WiFi Line Follower Carts

Project for two Arduino Uno R4 WiFi based line-following carts with peer-to-peer communication and a mobile control app.

Structure

• firmware/ - Arduino source code (C++).
• cart_controller/ - Mobile Control App (Flutter/Dart).
• tools/ - Extra scripts.

Setup

1. Firmware: Use arduino-cli with arduino:renesas_uno.
2. App: Use flutter run in cart_controller/.

Features

🤖 Robot Firmware

• Line Following: Robust PID control (Kp=0.09) with deadband compensation.
• Auto-Calibration: Sensor threshold detection with LED Matrix feedback.
• P2P WiFi: UDP communication mesh.
• Visuals: Real-time position tracking on LED Matrix.

📱 Mobile Controller

• UDP Discovery: Auto-scans local subnet for active robots.
• Remote Control: Wireless commands (Explore, Stop, Reset).
• Cyberpunk UI: Reactive interface with haptic/visual feedback.

Configuration (v1.0)

• Base Speed: 90
• PID: Kp=0.09, Kd=1.0
• Sensors: QTR-8A (Analog) on Pins A5-A0.
• Motors: L298N Driver.