Normalization process is important and necessary for reducing the affecting factors from different sensors and different environments. However, what we get actually will be the Min output value higher than 0 and the Max output value lower than 1023. For example, if we apply 10AD for sampling, we may get the output range from 0 to 1023 theoretically. Furthermore, environment can affect the range of analog output. In the following section, we are going to present the algorithm in three parts.Дifferent sensors may output different results for the same color and distance. Compare to any other module only with logical (HIGH/LOW) output, we can get more precise result from the analog output of this module. So it is easy to get the distance from the black line by checking the analog output (The closer distance between the sensor and the black line, the smaller output value you will get). When the sensor is getting close to a black line, the output value will come to smaller and smaller. The detected object with higher infrared reflectance (in white) will make larger output value, and the one with lower infrared reflectance (in black) will make smaller output value.

Tracker Sensor has five analog outputs, and the outputted data are affected by the distance and the color of the detected object.

Getting Started Principle of line tracking Tracker Sensor, robot infrared line tracking

2.2 AlphaBot tracker module example explanation.

Ir module in proteus library