This sensor is used to the measure the distance from the right side of the robot to the wall. The sensor is particularly helpful when used with the line following strategy. There are four pairs of LEDs and photo resistors. They was attached a lego plate, which was adhered to the bottom of the robot's main body. Left, Middle, Right and Back.
Middle pair is used to detect the start light.
Left, Right, and Back pairs will detect the colors of the platform area right underneath the robot. Beacon A beacon is put on small lego plate that was glued at the end of a pole. It is located around 17 inches high from the bottom of the contest platform. There are two shaft encoders used in our robot. One is in the left, and the other is in the right of the robot.