HOG Drive Line Following with QRD1114 Sensors

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I’m using QRD1114 Infrared sensors to control the movement of a Hemispherical Omnidirectional Gimballed (HOG) Drive for a line riding robot.

I’ll probably mount five of them in a row so I can expand the code and make a maze-solving robot. This thing is fast enough that I’m also going to need a PID controller in the software.