This project is based on the Fire Bird V ATMEGA2560 robot, a microcontroller-based development platform designed at IIT Bombay under the MHRD e-Yantra initiative. Fire Bird V is the fifth robot in its series and follows an open-source doctrine in both hardware and software, ensuring compatibility with environments like Keil, Matlab, Scilab, and LabVIEW.
The robot uses:
- ATmega2560 as the master controller
- ATmega8 as the slave controller
to control various sensors and actuators for tasks like line following and obstacle detection.
- Microcontrollers:
- ATmega2560 (Master)
- ATmega8 (Slave)
- Sensors:
- 3 IR Proximity Sensors (Port F: 5, 6, 7)
- 3 White Line Sensors (Port F: 1, 2, 3)
- Actuators:
- Motors (controlled via L293D motor driver)
- Buzzer
- Displays:
- LCD Display
- Others:
- SHARP IR sensor
- Ni-MH Battery
- LEDs
The project is implemented using Atmel Studio, with direct register-level programming of the ATmega2560 microcontroller.
| Function | Register/Port Used |
|---|---|
| Motor Direction Control | DDRA, PORTA (0–3) |
| Motor PWM Control | PORTL (3, 4), OCR5A, OCR5B |
| Line Sensor Inputs | PORTF (1, 2, 3) |
| IR Sensor Inputs | PORTF (5, 6, 7) |
| ADC Configuration | ADMUX, ADCSRA, ADCSRB |
| Timer for PWM | TCCR5A, TCCR5B |
The core logic for line following and obstacle avoidance is implemented in the following main file:
| File Path | Description |
|---|---|
Fire_bird_project/Fire_bird_project/main.c |
Main program controlling robot behavior — including line following, IR sensing, motor control via PWM, and decision-making logic based on sensor data. |
This file:
- Initializes ports, ADC, timers, and LCD.
- Reads input from IR and line sensors.
- Uses PWM to control motor direction and speed.
- Contains the FSM logic (
process()) to switch between line-following and obstacle-avoidance behavior.
Additional helper functions like fwd(), fwd_left(), stop(), and ADC_Conversion() are defined here for modularity and clarity.
- Fire Bird V ATMEGA2560 Hardware Manual
- Fire Bird V MK2LPC2148 Software Manual
- e-Yantra Final Report (2018–19)
The project includes modular unit codes organized by microcontroller platform for better structure and maintainability.
| Unit | Path | Description |
|---|---|---|
| LCD | atmega2560/LCD/main.c |
Controls the LCD display |
| Buzzer | atmega2560/Buzzer/main.c |
Buzzer control and alerts |
| UART | atmega2560/uart/main.c |
UART communication interface |
| Unit | Path | Description |
|---|---|---|
| Buzzer | LPC2148/Buzzer/main.c |
Buzzer control on LPC2148 |
This project was developed as part of the e-Yantra Summer Internship Program at IIT Bombay (2018–19), under the theme: Different Line Following Path with Object Sensing.
- Sahil Rajpurkar (1613130)
- Shrey Shah (1613042)
- Surya Maheswar (1613048)
This project is an educational open-source project developed under the e-Yantra Internship Program by IIT Bombay, sponsored by the MHRD, Government of India.