SVK Fox Robot

SVK Fox is an enhanced obstacle avoidance and line-following robot developed by SVK Robotics. It combines ultrasonic sensing and an 8-sensor IR array (IR8) for precise line tracking and obstacle detection.

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Overview

This robot uses a PID control algorithm to follow lines accurately while continuously monitoring distance with an ultrasonic sensor to detect and stop for obstacles.

• Line Following: Uses an 8-sensor IR array (SVKIR8) for detecting black lines and PID control for smooth navigation.
• Obstacle Avoidance: Ultrasonic sensor measures distance ahead and stops the robot if an object is detected within a set range.

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Features

• PID-based line following for smooth, responsive control.
• Adjustable PID parameters (Kp, Ki, Kd) for tuning behavior.
• Configurable maximum speed and obstacle detection distance.
• Integration with the SVK IR8 sensor library.

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Usage

1. Configure Parameters:

   • Set MAX_SPEED to your desired maximum motor speed.
   • Adjust PID constants (Kp, Ki, Kd) for optimal line following.
   • Define maxDistance (in cm) to set how close the robot can get to an obstacle before stopping.

2. Hardware Setup:

   • Connect the 8 IR sensors via a multiplexer to pins 10, 9, 8, and A0.
   • Connect motors to pins 2, 3, 4, 6, 5, and 7 as specified.
   • Connect ultrasonic sensor to pins A3 (trig) and A1 (echo).

3. Calibration:

   The robot calibrates the IR sensors on startup by sampling sensor values 300 times. Make sure to place the robot on a surface with a clear line for accurate calibration.

4. Run the Code:

   Upload the code to your Arduino-compatible board. The robot will start following lines and stop when an obstacle is detected.

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How it Works

• The ultrasonic sensor measures distance using the getDistanceCM() function.
• The IR8 sensor array reads line position with readLineBlack() returning a value from 0 to 7000.
• A PID controller (using Kp, Ki, Kd) calculates an error based on the line position to adjust motor speeds.
• When an object is detected within the set maxDistance, the robot stops by stopping the motors.
• Otherwise, it adjusts motor speeds to follow the line smoothly.

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Example Configuration

#define MAX_SPEED 160       // Maximum motor speed
float Kp = 0.03;            // Proportional gain
float Ki = 0.0001;          // Integral gain
float Kd = 0.5;             // Derivative gain
float maxDistance = 20;     // Distance in cm to stop before obstacle

Modify these parameters in your sketch for tuning performance.

License

This project is released under the MIT License.

Support

For more information or help with the IR8 sensor library, visit: SVK IR8 GitHub Repository