[zbanks]

To address the OP, the light sensors are pretty easy to use... almost too easy.

They're purely digital. If you power them, you can use the indicator LED to calibrate them. The knob sets the sensitivity, so you don't have to set it in code. Two of the wires are for power, the other two are output. One is normally-open, the other is normally-closed. You only have to wire up one: I'd suggest normally-open, but do whichever makes more sense for you.

Once its on your robot, you'll get a certain boolean value over light areas, and another over dark ones.

Theoretically, you only need one sensor to track a line. Dark: go left, Light: go right; you'll end up following the right edge of the line. With two, you could have them strattle the line and react accordingly, giving you a bit more hysteresis.

If your robot has an unconventional drive system, it will work on the same exact principle. I wouldn't think you would run into any additional problems unless your drive system itself fails.


Strangely enough, I think KISS might apply here. If you can calibrate your encoders correctly, I wouldn't be surprised if you could forgo the line sensors entirely. Encoders aren't sensitive to light/field conditions, and they're extremely simple to mount. Also, the lines on the field help so much: the two end lines put you in the middle of two columns of pegs & you'll have to maneuver a bit more anyways.