Line Follower robot kit (SENTINEL mark II: QUEST)

old device: SENTINEL mark I: PSIONIC

Preview

Line Follower robot competitions are very often held between students and hobbies. Apart from being the basic material for learning in electronics and microcontroller programming, this type of robot is in great demand because of its cool shape like F1 or also a tamiya toy. This robot can be adjusted through the keypad interface and 128x64 LCD ranging from calibration, algorithms, and other functions.

Arduino compatible based on Maple Mini board (STM32F103CBT6)
Burn and update firmware via USB-OTG
BTS7960 motor driver 2 port + encoder
OLED I2C SSD1306 128x64
external EEPROM (24LC256)
2 port for mini servo 5V
1 port for extinguisher motor (adjustable voltage using PWM)
external serial port (Serial1)

SENTINEL mark II: QUEST. This robot is a development of the previous version, the SENTINEL mark I: PSIONIC (on cover photo). Here I will include a video documentation of the previous version, namely SENTINEL mark I:

Following are the full specifications of the latest version of the SENTINEL mark II: QUEST:

For full Schematic and Gerber you can grab them here.

The part list and OS (Arduino source code) will be uploaded soon on my github

Core + Motor Driver

Power Supply

Input : LiPo 3 cell 12.6V
12V : Main motor (left and right) and extinguisher
5V : Servo motor
3.3V : STM32, EEPROM, LCD, sensor

Core

Main controller : STM32F103CBT6
USB-OTG : burn bootloader, robot OS upgrade (firmware)
External Serial1 port : burn bootloader, Bluetooth, WiFi, etc.
Servo port : gripper (for transporter mode)
BOOT jumper :BOOT Configuration Mode to System Memory (burn bootloader) or Flash Memory (bootloader / OS upgrade)
Battery voltage sensor

Motor driver

Main motor : 12V DC motor right and left (+ additional encoder pin)
Extinguisher : for "Fire Fighter" mode, the voltage can be adjusted by PWM (configuration menu)