I have made an advanced line following robot based on Teensy 3.6 and QTRX line sensors. The robot uses magnetic wheel encoders for odometry and I am planning to combine the odometry data with orientation data from prop shield to accurately determine the coordinates and heading of the robot. A Teensyview mounted onboard displays all relevant information regarding the state of sensors. A total of 16 sensors are read using ADC0 and ADC1 in synchronized mode. Separate libraries have been created for interfacing the line sensor, motors, pushbuttons and for navigating the menu in Teensyview.

Complete details of the build including program and libraries is available at https://www.instructables.com/id/Adv...llowing-Robot/