CPEG 222 Line Following Robot.

• Brian Sand, Computer Engineering, University of Delaware

• Richard Martin, ECE Department, University of Delaware

In the era of drones, robots, and self-driving cars, it is essential that computer engineering students gain a solid understanding of the foundations of embedded systems programming. The purpose of this project is to develop a next generation of education platform for embedded systems.

Previously, UD’s Introduction to Microprocessor Systems course (CPEG-222) relied on a microcontroller robot that could not be repurposed for more advanced classes, due to its smaller circuit board and frame. Next year’s class will benefit from a new iteration of robot comprised of a frame PCB equipped with servos, battery pack, and five infrared sensors mounted on the front. The frame was engineered so that the selected STM32 microcontroller can be mounted onto the frame itself and draw power from either the battery pack or recharge its batteries when connected to an external source. A separate PCB “HAT” (“Hardware Attached on Top”, a board that mounts on top of a microcontroller) mounts on top of the STM32 and adds peripherals including an OLED display, LEDs, a potentiometer, and more connectors. Together, these components form a robot capable of following a track of black tape on a surface using infrared sensors.

The results are a clear improvement over the previous iteration the robot gained the capability to follow a curved track, a task its predecessor could not do, as well as follow a narrower tape. The expanded peripheral set allows for more varied and complex student projects. Future revisions of this kit could introduce more peripherals as well as an improved charging circuit to address the current design’s relatively slow charge time.