Build a robot capable of:

• Following a black line from the starting point
• Detecting a color split (red or green branching paths)
• Autonomously choosing and following one colored path to the finish

┌─────────────────────────────────────────────────────────┐
│                    PIN ASSIGNMENTS                      │
├─────────────────────────────────────────────────────────┤
│  TCS3200 Color Sensor          L298N Motor Driver       │
│  ├── S0  → Pin 4               ├── ENA → A0             │
│  ├── S1  → Pin 5               ├── IN1 → A1             │
│  ├── S2  → Pin 6               ├── IN2 → A2             │
│  ├── S3  → Pin 7               ├── ENB → A3             │
│  └── OUT → Pin 12              ├── IN3 → Pin 13         │
│                                └── IN4 → A4             │
│  HC-SR04 Ultrasonic                                     │
│  ├── TRIG → Pin 8                                       │
│  └── ECHO → Pin 9                                       │
└─────────────────────────────────────────────────────────┘

┌─────────┐     Detect Red      ┌────────────┐
│  START  │ ─────────────────── │ FOLLOW_RED │
│ (Black) │                     └────────────┘
└────┬────┘
     │
     │ Detect Green   ┌──────────────┐
     └───────────────▶│ FOLLOW_GREEN │
                      └──────────────┘

Our single-sensor probing technique enables accurate line following without the need for a sensor array:

1. Assess - Read color score at current heading
2. Probe Left - Rotate left and measure line confidence
3. Probe Right - Rotate right and measure line confidence
4. Decide - Turn toward the direction with higher score
5. Advance - Drive forward along corrected heading

The TCS3200 outputs frequency proportional to detected light intensity. We sample RGB + Clear channels, normalize the readings, and classify:

// Normalized RGB gives color-independent of ambient lighting
// Red dominant?   → RED path
// Green dominant? → GREEN path  
// Dark surface?   → BLACK line
// Otherwise       → WHITE floor

1. Mount the TCS3200 sensor facing downward, ~1-2cm from the ground
2. Connect motors to L298N outputs (A/B channels)
3. Wire all components according to pin configuration above
4. Power the L298N with 7-12V battery supply

# Clone this repository
git clone https://github.com/yourusername/UtraHacks-Bot.git

# Open in Arduino IDE or PlatformIO
# Upload to your Arduino board

1. Place robot on white surface
2. Power on and wait ~1.2 seconds
3. The robot auto-calibrates its white baseline
4. Place on track and watch it go! 🏁

Fine-tune behavior by adjusting these constants:

• Response Time: ~140ms decision cycle
• Color Samples: 3 samples per channel (median filter)
• Accuracy: Handles tight curves and 90° turns
• Split Detection: Stable classification before path commitment

• Implement ultrasonic obstacle avoidance
• Add PID control for smoother line following
• Integrate IMU for drift compensation
• Wireless telemetry via Bluetooth/WiFi

Built with ❤️ for UTra Hacks