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Line following robot need help PLS!!!

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cs342

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hi
i am new here and this is my first robot building experiance. i am trying to build a 'mouse' that will follow a magnetic line around a track. I have done a circuit diagram of what i think will work on ORCAD (i have attatched it if you want to have a look).

The circuit can be broken down into 3 different parts, the sensor circuit, the controller and the motor drive. i have managed to build the sensor circuits and have tried to build the rest however it is not working!! can anyone spot anywhere where i have gone wrong.

Another idea i had was to keep one motor running at constant speed and using the other to steer the 'mouse'. would i need a summing amplifier for that instead of the differential?

anyother advice you can give would be appreciated
thanks!
 

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