Cebu

Technological
University
Main Campus

CPE-PC3217 BSCpE 3-G

2nd Sem SY 2024-2025

Final Project
Building a Sumobot/
Line Follower Robot

Group Members:
Candog, Shannen Aira A.
Cordova, Yssa Gie A.
Dayangco, Jacenfa O.
Sayson, Krishia T.
Tan, Niño James A.
Project Overview:

The project is a dual-mode robot designed to operate as both line follower and a
Sumobot. It is equipped with a DIP switch to toggle between two operational
modes as well as a calibration mode. In line follower mode, the robot utilizes IR
sensors to detect and follow a path marked by a black line on a white surface,
using an algorithm to get the position of the robot on the line to be fed into PID
to control motors with different speeds in a smooth manner. The sumobot also
utilizes the IR sensor for edge detection and uses two distance sensors to
provide differential speeds on left and right motors but without using PID.

The inspiration for the design of this project is the Tesla Cyber Truck.

Figure 1 - Tesla Cyber Truck

Reference: https://www.motortrend.com/cars/tesla/cybertruck
Figure 2 Sample Line Follower track
1.​ Schematic Circuits:
Schematic diagram:

Figure 1.1 - Arduino Nano

Figure 1.2 - DRV8833 Dual H-Bridge Motor Driver
Figure 1.3 - 8 Channel IR Sensor
Figure 1.4 - Ultrasonic Sensor
 Figure 1.5 - Pin Connections to Arduino

1.1.​ Input Section

The IR sensor is an 8-channel sensor array capable of outputting
analog signals. The readings are not significantly affected by the ambient
light but by the material the sensors are facing. So the table below shows
the difference in reading (in white line and in black line) across different
materials; tarpaulin, electrical tape, paint;

Material Range A0 A1 A2 A3 A4 A5 A6 A7

Tarpaulin Min 344 301 348 432 405 345 343 333
Print

Max 813 807 809 812 811 809 811 814

Threshold 783 775 780 788 785 780 781 783

Electrical Min 380 332 396 464 447 421 413 379
Tape

Max 811 808 809 813 810 809 809 810

Threshold 784 778 783 791 787 784 784 783

Paper Min 164 95 143 243 227 173 67 167
Print

Max 814 813 812 812 810 811 810 811

Threshold 773 768 770 776 773 771 763 770

​ ​

Electrical Specification of QRE1113GR (Sensor used in 8 Channel IR

Sensor):
1.2.​ Microcontroller Section

Line Follower :

The line follower starts with reading the sensor values and updating a
boolean array which is used for checking if the robot is off the line (the
boolean array is all false). If the robot is on the line, then we use PID
Control, we get the position and error to get the correction values needed
for left and right motors.

If the robot is off the line, then it will start turning left or right depending
on the last recorded position before going offline. It will also start
counting how long it is turning to detect the possibility of turning in the
opposite direction.

Transitioning from off the line to PID control revolves around checking the
correction value from PID control. From the principle that if the correction
is 0, then the robot is at the center of the line, once the robot starts
turning, it will slow down when detecting black lines again and will start
moving forward when the robot is at the center of the line. You can
increase the range from 0 to 10 or more in the correction to make sure
the transition always happens
Sumobot:

​
​
First, sumobot uses the line sensors to see if it’s still inside the
sumobot ring. If all sensors say it’s safe (no white edges detected),
it continues. If not, it backs up and turns to avoid falling out of the
arena.

If the robot is safely inside the arena, it checks both left and right
using distance sensors. If nothing is close (radius of the arena), it
ignores that side. If both sides see nothing, then the robot moves
forward slowly to search. If it detects something close (radius of
the arena), it assumes it’s the opponent. If it’s very close (less than
10cm), it gets more aggressive and moves faster. It then uses a
helper function to decide how to turn toward the opponent and
moves the wheels accordingly.

If the robot ever sees the edge of the ring, it stops attacking, backs
up and turns, then goes back to searching.
 1.3.​ Output Section
< Explain how you drive the dc motor based on the signal coming from
the microcontroller. If an IC is used, attached the functional table and
electrical specification of the IC >

The DRV8833 allows motor direction and speed using pwm, the table
below shows the input and the function it performs.

​
​ On default, we are using fast decay as we need more control of the motor
​ for every iteration.

