1

Line follower controlled by Freescale

TRK-MPC5604B
Universidad Autnoma de la Ciudad de Mxico
Team: UACM2

Abstract This paper gives a brief description of the

design of a line follower, implemented with a Freescales
Microcontroller SPC5604BMLQ6.

direction and EMIOS_0.CH(7) to control motor

speed of the dc motor, PORT B is configured as an
input for receiving data from the sensors.
B.

INTRODUCTION
A line follower robot is a digital system that
commonly follows a black line on a white
background, the rudder control system of this
design is controlled by a servo motor and the
traction with a DC motor.
DEVELOPMENT
A.
Microcontroller SPC5604BMLQ6
A microcontroller is a programmable integrated
circuit that contains all the components necessary to
control the operation of a given task [1].
In this case we use a microcontroller
SPC5604BMLQ6, mounted on the Freescale's
development board TRK-MPC5604B(Figure 1).

Servo motor

A servo motor is a device that consists of a dc

motor and a number of gears that provide a hightorque, rotating on its axis is from 0 to 180 .
Using a PWM (pulse width modulation) can be
controlled servo position, the period of the PWM
signal should be 20ms. The servo position depends
on the time the pulse is high. For the 0 the pulse
should be 0.3mS, and the position of 180 pulse is
2.1ms, and varying the pulse width can get all the
intermediate positions (Figure 2). For this project
will use a Futaba S3010 servo (figure 3) for rudder
control system.

Figure. 2
Figure. 1
Of this card will use the EMIOS_0.CH(6) to
control the servo motor, that provides the rudder

pin of the driver, this procedure change the average

voltage and adjust engine power (Fig. 7).

Figure. 3
C.
Infrared sensors (QRD1114)
We use 4 sensors to detect if the robot is in the
correct position. The QRD1114 sensor (Figure 4) is
a reflective sensor which consists of a infrared
emitting diode and an NPN phototransistor mounted
side by side figura.5. The phototransistor responds
to the radiation emitted by the LED only when a
reflective object or surface is in the field of view
detector. This property is used for the line follower,
because the white surface reflects perfectly the
infrared emission, while the black line absorb the
infrared emission, with this property we can design
the rudder control the line follower.

Figure. 6

Figure. 4
Figure. 7

Figure. 5
D.

DRIVERS

In DC motors can control the direction of

rotation just by changing the direction of current
flow. The BA6222 (figure 6) is a reversible motor
driver with a maximum output current of 2.2A. Two
logic inputs allow four output modes: forward,
backward, free and braking. The motor speed can be
adjusted by applying a PWM signal to the enable

E.

CONTROL CHART FOR THE SMART CAR

In this flow chart we can see the sequence of rudder control and speed control.

F.

TABLE OF RUDDER CONTROL AND SPEED BY

TO THE STATE OF SENSORS

S3

Sensors
S2
S1

S0

0
0
0
1
1

0
0
1
1
0

1
1
0
0
0

0
1
1
0
0

SERVO
MOTOR
DEGRESS
30
70
90
110
150

SPEED

50%
85%
100%
85%
50%

REFERENCES

[1] Enrique Palacios Municio,Fernando Remiro

Domnguez,
Lucas J. LpezPrez, (Microcontrolador PIC 16F84
Desarrollo de proyectos), Fisrt edicin: alfaomega
Grupo Editar, Mxico. agost 2004.