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This was my second Line following robot. After lots of runs I made some changes to the position of the IR sensors. I used the IR TX pair combination for the line sensor. Four Sensors are placed in one line which tracks any line whose angle can be +/- 90 degrees and two more sensors in a second line at the extremes sides of the robot which can detect angles greater than +/- 90 degrees.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/my-second-line-following-robot