https://github.com/parminderbadhan/autonomous-robot-roaming

This project programs an EEBot robot in HCS12 assembly to autonomously navigate a maze by following a line, detecting intersections, learning the correct path, and retracing its route back to the start.
https://github.com/parminderbadhan/autonomous-robot-roaming

assembly embedded-systems

Last synced: 9 months ago
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This project programs an EEBot robot in HCS12 assembly to autonomously navigate a maze by following a line, detecting intersections, learning the correct path, and retracing its route back to the start.

• Host: GitHub
• URL: https://github.com/parminderbadhan/autonomous-robot-roaming
• Owner: parminderBadhan
• License: mit
• Created: 2025-09-30T04:10:32.000Z (9 months ago)
• Default Branch: main
• Last Pushed: 2025-09-30T04:24:47.000Z (9 months ago)
• Last Synced: 2025-09-30T06:16:26.153Z (9 months ago)
• Topics: assembly, embedded-systems
• Homepage:
• Size: 15.6 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Autonomous-Robot-Roaming robot 🤖

**📌 Overview**

This project implements a fully autonomous navigation system for the EEBot mobile robot using HCS12 (9S12) assembly language. The robot is capable of exploring and solving a maze by following a guide line, making decisions at intersections, detecting dead ends, and learning the correct path. Once the destination is reached, the robot retraces its steps back to the starting point — demonstrating basic memory, decision-making, and state machine design.

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**🧭 Key Features:**

- 🧭 Line Following – Uses guider sensors to follow a maze path in real time.

- 🔀 Intersection Detection & Decision-Making – Recognizes L and T junctions and chooses a branch.

- 🔄 Dead-End Detection & Recovery – Detects obstacles via bumper sensors and performs a 180° turn.

- 🧠 Maze Learning – Records incorrect and correct branches to learn the maze structure.

- 🔙 Reverse Navigation – Retraces the correct path back to the start without error.

- 📊 System Feedback – Displays sensor readings, battery voltage, and current state on an LCD.

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**⚙️ State Machine Design:**

The robot’s behavior is controlled by a finite state machine with the following states:

| State          | Description                                      |

|---------------|--------------------------------------------------|

| `START`       | Initial state, waits for bumper input to begin.  |

| `FWD`         | Follows the line forward.                        |

| `ALL_STP`     | Stops all motors.                                |

| `LEFT_TRN`    | Executes a left turn.                            |

| `RIGHT_TRN`   | Executes a right turn.                           |

| `REV_TRN`     | Performs a 180° turn when a dead end is detected.|

| `LEFT_ALIGN`  | Fine alignment left adjustment.                 |

| `RIGHT_ALIGN` | Fine alignment right adjustment.                |

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**🔌 Hardware Components:**

- HCS12 Microcontroller (9S12C32)

- EEBot Platform with dual DC motors

- Line Guider Sensor Array (5 IR photodiodes)

- Bumper Sensors (Front and Rear)

- 16x2 LCD Display

- ADC (Analog-to-Digital Converter) for sensor readings