How to Use XLINE 16 Line Follower: Examples, Pinouts, and Specs

The XLINE 16 Line Follower is a sensor module designed by ROBOLİG(KOKBORU) for detecting and following lines on a surface. This component is commonly used in automated guided vehicles (AGVs) and robots for navigation purposes. By utilizing an array of sensors, the XLINE 16 can accurately detect the presence and position of lines, enabling precise control and movement along predefined paths.

1. Power Supply: Connect the VCC pin to a 3.3V or 5V power supply and the GND pin to the ground of your circuit.
2. I2C Communication: Connect the SDA and SCL pins to the corresponding I2C pins on your microcontroller (e.g., Arduino UNO).
3. Digital Outputs: The digital output pins (D0-D15) can be connected to digital input pins on your microcontroller to read the state of each sensor.

• Power Supply: Ensure that the power supply voltage is within the specified range (3.3V - 5V) to avoid damaging the sensor module.
• I2C Pull-up Resistors: If your microcontroller does not have internal pull-up resistors for the I2C lines, you may need to add external pull-up resistors (typically 4.7kΩ) between the SDA/SCL lines and VCC.
• Sensor Calibration: Depending on the surface and lighting conditions, you may need to calibrate the sensors to achieve optimal performance. This can be done by adjusting the threshold values in your code.

#include <Wire.h>

#define SENSOR_ADDRESS 0x3C // I2C address of the XLINE 16 Line Follower

void setup() {
  Serial.begin(9600); // Initialize serial communication
  Wire.begin();       // Initialize I2C communication
}

void loop() {
  Wire.beginTransmission(SENSOR_ADDRESS);
  Wire.write(0x00); // Request data from the sensor
  Wire.endTransmission();
  
  Wire.requestFrom(SENSOR_ADDRESS, 16); // Request 16 bytes of data
  
  while (Wire.available()) {
    for (int i = 0; i < 16; i++) {
      int sensorValue = Wire.read(); // Read each sensor value
      Serial.print("Sensor ");
      Serial.print(i);
      Serial.print(": ");
      Serial.println(sensorValue);
    }
  }
  
  delay(100); // Delay for readability
}

1. No Sensor Data: If you are not receiving any data from the sensor, check the I2C connections and ensure that the sensor is powered correctly.
2. Inconsistent Readings: If the sensor readings are inconsistent, try calibrating the sensors and ensure that the surface is clean and well-lit.
3. I2C Communication Errors: If you encounter I2C communication errors, check the pull-up resistors on the SDA and SCL lines and ensure that the I2C address is correct.

• Check Connections: Ensure that all connections are secure and that there are no loose wires.
• Verify Power Supply: Make sure that the power supply voltage is within the specified range (3.3V - 5V).
• Calibrate Sensors: Adjust the threshold values in your code to calibrate the sensors for different surfaces and lighting conditions.
• Use Pull-up Resistors: If necessary, add external pull-up resistors (typically 4.7kΩ) between the SDA/SCL lines and VCC to ensure proper I2C communication.

By following this documentation, you should be able to effectively integrate and utilize the XLINE 16 Line Follower in your robotics projects. If you encounter any issues or have further questions, please refer to the troubleshooting section or contact the manufacturer for support.