Let's Make Robots!

Oh no the horror!

After testing the motor driver and writing some code to control the robot based on line sensor input, I tried it out... Nothing seemed to happen so I double-checked the PICAXE 40X1 schematics with my robot's wiring and I have completely forgotten, that the two L293 pins for enabling motors should be wired to PWM outputs (Noooooo!). I guess I'll have to get my soldering iron heated and perform surgery on poor Pete. I was so happy that all the hardware I had wired just worked the first time... and the I go and do something like this *sigh*.

Motor driver tested

Today I tested that the motor driver circuit of PICAXE Pete does in fact work. I'm now in the process of writing some code for line following using my standard technique: find out where the line is by taking the mean value of a histogram of the sensor values and using this to calculate a regulation term for each of the two motors.
Smoothly follows a black line
Using a
The robot measures line position with the 4 line sensors and feeds this to a PD-regulator which in turn produces the two motor outputs. This setup gives a smooth … Read more