Programming and Limitations

Before we start programming we need to know the limitations of the PICAXE board.It can only store 14 variables and has only 5 inputs(of which only 3 are ADC) and 8 outputs that can transfer useful data. We also need to know the amount of sensors and the configuration these sensors are in . Through looking at research, 2 sensor layouts are domianant, an inline configuartion or a upside down V configuration.

O O O O O -Inline

O

O O

O O - Upside down V

The advantages of an upside down V become apparent if ,on a course ,there is more than a 90 Degree turn. (Which on the course this robot is going on there wont be). However I believe that in-line sensors are good enough , and make it much more simple to program. Having researched how the line follower will work I prepared these diagrams, that will explain further the movement of the robot whilst following a line and the the sensor configuration and how it will work.

Practically using sensors i can determine position on the line and can start preparing Programming flow diagrams, however these will be quick to change in the debugging process once the rest of the robot is built.