How it works

QT is based on a Raspberry PI 4
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The core

The core of Qt is a Respberry PI4 plus some other electronics to glue things together also for future development non related to Piwar.

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Sensors

The modified reflector sensor uses two LEDs that are alternatively lit to check if the line is within the width.. that makes the sensor smaller. 

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Shooter

The shooter is based on a spring loaded mechanism that is released by melting hot glue with a resistor.. see the videos in the YouTube channel "TheMakingQt"

QT

Specification

QT is made of Plexiglas, wood and 3D printed parts and it's based on RPI4. It's a low profile robot (3 layers of electronics in a body 50mm thick). It has just 2 driving wheels (encoded DC motors). Without extensions it weights 600g (700g with Lithium or 1200g with SLA lead batteries). The shooter has it's own LiFePO4 battery because it needs up to 10W to operate. Each battery can run for 2h circa. The remote control and line follower has been coded in C/C++, the rest is in Python and openCV.

We are using one reflecting infrared sensor illuminated by two alternating IR LEDs to check if the robot is within the track. It's easier to adjust (just one pot) smaller and lower power.. We have encoded motors, we can read the battery voltage and shut down Linux safely, it's ready for two ultrasonic sensors and more I1C sensors.

The I2C is used for an OLED display to show the IP address, status and mode (that is the program selected to run a challange).  

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