This is an attempt to at using just one analog IR sensor to follow around the gradient - This was an early attempt, and for the most part it works better then some of my later attempts. The IR sensor sometimes "sees" beyond the map, and down to the table the map is on - makes it interesting when you move the map or change to a different table. This robot was inspired by my friend Vicente from arduining.com - who did something with a similar robot using an ESP32 and MicroPython. My robot uses an ATMega 328 (Arduino UNO) and the programming was done in the Arduino IDE. https://arduining.com/