Got the line finder robot working. I was able to get it to reliably track toner on white paper. To create the image I created a 300dpi 25.5 x 33 in png using Gimp. Used the path to draw a giant oval on it and then stroke the oval with black, no anti-aliasing. Then I used PosteRazor to spit out a pdf of the image that I could print across 9 sheets of US Letter, glued them together and let the robot fly.
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