User Manual

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.

The library is written in C++ with C wrapper functions of all of the methods and may be used in three different

programming environments:

• C++: supported by the AVR-GCC/WinAVR project. See the Pololu AVR Programming Quick Start

Guide [https://www.pololu.com/docs/0J51] to get started.

• C / Atmel Studio: bindings to the C language are included in the library so that you can write programs

entirely in C, which is the standard for Atmel Studio [http://www.atmel.com/microsite/atmel_studio6/]. See the

Pololu AVR Programming Quick Start Guide [https://www.pololu.com/docs/0J51] to get started.

• Arduino [http://www.arduino.cc]: a popular, beginner-friendly programming environment for the

ATmega168/328, using simplified C++ code. We have written a guide to using Arduino with Orangutan

controllers [https://www.pololu.com/docs/0J17] to help you get started.

For more information, see the Pololu AVR C/C++ Library User’s Guide [https://www.pololu.com/docs/0J20].

1. Introduction Page 4 of 65