Pathfinder 16-Way (Line16) × SPIKE × Pybricks

Interactive tutorialSPIKE

First time? Try the interactive tutorial in your browser first, then follow the steps below with your hub.

MicroPython (Pybricks)Pybricks blocks Pybricks built-in blocks (no library)

This page covers Pybricks (Python) only: how to set it up for the Pathfinder 16-Way (Line16) on SPIKE Prime / Robot Inventor, how to read every value, the commands it supports and examples. Use the switcher above to change product, host or software.

Setup

What you need

Sensor: Pathfinder 16-Way (Line16) (SPIKE edition).
Hub: SPIKE Prime or Robot Inventor.
Computer: Chrome. Open code.pybricks.com and start writing; nothing to install.
Hub firmware: must be switched to Pybricks firmware v4.1 first (the stable code.pybricks.com is v4.1.1; v4.1.0 from the MBC SPIKE Blocks website works too). Every example on this site is written for v4.1.
Library: MBC_line16_obj_Lib.py (only needed for the "import the library" method). For a new program of your own, import just MBC_sensors.py: one file for every MBC sensor.

Note
The Pybricks 3.6.1 libraries and examples are no longer updated (the 2026 SPIKE Prime hubs cannot run 3.6.1 either). For hubs that have not been upgraded, the old files are under "Legacy (no longer updated)" on the Downloads page.

Install the software

Open code.pybricks.com in Chrome.
Switch the hub to Pybricks firmware. The easiest way is the MBC SPIKE Blocks website: top menu "SPIKE Hub → Install/Update Pybricks firmware", about 3 minutes.
To go back to the official LEGO App later, switch back to the original LEGO firmware with the SPIKE App.

Make the software see the sensor

Pybricks can read the sensor two ways; pick one:

Built-in commands (no library): read the sensor with Pybricks' own sensor commands. No extra file, quickest to start.
Import the library: download MBC_line16_obj_Lib.py to get more data, such as the high-resolution position and every channel.

To import the library:

In code.pybricks.com, click "Import a file" in the file panel on the left.
Import both the example file and MBC_line16_obj_Lib.py, so they are in the same project list.
Open the example and press ▶ to run.

Important
New projects: use MBC_sensors.py. Old projects: just replace the one file they already use. MBC_sensors.py is one file for every MBC sensor (the EXP6 and Servo6 expander libraries are separate downloads); write from MBC_sensors import MBC_LINE8, with the same class names as in the old files. The old file names (such as MBC_line16_obj_Lib.py used by the examples on this page) are kept for existing programs: swap in the new file with the same name and the program needs no changes. But every old-name file is the whole shared library, so importing 3 or more of them in one program goes over the SPIKE program slot limit of about 51 KB; to mix several sensors, import only MBC_sensors.py.

Tip
The file name must match the name in the program's import exactly, or you will get an ImportError. The library files on this site have no version suffix, so you do not need to rename them.

Tip
Most libraries take a multitask argument when you create the object: False is normal mode, one line after another; True is multitask mode, where every call needs await in front so the robot can do several things at once.

Wiring

Plug the sensor into hub port C with the cable (any of A~F works).
Use the same port in the program: built-in commands use Port.A~~Port.F; a library's port argument is usually 1~~6 for A~F.
Latch up, push the plug in gently.

Calibrate first (only once)

The Pathfinder has to "learn" the black and white of your mat before its numbers are right. Calibration is stored in the sensor and survives power-off (until you change mats).

Plug in the sensor and turn the hub on (the sensor lights come on).
Hold the calibration button for about 0.5 s, then release it (do not keep holding it; holding it keeps restarting calibration).
When the green calibration LED (next to the button) lights up, sweep the sensor back and forth between the black line and the white floor within 5 seconds. All 16 sensing points must pass over the darkest black line and the brightest white area.
Keep the sensor 3~12 mm above the surface while sweeping; higher reads poorly.
The green LED goes off = calibration done, saved in the sensor automatically.

How do I know it worked? On the white floor the "line width" is 0; on a normal black line it is 3~5.

Library and example downloads

The hub needs Pybricks firmware v4.1 (tested on Pybricks 4.1.2 from 2026-10-29 to 11-01: the library, built-in ColorSensor, Pybricks Code blocks and the command examples all ran on a hub). The zip has MBC_sensors.py, MBC_line16_obj_Lib.py and 4 examples:

Download pack (Pybricks 4.1)

Library only: MBC_sensors.py (use this for new projects: one file for every MBC sensor) · MBC_line16_obj_Lib.py (for the examples on this page and older programs)

Important
The examples say from MBC_line16_obj_Lib import MBC_LINE16, so import MBC_line16_obj_Lib.py (no renaming needed). For a new program of your own, write from MBC_sensors import MBC_LINE16 and import only MBC_sensors.py. The library must be in the same project list as the main program.

Warning
MBC libraries downloaded before 2026-10-29 stop with NameError: name 'property' isn't defined as soon as they are imported on Pybricks 4.1.2 (the 4.1.2 hub has no property). Download the files on this page again (fixed and tested on 4.1.2).

