Line Follower click

Line Follower Click carries an array of five QRE1113 miniature reflective object sensors. As the name implies, Line Follower click is best used for line following robots and cars.

click Product page

Click library

• Author : Nenad Filipovic
• Date : Dec 2019.
• Type : GPIO type

Software Support

We provide a library for the LineFollower Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly form compilers IDE(recommended way), or downloaded from our LibStock, or found on mikroE github account.

Library Description

This library contains API for LineFollower Click driver.

Standard key functions :

• Config Object Initialization function.

  void linefollower_cfg_setup ( linefollower_cfg_t *cfg );

• Initialization function.

  LINEFOLLOWER_RETVAL linefollower_init ( linefollower_t ctx, linefollower_cfg_t cfg );

• Click Default Configuration function.

  void linefollower_default_cfg ( linefollower_t *ctx );

Example key functions :

• Get status of all pin function

  void linefollower_data_track ( linefollower_t ctx, linefollower_direction_t data_track );

Examples Description

Line Follower click carries an array of five QRE1113 miniature reflective object sensors, reading staus of AN, RST, PWM, TX and RX pins and reading tracking data.

The demo application is composed of two sections :

Application Init

Application Init performs logger and click Initialization.

void application_init ( void )
{
    log_cfg_t log_cfg;
    linefollower_cfg_t cfg;

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_printf( &logger, "----------------------\r\n" );
    log_printf( &logger, " - Application Init -\r\n" );

    //  Click initialization.
    linefollower_cfg_setup( &cfg );
    LINEFOLLOWER_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    linefollower_init( &linefollower, &cfg );

    log_printf( &logger, "----------------------\r\n" );
    log_printf( &logger, " Line Follower  Click \r\n" );
    log_printf( &logger, "----------------------\r\n" );
}

Application Task

Application Task shows the functionality of the Line Follower click. Each one of the QRE1113 sensors consist of an infrared transmitter and infrared receiver. By default the sensor output a Logic Level 1, until they encounter a white surface which changes the output signal to 0.

void application_task ( void )
{
    linefollower_direction_t data_track;

    linefollower_data_track ( &linefollower, &data_track );

    log_printf( &logger, " %u\t%u\t%u\t%u\t%u\r\n", 
                (uint16_t) data_track.u1, 
                (uint16_t) data_track.u2, 
                (uint16_t) data_track.u3, 
                (uint16_t) data_track.u4, 
                (uint16_t) data_track.u5);

    Delay_ms ( 100 );
} 

Note

The full application code, and ready to use projects can be installed directly form compilers IDE(recommneded) or found on LibStock page or mikroE GitHub accaunt.

Other mikroE Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.LineFollower

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all Mikroelektronika compilers, or any other terminal application of your choice, can be used to read the message.