation of the project. Then I
started working to prepare for presenting the project before teaching staff and professor that
included the full cost of line follower robot. I along with other team members gave a live demo
of line follower and informed the professor about the applications of this type of automated
robots.
Summary:
Career Episode 1.11:
The project helped me to refresh my knowledge in programming and electronic circuits. I put
theories into practical application and was able to connect with knowledge gained from summer
internship. It also enhanced my ability to work in a team and realize the importance of dividing
the total task among the members of team. I contributed to the project in developing the ideas,
maintaining team leadership and managing it as well as distributing knowledge gained from
various training activities among the team members and technically applying the knowledge of
programming in the design process. I also had the unique contribution of guiding the team
members throughout the project.