# Introduction to Grayscale Sensor and Frequently Asked Questions



### Basic Introduction

* A grayscale sensor is as shown below. The button on the left is the Record, and the right button is the Reset.
* The Route terminal is used to connect with the uKit Explore Main Controller Board.
* The USB port is used to update firmware.
*   The ICSP interface is for factory use and for future development.&#x20;



![](https://3911929090-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-Lp2wlXBWybR4t3JbPbo%2F-M5Qj_32vmLxNepQCtew%2F-M5Qk9ZDU-tYXFP95P9q%2Fimage.png?alt=media\&token=af9ef517-9666-4a60-b83c-fb17eda0c89d)

### Frequently Asked Questions

1. Please update the grayscale sensor firmware before using it to ensure that grayscale sensor is using the latest firmware.
2. If you want to print the map, please use the materials that had been officially tested. Material: Double-sided inkjet cloth material, printed with weak solvent ink, roll package with paper tube.&#x20;
3. Due to the different types of materials in different regions, the self-printed map might be different. If the recognition effect is poor, please use the PVC black tape to fix to the black lines on the map, including the calibration area. At the same time, recalibrate your grayscale sensor.&#x20;
4. If the recognition is still poor, it may be related to the floor surface. Some inkjet cloth maps are not thick and easy to be influence by the floor surface. If the floor’s surface is not white, it is recommended to put some white papers on the floor and put the map on it.
5. After completed the calibration, check on the minimum and maximum height that the sensor can recognize the black and white line, and adjust the position of the grayscale sensor accordingly to the height.&#x20;
6. If the robot able to recognize well in most of the situation, but occasionally make mistake, this maybe be because the robot has insufficient power. Please charge the robot accordingly. The recommended voltage is 7.2 \~8.4V. The voltage can be obtained using program and notify when the voltage is not in the recommended range.&#x20;
7. Remember to clean up the map regularly. The dust on the map will affect the recognition effect of the grayscale sensor. You can use wet tissues (not too wet) to clean the white and black areas of the map.&#x20;
8. Remember to clean the robot’s wheels regularly. The dust on the robot’s wheels will cause the car to skid. It will also cause insufficient friction of the robot and inaccurate line following. You can clean the robot’s wheels with a wet tissue (not too wet).

### Competition Tips & Tricks

1. After the robot car turns into a humanoid robot, the walking mechanism is relatively unstable (the structure of a humanoid-vehicle robot can not do everything well). After detected the road’s intersection, the robot car can drive forward a little before becoming humanoid robot. By doing so, the humanoid robot does not have to walk to the desired position by relying on the humanoid robot.
