Line-Following Robot

Overview

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Key features

• Reads a line with an array of IR sensors
• Steers using a PID controller for smooth tracking
• Runs on an Arduino Nano

How I built it

1. Wired the IR sensor array to the analog pins
2. Tuned the PID constants by trial and error
3. Added a small OLED display for live debugging

Status checklist

• Chassis assembled
• Basic line following working
• Speed optimization
• Obstacle detection

A note

Tip: start at a low speed while tuning the PID — it makes the behavior much easier to read.

A bit of code

Inline code looks like analogRead(A0). A code block looks like:

int error = setpoint - position;
int correction = Kp * error + Kd * (error - lastError);
lastError = error;

What I learned

• How the proportional vs. derivative terms affect stability.
• Why sensor placement matters as much as the code.

Next steps

What you’d improve if you revisited it.