Digilent 240-050P User Manual
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Revision: August 1, 2012
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1300 Henley Court, Suite 3
Pullman, WA 99163
(509) 334 6306 Voice | (509) 334 6300 Fax
Overview
The Digilent Line-Following Motor Robot Kit (MRK+Line) provides the perfect starting point for those
new to robotics, but has the power to be used for advanced designs and applications as well. The
MRK+Line pairs our powerful Cerebot™ MX4cK microcontroller development board with a rugged
steel platform and all the motors, wheels, sensors, and other parts needed to build a complete robot.
This document demonstrates a simple design that will get your MRK+Line up and running, using its
four IROS sensors to follow a dark line on a lightly colored surface. Using your MRK+Line’s powerful
Cerebot MX4cK microcontroller, you’ll be able to add all sorts of functionality to your robot. Add some
of our extensive line of peripheral modules (Pmods™) and you can design almost anything!
Your Cerebot MX4cK can be programmed with either Microchip MPLAB® IDE or chipKIT™ MPIDE.
Microchip MPLAB IDE can be downloaded for free from microchip.com. chipKIT MPIDE can be
downloaded for free from github.com/chipKIT32/chipKIT32-MAX/downloads.
The demo project used in this design can be downloaded from the Line Following Motor Robot Kit
product page at digilentinc.com. For more information on programming the Cerebot MX4cK with
MPLAB or MPIDE, see the Cerebot MX4cK Reference Manual, available from the Cerebot MX4cK
product page at digilentinc.com.
Included parts:
• Cerebot MX4cK
• PmodLS1 with 6-pin cable
• Two PmodHB5 2A H-bridge motor amplifiers with attachment clips and 6-pin cables
• Four IROS sensors
• metal standoffs for microcontroller board
• rugged metal platform with holes on 1/2" center
• two 1/19 ratio motor/gearbox drives with ABS plastic wheels (1/53 gear ratio motors also
available)
• rugged plastic wheels and drag button
• rugged metal motor mount
• all wiring and assembly hardware included
• angled bracket
• 4” Velcro mounting strip
• 6” 6-pin cable
Functional Description
The rugged steel components have holes on 1/2" centers so Digilent circuit boards and other vendors’
products can be easily attached.
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MRK+Line Reference Manual
The following tools are recommended for robot assembly:
• regular and small Phillips head screwdrivers
• adjustable wrench
• pliers
• wire stripper
Example Assembly
1. Place the motor mount on the right side of the platform. Attach it with two screws.
2. Attach the motors to the motor mount with the miniature screws.
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MRK+Line Reference Manual
3. Attach the battery holder to the platform (near the motor mount) using the shorter Velcro strip.
4. Attach the Pmod clips to the metal platform on both sides of the battery holder.
5. Attach the drag button to the platform, below the battery holder.
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MRK+Line Reference Manual
6. Attach the two PmodHB5 modules to the Pmod clips and connect them to the motors.
7. Get the two wheels and the rubber traction bands. Stretch the rubber band around the outside
of the wheel. Attach the wheels to the motors.
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