Black Line Follower robot – the BLF bug

A Black Line Follower robot – brief to be a cheap as possible and easy to build for kids 10-14 as part of a short electronics course. Due to the cost restrictions the PCB size needed to be as small as possible, roughly 22mm square.


Project details
Software and programming
Construction details
Running the Bug

Questions ?

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Development Prototype Based around a PIC 12F510 (8 pin, 8 bit Micro) 1 x Infrared LED, 2 x infrared receivers 2 x AAA cells, 2x old phone vibration motors and a handful of vero, copper wire and resistors.


Video (via twitter) of the first test So, Prototype works…


Time to make a better job of it.
canda-bug blf-smd


Left hand one is the one for the kids, the right hand one is a quick experiment to see how small I could make one (Still untested..


Circuit Diagram



Both sent to OSH Park and we will see what comes back.   Whilst I’m waiting…..

20160218_212553 20160218_212544

Tried some configuration changes, added tooth brushes to the back, and a ball (bead) on the front. Much smoother and more reliable. Surface must be absolutely smooth and flat.

V1 Boards arrived. Made a number of mistakes, Bodged it up to get software proved out, Redid the layout twice and more boards ordered from OSH Tried a number of different brushes, Including draft excluder and velvet, plus the covering from a clothes brush (had to order a new cloths brush quick) All worked to some extent, but you can’t beat the original

tooth brush.

V3 Boards arrived

Revised Circuit diagram blfv3 blfv3-1 blfv3-2 Order from OSH Park

Project details
Software and programming
Construction details
Running the Bug
Calibrating the Bug