Previously, I want introduce you about line tracer. :) . Line tracer is arobot that has a light sensor that can walk follow the path. What is a tracer analogline? Line tracer robot line tracer analog is the only use of programmable electronic components without.
At Analog Line Tracer, there are 3 important part which must be known, there are :Sensor :
Sensors on the line tracer using the LED and photodiode in the sensor. The process is when the LED is given voltage, the LED will lead to the floor, and the reflection of light is directed into the photodiode. Photodiode will have a large resistance when the floor of a dark or light coming in a bit, and will have a low resistance when the floor is light-colored or light entering the lot. Therefore, we areparallel with the photodiode output, so the output and the photodiode is a voltage divider circuit. So that when the resistance of the photodiode, the sensor outputwould be great as well.
Comparator:
Comparator is one application of the op-amp (operational amplifier), which has the function of comparing two given potential.
SYMBOL comparator
The workings of the comparator device compares the potential difference isprovided at the input terminals A (+) and B (-). If the voltage is A> B then out tosaturation, if the voltage is A <B or A = B then out = 0. Physical form IC (IntegratedCircuit) of the LM339 comparator is as follows:
PINOUT LM339
IC LM339 comparator is used with the pinout configuration looks like in the picture above. In IC packaging LM339 comparator, there are 4 modules at once. Thusallows us to expand.
Comparator schemes with sensors
Motor Driver
Driver motor serves as a tool whose job is to run the motor either set the direction of motor rotation and the rotation speed of the motor. Kinds of motor driversinclude:
- Driver Voltage Control
With the motor driver control voltage using the voltage level directly to regulate the speed of motor rotation.
- Driver PWM
With PWM control we can set the motor speed by delivering pulses with a fixedfrequency to the motor, while being used to control the speed of the pulse duty cycleis given.
- Driver H
H type driver is used to control the motor rotation can be set direction of rotationCW or CCW. These drivers are basically using 4 transistors for the switching ofmotor rotation and in turn to reverse the polarity of the motor.
Driver scheme
The workings of this driver circuit is:
- At the moment there are pulses of low (zero volts) trigger R7, the Q2, Q6 and Q4is on. There is a current flows from VCC Q6 Q4 motor resulting in the motor rotatesclockwise.
- At the moment there are pulses of low (zero volts) R8 trigger, then Q1, Q3 and Q5is active. There is a current flows from VCC Q3 Q5 motor resulting in the motorrotates counter-clockwise.
MOTOR
Elekrik DC motor is a motor that uses a DC voltage converting mechanicalquantities into electrical quantities. DC motors are generally used on small jobsand more suitable for use in applications - electronics applications such as robotcars. DC motor has two electrical terminals. By providing a voltage difference at both terminals is then the motor will be able to rotate in one direction and when thepolarity of the voltage is reversed, then the direction of motor rotation will be reversed as well. The polarity of the voltage applied to the two terminals determine the direction of motor rotation while the applied voltage difference determines themotor speed.
MECHANICAL DESIGN
v Chassis Design
Chassis of the robot are made using materials from acrylic to facilitate the designand placement of components installed. Noteworthy here is the size of the thickness of the acrylic material used in connection with a load of components that will be placed on the chassis.
Mechanics used here uses two motors as the driving robot and a free wheel in front.
v The placement of sensors and batteries
And no less important disnin is mounting the drive wheel with the sensor in front ofthe line. Ideally the distance between the front sensor with a second drive wheel isforming an equilateral triangle.
LAMPIRAN 1
SKEMA LINE TRACER
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