I2C Line Following Sensor

I2C Line Following Sensor

This I2C Line Following sensor allows your robot to track a line on the floor using five sensors. The five onboard sensors see white or black, which allow you to track a white line against a black background, or a black line against a white background.
In addition to the five onboard sensors, we added two additional inputs to the sides of the board. This allows you to connect any kind of sensor that outputs 0-5V, and query them through the board. This allows you to connect additional Single Line Following Sensors, Bump Sensors, and/or Cliff detection sensors.
When queried, the onboard firmware returns a single byte representing the status of all five sensors and the two additional inputs, in a range from 0 to 127, where 0 means all sensors see 'white' and 127 means all sensors see 'black'.
The sensor board has four typical I2C inputs (Vcc, Sda, Scl, and Gnd), two GPIO inputs (Gnd, Vcc, Signal), and requires a Vcc of +5V.
The sensing distance is approximately 0.04 inches to 0.5 inches (1mm to 12mm).
Two holes on the board allow the Line Following sensor board to be rigidly mounted to your robot.
The Line Following sensor board has a bi-color (red/green) LED. The Red LED is used to indicate when power is applied to the sensor. The Green LED flashes to communicate the currently programmed I2C address upon power up. It is then used to indicate if any of the sensors see white or black. If the green LED is off, then all of the sensors see black, otherwise if any of the seven sensors see white, the green LED lights up.