4 layers126.6 × 37.7 mm
Gruzik2.0
NYDEREK/LineFollower_GRUZIK2.0-light
GRUZIK2.0 is simple light construction made for "line follower light" competition
50 parts101MIT
2 layers150 × 47 mm
Line follower Fallout
ZIZO932/Line-follower-Bot2A line follower robot i built from scratch, schematic, PCB, and all. it uses an 8 channel sensor array to track the line and a PID loop to stay on it and handle sharp turns without freaking out. also has bluetooth built in so i could tune the PID values live instead of reuploading code every time.
- Size
- 150 × 47 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 23
- Nets
- 44
- Pads
- 102
- Tracks, vias
- 162, 0
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 25 Jun 2026
- Updated
- 23 Oct 2026
Overview
Line follower Fallout is an open-source printed circuit board by ZIZO932, from the ZIZO932/Line-follower-Bot repository on GitHub. It is a 2-layer board of 150 × 47 mm with 23 parts on 44 nets, routed with 162 tracks and 0 vias.
It is built around the HC-05. Its parts include 4 resistors, 3 connectors, 2 ICs and 1 switch.
Main components
1README
README.mdLine Follower Bot
This is my competition line follower. Our team won first place in the seniors line follower category at TechnoXian Egypt and qualified for the World Cup in Malaysia. I worked on the custom PCB, mechanical design, assembly, and tuning.
What I wanted to learn
I wanted to understand PID control properly, so I researched existing line followers and built my own version around an Arduino Pro Mini and a QTR-8RC sensor array.
The robot uses the sensor array to read the line and adjust the two motors. I also added an HC-05 Bluetooth module so I could change tuning values without uploading the code again every time.
Hardware
- Arduino Pro Mini
- QTR-8RC eight-channel reflectance sensor array
- Dual motor driver, listed as DRV8835 in the original design notes
- HC-05 Bluetooth module
- 7.4 V battery and 5 V regulator
- Power switch and buttons
- Custom PCB and printed chassis, sensor mount, and battery support
The original parts list names a DRV8835, but its supplier link points to a DRV8833. Check the circuit files and the board you're using before treating that link as an exact replacement.
How the build went
I started with the schematic, then moved to the PCB. There were footprint issues to fix before routing, and I added mounting holes so the board could screw into the body.
I designed the chassis around the electronics, keeping the sensor low and aligned with the ground and giving the battery its own support. Before the PCB arrived, I tested the controller, Bluetooth connection, motor directions, sensor channels, and regulator on a breadboard. That caught some wiring mistakes early.
Once the board arrived, I soldered it, checked for bridges and wrong orientations, and checked power and ground with a multimeter before powering it up.
CAD
Tuning and demo
The values recorded in my build notes were Kp = 0.02, Ki = 0, and Kd = 0.6. Those belong to this setup and aren't universal settings for another robot.
Watch the S-shaped track demo or open the uploaded video.
The sketch currently uploaded in Firmware/ is a motor direction test. Despite its filename, it isn't the full PID or Bluetooth tuning firmware.
Parts list
These are the original component estimates and supplier links. They aren't current prices or a complete cost for the whole robot.
Zine
Files
- CAD — assembly and STEP model
- Individual SolidWorks parts
- Schematic, PCB, and Gerbers
- Motor test sketch
- BOM
- Build journal
I'm also planning a new standalone ATmega328P design: Line-E.
Made by Ziad, or Zizo if you know me from Hack Club.
Parts
23| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | MountingHole | MountingHole:MountingHole_2.2mm_M2_DIN965 | H1, H2, H3, H4, H5, H6, H7, H8 |
| 4 | 1k | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal | R1, R2, R3, R4 |
| 2 | Button | Button_Switch_THT:SW_PUSH_6mm_H4.3mm | B1, B2 |
| 2 | Motor Connector | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | M1, M2 |
| 1 | Arduino_Mini_01_Socket | PCM_arduino-library:Arduino_Mini_Socket | A1 |
| 1 | Battery Connector (7.4V) | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J2 |
| 1 | DRV8835DSSR | Package_DIP:DIP-14_W10.16mm | U1 |
| 1 | HC-05 | ZC142200:MODULE_ZC142200 | U2 |
| 1 | QTR-8RC Line Sensor | Connector_PinHeader_2.54mm:PinHeader_1x11_P2.54mm_Vertical | J3 |
| 1 | S7V7F5 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J1 |
| 1 | Switch | MINI-SPDT-SW:SW_MINI-SPDT-SW | S1 |
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Questions
How big is the Line follower Fallout PCB?
It measures 150 × 47 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Line follower Fallout use?
23 parts, built around the HC-05. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Line follower Fallout KiCad files?
From the ZIZO932/Line-follower-Bot repository on GitHub, at the commit this page was made from: the board is Schematic and PCB/Line follower Fallout.kicad_pcb and its schematic Schematic and PCB/Line follower Fallout.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Line follower Fallout design in my own project?
Its repository states no licence, so its author keeps all rights: ask ZIZO932 before reusing the design.