5-Channel Reflectance Sensor Array for Balboa 32U4

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:

1. Turn on IR LEDs (optional).
2. Set the I/O line to an output and drive it high.
3. Allow at least 10 ?s for the sensor output to rise.
4. Make the I/O line an input (high impedance).
5. Measure the time for the voltage to decay by waiting for the I/O line to go low.
6. Turn off IR LEDs (optional).

Specifications:

• Voltage: 5 V
• Peak wavelength: 940 nm
• Maximum current draw: 40 mA