The 5-Channel Reflectance Sensor Array for Balboa provides an easy way to add line sensing to the Balboa 32U4 Balancing Robot. It features five separate reflectance sensors, each consisting of a dimmable IR emitter coupled with a phototransistor that responds based on how much emitter light is reflected back to it. The array is intended for Balboas assembled with 80×10mm wheels that are operating in upright (balancing) orientations.
The typical sequence for reading a sensor is:
Turn on IR LEDs (optional).
Set the I/O line to an output and drive it high.
Allow at least 10 ?s for the sensor output to rise.
Make the I/O line an input (high impedance).
Measure the time for the voltage to decay by waiting for the I/O line to go low.
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