Color-Tracking Autonomous Differential Drive Robot

For my Robot Sensors and Actuators final project, my partner and I designed an autonomous robot that patrols a room searching and “attacking” red objects while avoiding obstacles. The robot utilizes a Pixy2 camera, Arduino Uno, IR Sensors, an H-Bridge, and DC motors with encoders. The robot’s logic was written in C++ and utilizes a finite state machine to switch and define the behaviors of its states (patrol, detected color, lost color). PID control was implemented and tuned from scratch without the aid of external libraries.

Circuit Diagram