Re: IR Beam Breaking Circuit
 

Yes,
Multiple sensors can be powered from a single 20 amp breaker. All other electrical rules apply however, including only one wire per Wago terminal. You can bring the sensors to a common enclosed circuit board (preferred) or you can tie them to a barrier strip or terminal block as long as the connections are insulated. It can be considered a custom circuit and so the stated rules allow you to fuse the power line in the circuit per par G. If you use the circuit board method, a fuse on the board is a good idea. Then you can connect the sensors to the board and use your own connector to wire the outputs to your breakouts.

Re: IR Beam Breaking Circuit
 

Thanks Al, I thought that might be the case but I wasn't sure if this would be considered a custom circuit. Very good information.

Re: IR Beam Breaking Circuit
 

Rather than using a breakbeam sensor, we rigged up an IR rangefinder instead. The voltage it returns increases as an object moves closer to the rangefinder. So with it mounted in a fixed position in our frame, there's a baseline value that the voltage is steady at when there is no ball in position. When a ball enters the frame perimeter, the voltage spikes up (well alright, it increases by less than half a volt :p). So the code just compares the reading every cycle to the reading taken upon initialization and when it increases enough, alerts the driver that a ball is in place through the dashboard (still getting this to work), or allows the bot to know when to kick in autonomous.