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This is an advanced line following robot based on Teensy 3.6 and QTRX line sensor that I have built and have been working on for quite some time. There are some major improvements in the design and performance from my earlier line following robot. The speed and response of the robot has improved. The overall structure is compact and lightweight. The components are arranged close to the wheel axis so as to minimize angular momentum. High power micro metal gear motors provide the adequate torque and aluminium hub silicone wheels offer much-needed traction at high speeds. Prop shield and wheel encoders enable the robot to determine its position and orientation. With Teensyview mounted on board, all the relevant information can be visualized and important program parameters can be updated using pushbuttons.
To begin building this robot, you will need the following supplies (and a lot of time and patience at your disposal).


Teensy 3.6 Development Board
Prop Shield with Motion Sensors
Sparkfun TeensyView
Pololu QTRX-MD-16A Reflectance Sensor Array
15x20cm double-side prototype PCB
Pololu Step-Up/Step-Down Voltage Regulator S9V11F3S5
Pololu Adjustable 4-5-20V Step-Up Voltage Regulator U3V70A
MP12 6V 1580 rpm micro gear motor with encoder (x2)
DRV8833 Dual Motor Driver Carrier (x2)
3.7V, 750mAh Li-Po battery
ON/OFF switch
Electrolytic capacitor 470uF
Electrolytic capacitor 1000uF (x2)
Ceramic capacitor 0.1uF (x5)
Pushbuttons (x3)
10mm Green LED (x2)

Atom Silicone Wheel 37x34mm (x2)
Pololu Ball Caster with 3/8” Metal Ball
N20 motor mount (x2)
Bolt and nuts
Cables and Connectors

24AWG flexible wires
24 pin FFC to DIP breakout and FFC cable (Type A, 150mm length)
Round female pin header
Round female pin header long terminal
Right-angled dual row female header
Right-angled dual row male header
Male pin header
Male needle pin header

Soldering iron
Solder wire
Wire stripper
Wire cutter”

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