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Reference

Line Tracking Sensor

Overview
The VEX Line Tracking Sensor allows the robot to tell objects or surfaces apart based on how dark or light they are. It shines a beam ofinfrared light out onto the object, and measures how much light is reflected back. The Line Tracking Sensor is an analog sensor, and it returns values in the range of 0 to 4095. Darker objects reflect lesslight, and are indicated by higher numbers. Lighter objects reflect more light, and are indicated by lower numbers.

The Line Tracking Sensor for VEX

The Line Tracking Sensor is most useful fordetecting a contrast between dark and light objects. This makes it particularly well suited for tracking dark lines on light surfaces. The VEX Line Tracker kit currently comes as a set of three LineTracking Sensors, which allows for even more accurate line following and a greater ability to handle curved paths and corners. For best results when using the Line Tracking Sensors, it is best to mountthe sensors between 1/8 and 1/4 of an inch away from the surface it is measuring. It is also important to keep lighting in the room consistent, so sensors’ readings remain accurate.
An array of LineTracking Sensors on a Vex Robot

Note: Remember that it is important to calibrate your Line Tracking Sensors by calculating a threshold value. For more help on calculating thresholds, see the“Thresholds” reference document.

© Carnegie Mellon Robotics Academy / For use with VEX robotics systems

Line Tracking Sensor • 1

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Reference

Line Tracking Sensor

Natural LanguageSample Code

Forward Until Dark This code has the robot use a Line Tracking Sensor to move forward until it senses a dark object, such as a dark line on a white background. This code uses a LineTracking Sensor that is wired to Analog Port 2.

task main () { robotType(recbot); forward(63); untilDark(500); stop();

//Specifies the robot type //Move forward at power level 63 //Wait until the...