Design Line Tracker
30 minutesChoose IR reflectance sensor array layout and define track width and line color.
Beginner1-2 weeks
Line Following Robot Guide
Complete guide for line following robot — step-by-step workflow, tools, checklist, and expert tips to get started.
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Workflow
Calculate PID Gains
45 minutesEstimate initial Kp, Ki, Kd values and control loop sampling rate for line following.
Build and Wire Sensors
2-4 hoursMount sensor array, wire to microcontroller ADC, and calibrate white/black thresholds.
Test and Debug
1 hourRun PID loop on test track, tune gains for speed vs stability, and log error values.
Tools Used
- PID Tuning CalculatorPrimary
Estimate initial PID gains for line position error correction.
- Sensor Sampling RatePrimary
Set control loop frequency relative to robot speed and track curvature.
- Robot Speed CalculatorSupporting
Convert motor RPM and wheel size to linear track speed.
- Wheel Circumference & DistanceReference
Verify odometry matches actual distance on timed track runs.
Checklist
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Hardware
Configuration
Planning
Quality
Safety
Documentation
Reference Materials
PID Tuning OrderTable
Key benchmarks for line following robot.
| Step | Action | Result |
|---|---|---|
| 1 | Set I=D=0 | Oscillating P |
| 2 | Add D | Less overshoot |
| 3 | Add small I | Fix steady error |
Sampling RateFormula
Control loop 10× faster than robot response time
Sensor CalibrationStandard
Read sensors on white and black — normalize to 0-1000 range.
Calibrate on Real Track
Paper and vinyl reflect IR differently — always calibrate on competition surface.
P Before I and D
Tune proportional gain first until oscillation, add derivative to damp, then small integral for steady-state error.
Reuse Chassis
Line follower chassis works for sumo and maze bots — invest once in a solid base platform.
Safety Notes
- Keep hands clear of wheels during PID tuning — unexpected oscillation can cause rapid direction changes.
- Disconnect battery before adjusting sensor mounting or wiring on the robot.