To create a robot line tracer, we must first have a basic electro. In order to help us to understand each of the components to be used.
Basic theoryfundamental component of robotic systems :1. Resistor 2. IC LM 3243. Led Superbright4. Variabel Resistor5. Transistor6. Photodioda7. Led Indicator8. PCB Matrix
Image circuit of Line Tracer :
The workings of circuits Analog Line Tracer are as follows :
A. Sensors Working PrincipleThe sensor used consists of photo diode. This sensor resistance value is reduced when exposed to light and work on riverse refraction conditions. To use the LED superbright light sensor, this component has a very bright light, which is sufficient to supply light to the photodiode.
Basic theoryfundamental component of robotic systems :1. Resistor 2. IC LM 3243. Led Superbright4. Variabel Resistor5. Transistor6. Photodioda7. Led Indicator8. PCB Matrix
Image circuit of Line Tracer :
Analog Line Tracer circuit above there are 3 main parts, namely the sensor, comparator and drivers. For the sensors used photodioda as light sensors, while its comparator using IC LM324 as a voltage comparator and to use H-Bridge driver transistors.
The workings of circuits Analog Line Tracer are as follows :
A. Sensors Working PrincipleThe sensor used consists of photo diode. This sensor resistance value is reduced when exposed to light and work on riverse refraction conditions. To use the LED superbright light sensor, this component has a very bright light, which is sufficient to supply light to the photodiode.
Image : Sensors Circuit
How it works :
Image : The sensor is not exposed to light
If the photo diode is not exposed to light, then the resistance valuewill be large or can we assume infinite. So that current flows into the comparator is very small or can be assumed with a logic 0.
Image : H-Bridgedriver circuit transistors
Image : Sensors exposed to light
If the photo diode is exposed to light, the photo diode will be as a source of voltage and resistance value will be small, so there will be currents flowing into the comparator and logic 1.
B.Comparator Working Principle
Comparator in this circuit using IC LM 324 which contains a series of Op Amp is used to compare the input from the sensors. Where input will be compared from IC LM 324 Op Amp which high pulsed output. So it is not necessary to pull up the output. This IC can workpad range 3 volts to 30 volts and can work with a normal starting voltage of 6 volts.
In this series there are also four LEDs, which serve as indicators. To set the voltage comparator, connected Variable Resistor (VR) between the two OP Amp IC LM 324. For the LM324 datasheet please download here.
Image : Comparator Circuit
- If no current flows from circuit to circuit sensor is the input voltage for this circuit is 0 volts, resulting in a voltage at IC terminal (+)> (-), theLED-A on, whereas in the opposite IC 2-LED B off.
- If there is current flowing from the sensor circuit to the circuit is the voltage input to the circuit is close to Vcc, resulting in IC voltage atterminal 2 (+) <(-), the LED-B on, whereas on the contrary the IC an LED-A off.
Conditions between points A and B will always invertibility.
C. Working Principle Motor Driver
Driver is a circuit composed of transistors used to drive DC motors.Where the main components are assembled according to the transistor characteristics.
At the time of the input A logic 1, then there are currents flowing in the circuit, consequently the transistor 1 and 4 ar because it biases the base, so that the motor rotates. So when the input A logic 1 then the input B will be logic 0, so the transistor 2 and 3 will be off.
At input B logic 1, then there are currents flowing in the circuit, consequently the transistor 2 and 3 on that basis are biased, so the motor spins but in the opposite direction.
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