SharksBot V4 is a compact, self-driving line-following robot, capable of precise navigation using infrared sensors. It is specifically designed for educational and research purposes in PCB hardware design, embedded control algorithms (e.g., PID), and RTOS in robotics. This project is based on and modified from the original Mini Line Flow Robot – MQCR Excel.
- Powered by a 2S Li-ion battery, with an integrated Type-C charging circuit directly on the robot.
- Uses an STM32F103C8T6 microcontroller – ARM Cortex-M3 core.
- Equipped with 8 IR sensors (TCRT5000) positioned at the front.
- Used to detect black/white lines on the track and recognize the start signal.
- Includes an MPU6050 sensor for tilt and acceleration measurement.
- A single-digit 7-segment LED for simple status or mode display.
- 2 status LEDs for basic indication.
- 3 push buttons for mode selection, start, reset, etc.
- Two GA12 N20 DC motors, each driving one wheel.
- Controlled via two L9110S full H-bridge drivers, enabling forward, reverse, and stop control for each wheel independently.
- A buzzer for alert or notification sounds.
- Expansion headers for firmware uploading and debugging.