User Manual

Pololu Baby Orangutan B-328 [https://www.pololu.com/product/1220]: a mega328 version

of the above. The mega328 offers more memory for your programs (32 KB flash, 2 KB

RAM). This library also supports the Baby Orangutan B-168 [https://www.pololu.com/

product/1216], which was replaced by the Baby B-328.

Pololu QTR-1A [https://www.pololu.com/product/958] and QTR-8A [https://www.pololu.com/

product/960] reflectance sensors (analog): an analog sensor containing IR/

phototransistor pairs that allows a robot to detect the difference between shades of color.

The QTR sensors can be used for following lines on the floor, for obstacle or drop-off

(stairway) detection, and for various other applications.

Pololu QTR-1RC [https://www.pololu.com/product/959] and QTR-8RC [https://www.pololu.com/

product/961] reflectance sensors (RC): a version of the above that is read using digital

inputs; this is compatible with the Parallax QTI sensors.

Encoder for Pololu Wheel 42×19 mm [https://www.pololu.com/product/1217]: a wheel

encoder solution that allows a robot to measure how far it has traveled.

For detailed information about all of the functions available in the library, see the command reference

[https://www.pololu.com/docs/0J18].

Note that the library is designed for Atmel’s AVR-based boards like the Orangutans: to use it with the

QTR sensors, your controller must be either an Orangutan or another board built with an ATmega48/

168/328P or ATmega324PA/644P/1284P AVR microcontroller.

This document covers use of the library in a C/C++ programming environment. Some parts of the

library can also be used in the Arduino [http://www.arduino.cc] IDE. See our guide to using Arduino

with Orangutan controllers [https://www.pololu.com/docs/0J17] for more information.

If you want to control a Pololu QTR reflectance sensor with an Arduino, please see our Arduino

Library for the Pololu QTR Reflectance Sensors [https://www.pololu.com/docs/0J19].

1. Introduction Page 3 of 56