Design Line Tracker
30 minutesChoose IR reflectance sensor array layout and define track width and line color.
Field context
This workflow is part of 3 niche fields
Complete guide for line following robot — step-by-step workflow, tools, checklist, and expert tips to get started.
Choose IR reflectance sensor array layout and define track width and line color.
Estimate initial Kp, Ki, Kd values and control loop sampling rate for line following.
Mount sensor array, wire to microcontroller ADC, and calibrate white/black thresholds.
Run PID loop on test track, tune gains for speed vs stability, and log error values.
Estimate initial PID gains for line position error correction.
Set control loop frequency relative to robot speed and track curvature.
Convert motor RPM and wheel size to linear track speed.
Verify odometry matches actual distance on timed track runs.
Key benchmarks for line following robot.
| Step | Action | Result |
|---|---|---|
| 1 | Set I=D=0 | Oscillating P |
| 2 | Add D | Less overshoot |
| 3 | Add small I | Fix steady error |
Paper and vinyl reflect IR differently — always calibrate on competition surface.
Tune proportional gain first until oscillation, add derivative to damp, then small integral for steady-state error.
Line follower chassis works for sumo and maze bots — invest once in a solid base platform.