8-Sensor PID Line Following Robot

Key Features (Software & Logic)

• PID Control ; Uses proportional and derivative logic for ultra-smooth tracking without "wobbling."

• Processes "greyscale" sensor data (not just black/white) for accurate center-of-line positioning.

• Smart Junction Handling: Automatically detects T and Y junctions and navigates using the "Left-Hand Rule" to solve mazes.

• Dynamic Speed: Auto-accelerates on straight lines and brakes before corners.

• Active Braking System: Reverses motors momentarily to pivot sharply on 90° turns without overshooting.

• Memory Lock: Remembers the last known line position to recover if the track is momentarily lost.

Hardware Components

• Controller: ESP32 Microcontroller

• Sensors: Custom 8-channel curved array using CNY70 Analog Sensors (12mm pitch) for wide detection.

• Motors: 2x N20 500 rpm DC Gear Motors.

• Motor Driver: tb6612fng

• Chassis: Custom-designed PCB/frame optimized for rear-wheel weight distribution

•Battery: 1800mah 7.4V lipo battery (40C)