The infrared LEDs (IREDs) in the line follower emit two infrared beams at a

wavelength
of 950 nanometers (just within the infrared portion of the spectrum). If there
is a white
surface beneath the IR beams, the beams reflect back up to one of the
phototransistors.
The phototransistors, with a peak sensitivity of 850 nanometers (nm) have
enough
bandwidth to detect the 950 nm IRED radiation. Dark surfaces on the other
hand, like
4
black electricians tape, do not reflect the IR beams back up to the
phototransistors. With
phototransistor/IRED pairs on the left and the right side of the line follower,
black and
white regions can be detected on the left, right, or on both sides of the robot.
Two 330 ohm resistors control the brightness of the IREDs. Since each 330
ohm resistor
and IRED series circuit is supplied with +5 volts and each IRED has a forward
voltage of
1.5 volts, only 3.5 volts is dropped across each resistor. According to Ohm’s
Law, the
current flowing through the resistors and therefore the IREDs is 3.5 volts/330
ohms or
0.011 amps (11 milliamps).
The sensitivity of the phototransistors is sufficient to detect the reflected
beam of an
IRED from several inches. Notice each phototransistor has a 47k ohm resistor
connecting its collector to five volts. The resistor limits the maximum current
flowing
through the phototransistor when it conducts and it also acts like a voltage
divider in
conjunction with the conducting phototransistor.
When no reflected IR shines on the phototransistor, current from the line
follower’s +5V
cannot flow though the phototransistor to ground. Instead, the current flows
into the
phototransistor’s output wire producing a +5V signal for the robot controller.
Therefore,
the presence of +5V indicates that phototransistor is sensing a black surface.
When
reflected IR shines on the phototransistor, most of the current from line
follower’s +5V
flows through the phototransistor to ground producing less than 1.4V on the
phototransistor’s output wire. The presence of low voltage indicates that the
phototransistor is detecting a white surface.