Arduino Line Follower w/ collision detection

Final Product

Hardware

1. 1xArduino Uno 3
2. 7xTCRT5000 IR Track Sensor (digital)
3. 2xDC HP 590RPM 6V 50:1 70mA 
4. 1xAPDS-9960 Sensor
5. 1xMotor Driver L298N
6. 2xMotor Holder
7. 4x3.7V Battery
8. 2xWheels 60x8 Radius 30mm
9. 1xBuzzer
10. 1xSolderable Breadboard

Software Used: IDE: Arduino Pro 2.0 Schematics: Fritzing Code Version Control: Github

Lab Test Results: Speed: optimal ~100[cm/sec] , minimum – 50[cm/sec] , maximum - 350[cm/sec]

UML

Simplfied Algorithem

Basic Flow Chart

Circuit

Thanks for reading 😋