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Measuring RPM via Photo reflector
Computer
Interface
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Kerwin's Line Following Robot My line follower bot is a pretty basic design using a differential drive system. I built with Futaba S-148 servo motors mounted to the bottom of the plexiglass. I bolted the hub of the Dave Brown Lite Flite foam wheels to the control horn of the servos. The sensor system consists of an array of 3 matched IR transmit/receive pairs mounted on a circuit board that can be raised or lowered to fine tune the sensitivity. The omni-directional wheel on the front is not really necessary, but it looks cool. I used it because I had it laying around and added color. I made a mounting bracket for it using a PC's PCI blank port cover I pulled out of the trash. Nice soft metal in those things and easy to bend. The circuit board mounted on top is one of Dennis Clark's AVR based robot boards. The Denver Area Robotics Club bought a bunch of these from him en masse, but any controller would work of course. The IR sensor array consists of 3 IR transmit/receive pairs that are matched for performance. I got these from Electronic Goldmine, part number G2540. But any similar part would work. I painted the circuit board black and placed some black felt between each pair to cut down light being received from the side rather than as a reflection. The bolts used to adjust height are on each side.
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