Line Following Robot Documentation

We are Group 2 from the CS371 Course at Gettysburg College. This project showcases our progress in solving line following problems using the PiCar-X2 from SunFounder.

After 13 meetings, our robot can now:

Follow a continuous line smoothly
Reacquire the line after a 90-degree turn (left and right)
Detect intersections and decide whether to turn or go straight

Some Challenges We Faced

Difficulty connecting the robot to Raspberry Pi software on personal laptops
Reliance on a desktop setup due to connection issues
Robot head broke and required replacement
Previous group’s code was missing or inaccessible
Mistakenly altered SD card, disabling SSH and VNC
Remote connection setup was delayed and complex
Robot exhibited jittering due to improper zeroing and calibration
Sensor thresholds for black/white detection were misconfigured initially
Robot movement calibration caused it to veer off course
Left turns were inconsistent and overshot the line
Robot had trouble re-aligning with the line after turns
Early intersection detection logic was unreliable
Robot defaulted to right turns, with no randomization
Intersections were occasionally missed despite improvements