Simplicity is a line following robot that can follow a black line on a white surface and its purpose is to follow a line at the fastest possible speed while avoiding falling off, it uses digital sensors (HIGH,LOW) to detect a line to change the percentage of the PWM to turn and avoid falling off the line. Considering each motors maximum stall current is rated at 650mA @ 6v and the L293D MAX for each channel is 1amp I really didn’t need to add a second L293D, but decided to as a safety precaution because I am running this at 7.7v so current could roughly peak to 900mA. Why digital sensors instead of analog? “Simplicity”, ok seriously It was just a choice and realized for this simple project I would use digital sensors.

Parts used were:
3×2 PCB Board
PIC16F876A
2x L293D
Pololu QTR-8RC Sensor Array
Solarbotics RW2 Wheels
Pololu 25:1 Metal Gear Motor HP (Discontinued)
Pololu Metal Gear Motor Mounting Bracket

Chassis were  laser cut out of 1/16″ delrin (body) and 1/8″ acrylic (light enclosure)

Simplicity (My line following robot)