We’re driving the motor at 7v, which is 1v higher than the motor and ​
within the voltage range of the motor driver. The driver can provide 1
amps on both outputs.
2.​ Chassis Design:

2.1.​ Front view

Legend:
3. Ultrasonic Sensors
4. Geared Motors
6. IR Sensor
8. Chassis
10. Housing
 11. Push Button
12. Dip Switch

2.2.​ Side view

 Legend:
3. Ultrasonic Sensor
5. Wheels
6. IR Sensor
7. Power Module
8. Chassis
10. Housing
11. Push Button
12. DIP Switch

2.3.​ Top view

Legend:
5. Wheels
7. Power Module
8. Chassis
9. Beam Support
10. Housing
11. Push Button
12. DIP Switch
2.4.​ Assembly view
Legend:
1. Arduino
2. Motor Driver
3. Ultrasonic Sensors
4. Geared Motors
5. Wheels
6. IR Sensor
7. Power Module
8. Chassis
9. Beam Support
10. Housing
11. Push Button
12. Dip Switch
3.​ Bill of Materials:

Prototype Ver1 Robot

Description No. of Price per Store bought
Items unit

DC Geared Mini motor 2 ₱119.00 Circuitrocks - 7974B

B.S.Calinisan, Parañaque,
1700 Metro Manila

Wheel Rubber Tire 65*27mm TT 2 ₱55.00 Circuitrocks - 7974B

Intelligent B.S.Calinisan, Parañaque,
1700 Metro Manila

Infrared IR Line Tracing Obstacle 1 ₱99.00 Circuitrocks - 7974B

Avoidance Sensor Module Smart B.S.Calinisan, Parañaque,
Car Robot 1700 Metro Manila

N20 W420 Steel Ball Universal 1 ₱55 Circuitrocks - 7974B

wheel Uno smart car Chassis Bull B.S.Calinisan, Parañaque,
eye Nylon 1700 Metro Manila

Ultrasonic Ranging Sensor 1 ₱35.00 Circuitrocks - 7974B

Bracket B.S.Calinisan, Parañaque,
1700 Metro Manila

Ultrasonic Ranging Sensor 1 ₱75.00 Circuitrocks - 7974B

HC-SR04 B.S.Calinisan, Parañaque,
1700 Metro Manila

Dual H-bridge Motor Driver 1 ₱53.00 Circuitrocks - 7974B

Drv8833 Arduino Compatible B.S.Calinisan, Parañaque,
1700 Metro Manila

Servo Motor MG90s 1 ₱145.00 Circuitrocks - 7974B

B.S.Calinisan, Parañaque,
1700 Metro Manila

3.7V 2000mAH gaming console 2 ₱132.25 Circuitrocks - 7974B

driving recorder battery B.S.Calinisan, Parañaque,
1700 Metro Manila

MT3608 DC-DC step-up converter 1 ₱21.00 fulabs.ph - A20 Jolly Industrial

booster power supply module Park Plaridel Bypass Access
boost step-up Road Barangay Parulan,
plaridel North Luzon, Bulacan
3004
Right angle Aluminum profile 1 ₱30.00 Double T Marketing -
7VW9+PWW, Francisco
Llamas St. Cor. Guadalupe
Osmena St., Cebu City, 6000
Cebu

Type-C Nano 3.0 with the 1 ₱136.87 Global Merch Park - China
bootlaoder compatible Nano
controller for arduino CH340 USB
driver 16Mhz ATMEGA328P

PCB Universal 1 ₱65.00 RCO Electronics & Electrical

Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Pin headers - Male 1 (40pcs) ₱15 RCO Electronics & Electrical

Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Pin header - Female 1 (40pcs) ₱25 RCO Electronics & Electrical

Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Dupont Line 10cm M-F 1 ₱143.46 Global Merch Park - China

Dupont Line 10cm F-F

Dupont Line 10cm M-M

cable tie 1 ₱38.17 MR. DIY - B, Benedicto Bldg,

Dionisio Jakosalem St, Cebu
City, 6000 Cebu

Total ₱1416.5
 Final Robot
Description No. of Price per Store bought
Items unit

DC Geared Mini motor 2 ₱119.00 Circuitrocks - 7974B

B.S.Calinisan, Parañaque,
1700 Metro Manila

Wheel Rubber Tire 65*27mm TT 2 ₱55.00 Circuitrocks - 7974B

Intelligent B.S.Calinisan, Parañaque,
1700 Metro Manila

dip switch 2 ₱16.00 Circuitrocks - 7974B

B.S.Calinisan, Parañaque,
1700 Metro Manila

Micro/Type-C Lithium battery 1 ₱19.00 Circuitrocks - 7974B

charging board 03962A with B.S.Calinisan, Parañaque,
protection 18650 1700 Metro Manila

