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Basic Line Follower

This document provides a lesson on teaching beginners how to program a robot to follow a line using the EV3 color sensor. It includes objectives, teacher instructions, animated slides explaining the concept, and two programming challenges for students to make a line follower robot that can follow a line until a touch sensor is pressed or it travels a set distance.

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Napoleon Maou
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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51 views17 pages

Basic Line Follower

This document provides a lesson on teaching beginners how to program a robot to follow a line using the EV3 color sensor. It includes objectives, teacher instructions, animated slides explaining the concept, and two programming challenges for students to make a line follower robot that can follow a line until a touch sensor is pressed or it travels a set distance.

Uploaded by

Napoleon Maou
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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BEGINNER

PROGRAMMING
LESSON
Basic Line Follower

By: Droids Robotics

LESSON OBJECTIVES
1. Learn how humans and robots follow lines
2. Learn how to get a robot to follow a line using Color Mode on
the EV3 Color Sensor
3. Learn how to follow a line until a sensor is activated
4. Learn how to follow a line for a particular distance
5. Learn how to combine sensors, loops and switches

2015 EV3Lessons.com (Last edit: 2/28/2015)

TEACHER INSTRUCTIONS

Slides 4-7 are animated. For students to better understand how a


line follower works and how a human and a robot follow a line, we
recommend that you play the animation

Give each student/team a copy of the worksheet.

Challenge 1 begins on slide 10 and Challenge 2 on Slide 13

Discussion Guide is on Slide 16

More advanced students might be interested in other line followers


on EV3Lessons.com

2015 EV3Lessons.com (Last edit: 2/28/2015)

FOLLOW THE MIDDLE?


Humans want to follow the line in the
middle.
Lets have the robot do the same thing
using the Color Sensor
What type of questions can we ask using
this sensor
Are you on line or not?

2015 EV3Lessons.com (Last edit: 2/28/2015)

1. If we are on black, keep


going straight
2. If we are on white, turn
left to get back to the
line
Seems to work fine here

2015 EV3Lessons.com (Last edit: 2/28/2015)

1. If we are on black, keep going


straight
2. If we are on white, turn left to get
back to the line
OH NO my robot is running
away.
When the robot leaves the left
side of the line, the program no
longer works!

2015 EV3Lessons.com (Last edit: 2/28/2015)

LINE FOLLOWING: ROBOT


STYLE
Why could the Human follow the middle?:
They can see ahead.
They can see the whole line and its surroundings
They see both sides and which side they left
Why cant the Robot do the same thing?:
Cant tell right or left side of the line
How do we make sure the robot always veers off on the
SAME SIDE of the line?
Instead of the middle, could the robot follow the edge?

So now the robot will fall off only the same side.
We will now show you how this works!
2015 EV3Lessons.com (Last edit: 2/28/2015)

ROBOT LINE FOLLOWING


HAPPENS ON THE EDGES
Left side line following
If on
black,
turn left.
If on
white
turn
right.

Right side line following

The robot has to


choose which
way to turn when
the color sensor
sees a different
color.

If on
black,
turn
right.
If on
white
turn left.

The answer
depends on what
side of the line
you are following!
2015 EV3Lessons.com (Last edit: 2/28/2015)

STARTING THE ROBOT ON THE


CORRECT SIDE

2015 EV3Lessons.com (Last edit: 2/28/2015)

LINE FOLLOWER CHALLENGE 1


Step 1: Write a program that follows the RIGHT edge
of a line.
Hints: If your sensor sees black, turn right. If your
sensor sees white, turn left. Use loops and switches!
Step 2: Try it out on different lines.

Did your line follower work the same on


straight and curved lines?
Step 3: If not, instead of turn Steering = 50, try
smaller values.

2015 EV3Lessons.com (Last edit: 2/28/2015)

C
B

Is it better on the curved lines now?

10

LINE FOLLOWING CHALLENGE


SOLUTION

Q. Does this program follow the Right or Left side of a line?


A. The robot is following the Right Side of the line.
2015 EV3Lessons.com (Last edit: 2/28/2015)

11

CHALLENGE 1 SOLUTION

Q. This line follower goes forever. How do we make this stop?


A. Change the end condition on the loop.

2015 EV3Lessons.com (Last edit: 2/28/2015)

12

LINE FOLLOWER CHALLENGE 2


Part 1: Make a line follower that stops when you
press the touch sensor
Part 2: Make a line follower that stops after it
travels a particular distance

2015 EV3Lessons.com (Last edit: 2/28/2015)

13

CHALLENGE 2 SOLUTION:
SENSOR

2015 EV3Lessons.com (Last edit: 2/28/2015)

14

CHALLENGE 2 SOLUTION:
PARTICULAR DISTANCE

2015 EV3Lessons.com (Last edit: 2/28/2015)

15

DISCUSSION GUIDE
Why is it important for the robot to follow the same side of the
line?
The robot only knows to check if it is on or off the line.
This is a basic line follower. What are some things that were not
good about this line follower? Do you think the line follower can
be improved?
It wiggles a lot. Smoother line followers are described in the
Advanced lessons
What sensor measures how far you have travelled?
The rotation sensor used in Challenge 2 solution measures
how much the wheels have turned
How would you write a line follower that will stop when it sees a
line? Or another color?
Change the loop exit condition to use the color sensor.
2015 EV3Lessons.com (Last edit: 2/28/2015)

16

CREDITS
This tutorial was created by Sanjay Seshan and Arvind Seshan
from Droids Robotics.
More lessons are available at www.ev3lessons.com
Authors Email: [email protected]

This work is licensed under a Creative Commons AttributionNonCommercial-ShareAlike 4.0 International License.

2015 EV3Lessons.com (Last edit: 2/28/2015)

17

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