An embedded systems project using the HCS12 microcontroller to program an autonomous robot that navigates a black-line maze using light sensors and wall detection. Written entirely in assembly language, the robot uses a finite state machine (FSM) to follow the line, avoid dead ends, and reach the maze's goal efficiently.
- ✅ Light sensor-based black line detection and tracking
- 🔁 FSM-driven navigation with real-time state transitions
- 🧱 Wall detection and backtracking to avoid loops/dead ends
- ⚡ Optimized performance:
- 90%+ on-track accuracy (up from ~60% after tuning)
- 50% reduction in idle states during maze traversal
- HCS12 Microcontroller
- Assembly Language (ASM)
- CodeWarrior IDE
- FSM Design Principles
- Digital Light Sensors
All Working code can be found in /Sources/main.asm
Developed as part of a 3-person team for a university lab.
I led the FSM design and optimization, and contributed to sensor calibration and movement logic.
- Low-level hardware interfacing and real-time control using assembly
- Designing efficient state machines for embedded navigation tasks
- Calibrating noisy analog inputs (light sensors) for reliable decision-making
For questions or collaboration ideas:
Heitan Kandasamy – heitan104@gmail.com – @Heitan104