Note
Pybricks 3.6.1 is no longer updated; the old files are under "Legacy (no longer updated)" on the Downloads page. The 3.6.1 built-in examples only fit sensor firmware before 2026-10-30 (with newer firmware the old split reads the width ×10).

Importing the library into a Pybricks project

Method 1: built-in sensor commands (no library)

Read with Pybricks' built-in ColorSensor commands, no extra file. These values are computed from the built-in commands:

Set	Function	Range	Meaning
Basic (less sensitive to calibration, but calibrate once)	`getLinePos16()`	`-16 ~ +16`	Line position (integer), 0 centre, negative left, positive right
	`getLineWidth16()`	`0 ~ 16`	Line width (sensors triggered), for crossings and T-junctions
High precision (calibrate properly first)	`getLinePos100()`	`-100 ~ +100`	High-resolution interpolated position for advanced PID
	`getLineWidth100()`	`0 ~ 9`	Line width in high-precision mode, in sync with `getLinePos100()`

Tip
Use position and width from the same set: getLinePos16() with getLineWidth16(), getLinePos100() with getLineWidth100(), so both come from the same moment.

Examples: blocks line16_block_native.py; Python line16_python_native.py

Important
Decoding on Pybricks 4.1 (the examples above already do this)

reflection() (mode 5) = coarse position + width. Always convert with int() before splitting: r = int(line.reflection()); 16-ch: add 6399 when negative (at line position +16 the number goes past 3199 and Pybricks shows it as negative), then position = r // 100 - 16 (−16 to +16), width = r % 100.

Use int() (truncate toward 0), not floor(): with older firmware's decimals, floor is one too low in the negative range (measured: floor splits into position 15, width 99; int() gives the correct 16, 0).

Sensor firmware from 2026-11-01 (release v1.0-261101) sends an exact integer; older firmware gives one decimal on Pybricks 4.x. Keep the int() and it works on old and new firmware.

Blocks have no "integer" block: use "floor" for values ≥ 0 and "ceiling" for negative ones, which equals int() (the block examples above already do this).

ambient() (mode 7) = "fine position + 100 . width", width in the first decimal: fine position = integer part − 100, width = round(line.ambient() * 10) % 10 (16-ch shows at most 9 = 9 or more). Needs sensor firmware from 2026-10-30 or later; on older firmware the width reads 0 (position still works). With older firmware, take the width from reflection instead, or install the MBC library (mode 9 gives every value on old and new firmware).

Positions are sent with an offset and subtracted after reading; negative numbers are never sent directly.

Direction: position −16 to +16, line on the left = negative, on the right = positive (seen from behind the robot).

Advanced (Python only): line.hsv(surface=False).h = (fine position + 100) × 100 + width, giving the full width.

Method 2: import the library

Function	Range	Meaning
`line_init_port_multitask(port, multitask)`	—	Initialise. `port` = 1~~6 for A~~F; `multitask=True` enables async mode (use with `await`)
`line_pos16()`	`-16 ~ +16`	Integer line position, less sensitive to calibration (without calibration every channel reads as black)
`line_pos100()`	`-100 ~ +100`	High-resolution interpolated position, best for PID; calibrate properly
`line_width()`	`0 ~ 16`	Line width, works with both position functions
`line_ir_calibration()`	`list[16]`	16 calibrated values (each `0 ~ 15`). Seen from behind the robot: index 0 = far left (ch1)
`line_ir_ch(ch)`	`0 ~ 15`	One calibrated channel, `ch` = 1~16; fast to call repeatedly (shared cache)
`line_junction()`	`0, 1, 2+`	Number of line groups: 0 none, 1 single line, 2+ junction
`line_junction_name()`	`str`	`"none"`, `"line"`, `"junction"`
`line_bin_raw()`	`0 ~ 65535`	16-bit trigger mask, bit0 = ch1, 1 = line seen
`line_on_sensors()`	`list[int]`	Channels seeing the line, e.g. `[7, 8, 9]`
`line_read_all()`	`dict`	Everything at once: `ir_calibration`, `line_pos16`, `line_pos100`, `line_width`, `bin_raw`, `on_sensors`, `junction`, `junction_name`

Examples: blocks line16_block_with_lib.py; Python line16_python_with_lib.py

Command examples (calibration, mirror)

These send commands with the shared MBC library (see "Commands" further down this page for each command). First upload MBC_sensors.py to Pybricks Code into the same project list; sensor on port C; follow the hints in the output pane and press the hub's left button to go on (the centre button still stops the program). Needs sensor firmware from 2026-10 or later. All 3 have been run on a hub.

