The voltage divider on the reflectance sensors produces a voltage that is dependent on the inferred signal. A “mark” is administered by the Arduino each time the sensor picks up a non-reflective surface (“User Manual – Reflectance Sensor”, 3).
The sensors are secured close to the wheel to guarantee a valid signal is picked up by the sensors. The sensors record 8 marks for each revolution of the wheel. These marks can be converted into engineering units to measure the distance covered by the wheel per mark (“User Manual – Reflectance Sensor”, 4). Knowing this distance as a function of time (mark) allows for specific calculations of how long the vehicle needs to run to reach a specific point.
