This project is a line follower robot designed for speed and precision in line-tracking competitions. It integrates sensor multiplexing, motor control, and IMU data processing to enable adaptive and responsive behavior. The PCB is the heart of the system, acting as a powerful, compact controller.

I developed this robot as part of a robotics challenge where precision, speed, and modularity were essential. Most line followers rely solely on QTR sensors and basic logic. I wanted to go beyond, integrating a magnetometer and accelerometer to assist in orientation estimation, and adding modular sensor inputs to support either QTR-8A or custom multiplexed bars.

This robot was also an opportunity to design a custom PCB capable of:

Driving two 12V 5A motors

Handling additional peripherals like a suction system (via DC or BLDC motors)

Communicating with an OLED display

Reading multiple sensor arrays via analog multiplexers

Integrating an IMU (accelerometer + magnetometer)

The robot uses:

A QTR-8A reflectance sensor array (or optional multiplexed IR sensors) to detect the track line.

A PID control algorithm to adjust the motors’ speed based on sensor readings.

A magnetometer + accelerometer (IMU) to detect orientation or tilt, useful for advanced feedback.

An ATMEGA2560 as the central microcontroller, providing processing power and communication interfaces.

Two H-bridges capable of driving 12V 5A brushed DC motors.

A connector for an optional suction system, either DC or BLDC, to improve grip on the track.

The PCB is modular and allows:

Easy swap between QTR or custom sensor bars

Adding an OLED screen to display debug data, battery level, or sensor readings

Future expansion through spare GPIOs and I2C headers