![]() All LED’s are darkĬase 5: Entire surface is black. Right LED glowsĬase 4: Black line not detected. Left LED glowsĬase 3: Black line is at the right. Middle LED glowsĬase 2: Black line is at the left. If it is not glowing, black line is not present under that LED.Ĭase 1: Black line is in the middle. If an LED is glowing, black line is present under it. Basically the lights on the Turtlebot indicate presence of black line. It can be confusing at the start but don’t worry you’ll get the hang of it soon. ![]() So though your sensors detect 1,0,1 i.e black line in the centre, the LEDs glow in the pattern 0,1,0 and 0,1,0 is fed to the microcontroller. But it is a feature of the turtlebot that when IR digital output pin reads LOW, it is inverted to read HIGH on the LED. The digital output of the IR sensor is connected to the indicator LED. IR sensors detect full reflection or white suface as 1 and no reflection or black surface as 0. This may seem weird if you have read the IR sensor post above, but it depends on where the photodiode is connected. ![]() In the Proteus simulation turtlebot, when following a black line on white background, the sensor LED glows when it detects a black line. A line follower typically has 3 IR sensors. ![]()
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