3.7V 2000mAH gaming console 2 ₱132.25 Circuitrocks - 7974B

driving recorder battery B.S.Calinisan, Parañaque,
1700 Metro Manila

Ultrasonic Ranging Sensor 2 ₱35.00 Circuitrocks - 7974B

Bracket B.S.Calinisan, Parañaque,
1700 Metro Manila

Ultrasonic Ranging Sensor 2 ₱75.00 Circuitrocks - 7974B

HC-SR04 B.S.Calinisan, Parañaque,
1700 Metro Manila

Dual H-bridge Motor Driver 1 ₱53 Circuitrocks - 7974B

Drv8833 Arduino Compatible B.S.Calinisan, Parañaque,
1700 Metro Manila

N20 W420 Steel Ball Universal 1 ₱55 Circuitrocks - 7974B

wheel Uno smart car Chassis Bull B.S.Calinisan, Parañaque,
eye Nylon 1700 Metro Manila

180 pcs M3 nylon Male Female 1 ₱155 Circuitrocks - 7974B

Hex Utility Spacer Standoff screw B.S.Calinisan, Parañaque,
nut 1700 Metro Manila

MT3608 DC-DC step-up converter 1 ₱21.00 fulabs.ph - A20 Jolly Industrial

booster power supply module Park Plaridel Bypass Access
boost step-up Road Barangay Parulan,
 plaridel North Luzon, Bulacan
3004

Right angle Aluminum profile 1 ₱30.00 Double T Marketing -

7VW9+PWW, Francisco
Llamas St. Cor. Guadalupe
Osmena St., Cebu City, 6000
Cebu

Type-C Nano 3.0 with the 1 ₱136.87 Global Merch Park - China
bootlaoder compatible Nano
controller for arduino CH340 USB
driver 16Mhz ATMEGA328P

Dupont Line 10cm M-F 1 ₱143.46 Global Merch Park - China

Dupont Line 10cm F-F

Dupont Line 10cm M-M

stucco aluminum 1 ₱150 Double T Marketing -

7VW9+PWW, Francisco
Llamas St. Cor. Guadalupe
Osmena St., Cebu City, 6000
Cebu

8 Channel TCRT5000 IR 1 ₱94.00 relandor - 广东省深圳市宝安区

photoelectric Switch barrier line 石岩街道 洲石
track module infrared
路旭兴达工业区A4栋3楼
518108
PCB Universal 1 ₱65.00 RCO Electronics & Electrical
Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Pin headers - Male 1 (40pcs) ₱15 RCO Electronics & Electrical

Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Pin header - Female 1 (40pcs) ₱25 RCO Electronics & Electrical

Supply - 28-30 Vicente Gullas
St, Cebu City, 6000 Cebu

Marine grade epoxy 2 ₱0.00 Preowned

yellow push button 1 ₱0.00 Preowned

Total ₱1826.83
4.​ Group Pictures:

Gathering the materials.

 PROTOTYPE

Building the chassis of the prototype.

Wiring sensors and motors.

Final Assembly and Performance Test.
 FINAL ROBOT

Building the chassis of the prototype.

Wiring sensors and motors.

Final Assembly and Performance Test.

Completed Design of the Robot
5.​ Contact Information

Candog, Shannen Aira A.

Contact number (mobile/phone): 0918489840

Email Address: shannenairacandog@gmail.com

Motto: To live for the hope of it all.

Cordova, Yssa Gie A.

Contact number (mobile/phone): 09472477924

Email Address: cordovayssagie@gmail.com

Motto: Are we there yet?

Dayangco, Jacenfa O.

Contact number (mobile/phone): 09074650297

Email Address: dayangcojacenfa04@gmail.com

Motto: When you have a hard time, just laugh.

Sayson, Krishia T.

Contact number (mobile/phone): 09565131178

Email Address:sayson.krishai8@gmail.com

Motto: Whatever will be…will be.

Tan, Niño James A.

Contact number (mobile/phone): 09065342768

Email Address: njtan142@gmail.com

Motto: “Hello, World!”