STHS Computer Technology

On the breadboard, build two bi-directional motor control circuits (also known as `H-bridge`) circuits. These circuits will control the two DC motors that drive the wheels. Each circuit will have two wires from the Arduino (one for forward, one for backward) to control the circuit, and two wires from the single DC motor that it is controlling. You

should test your circuits to ensure you can control both motors in both forward and reverse directions. Here is a sample Arduino sketch you can use to test the motors. Edit the code to check each motor and direction, and double-check the circuit for any motor that doesn`t behave as expected. Here`s the schematic circuit diagram of one QRD line sensor connected to the Arduino. You will be wiring two of these, so your robot can tell whether it is on the line, off a little bit to the left, off a little bit to the right, or completely off the line. Now test that both QRD1114`s are operating correctly, and sending a proper signal to the Arduino. Here is a sample Arduino sketch to test the circuits. Make sure you are getting a good range of values from both sensors between light and dark. Make a not of the highest and lowest values you get from each sensor. You will use a value half way in between these for your "cut off" or "threshold" value. This is the boundary value we`ll use to decide if the sensor is seeing the dark line or not.

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