Example	What it does	How to tell it worked
line16_cmd_calib_bw.py	Black/white calibration (E2 black, E3 white): put the whole row on black and press left, then on white paper and press left (keep the height fixed)	Black light values all 0; white-paper light values (`ir_calibration()`, 0–15) 13 or more
line16_cmd_calib_auto.py	E7 5-second auto calibration: sweep the sensor across the black line and white surface for 5 s (fixed height, no tilt)	State goes from busy to done; white-paper light values 11 or more (quality depends on how you sweep)
line16_cmd_reverse.py	E9 mirror left/right, and shows that a wrong parameter returns "failed"	Line position changes sign (e.g. −15 → +15, send 0 to switch back); sending 5 returns "failed"

Keep the sensor at a fixed height while calibrating (mounted on the robot or propped on bricks, about 5–10 mm above the paper), and sweep it flat without tilting. Hand-held calibration gives low white readings. Measured (2026-10-29): resting black/white calibration (E3) gives white 13–15, pass mark ≥ 13; a hand-swept E7 is usable from 11.

PD line-following demos (speed 50)

One PD line-following logic in 4 reading methods, each as blocks and as Python: 8 programs. They stop at a crossing (the whole row on the line). All 8 have been run on a Pybricks hub.

Download all (8 Pybricks programs + libraries + official app versions)

Method	Reads	Suggested KP / KD	Stops at crossing	Blocks	Python
Built-in reflection (mode 5)	`ColorSensor.reflection()`: coarse position + width	2.5 / 10	width > 10	mode5_block	mode5_python
Built-in ambient (mode 7)	`ColorSensor.ambient()`: fine position + width (firmware 2026-10-30 or later)	0.4 / 1.5	width > 8	mode7_block	mode7_python
Product library	`MBC_line16_obj_Lib`: `pos100()` + `width()` (mode 9)	0.4 / 1.5	width > 10	lib_block	lib_python
Shared library	`MBC_sensors`: same	0.4 / 1.5	width > 10	sensors_block	sensors_python

Wiring: sensor on port C, left motor on E (set to COUNTERCLOCKWISE in the program), right motor on F.
Speed 50 (power %). KP and KD are starting values; tune them on your robot: lower KP if it wobbles, lower KD if turns are too slow.
For the two library methods, first upload MBC_line16_obj_Lib.py or MBC_sensors.py to Pybricks Code into the same project list as the program (included in the zip).
The block files open as Pybricks blocks; the first line holds the block data, so import the whole file rather than copying only the Python part.

Want to learn more advanced line following?

These coaches have plenty of competition and teaching experience: Coach LegoLauXiao (demo video), Coach legolaumo (demo video).

First test

Turn on the hub and connect it in code.pybricks.com.
Import and open example 1 on this page, then press ▶.
If the numbers printed in the console change with what is in front of the sensor, everything is connected.

FAQ

ImportError? The library was not imported into the same project, or its file name differs from the import name. Rename it to MBC_line16_obj_Lib.py and import it again.
The example does not run, or a command is unknown? The hub firmware is too old: the examples on this site are written for Pybricks v4.1, so update the hub to v4.1 first. 3.6.1 is no longer updated; the old files are on the Downloads page.
What happens if the sensor cable comes out? The program keeps running: the library returns the last value it read and prints one notice in the console (in Chinese and English: MBC: Port C 讀不到感應器，先回傳上一次的值 / no sensor, using the last value); if the sensor was never connected it returns None. To check in your program, call the object's sensor_ok(): True if the last read worked, False if not (add await in multitask mode). Once you plug it back in the library keeps reading; if the sensor was missing from the start and you use multitask mode, run the program again.
An example marked "Pybricks only" shows strange numbers? It uses a new mode in sensor firmware from 2026-10 on; older firmware returns different numbers.
The official App cannot connect any more? The hub now runs Pybricks firmware: switch back to the original LEGO firmware with the SPIKE App.

Reading values

Code assumes the sensor is on port A. For the MBC library form, import the library .py into Pybricks too.

line position linePos

Range	Meaning
`-16~+16`	which channel the line is under: −16 (far left) to +16 (far right), 0 = centre; seen from behind the robot, negative = left (normally ±15; ±16 only for 200 ms after the line leaves the outermost channel)

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[4]
linePos = (w & 0xFF) - 16   # line position（lo byte）

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
linePos = line.pos16()

mode 0 (edu) byte 1 −16 🔒; mode 0 (toy) byte 0 −16 🔒; mode 1 byte 0 −16; mode 5 v[0] 🔒; mode 9 v[4] lo −16 🔒. Note: Pybricks reflection() 編碼：X = (線位置+16)×100 + 線寬，共用核心 mbcReflFill8 送出：2026-11-01 以後的韌體 reflection() 剛好是整數（3.x、4.x 都是）；舊韌體（R=G=B=a×256+b）在 4.x 帶小數，先 int()；X ≥ 3200 時讀到負數 X−6399（F16:905）

fine position linePosFine

Range	Meaning
`-100~+100`	sub-channel position: −100 to +100, 0 = centre, negative = left (same sign as line position)

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[5]
linePosFine = (w & 0xFF) - 100   # fine position（lo byte）

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
linePosFine = line.pos100()

mode 0 (edu) byte 2 −100 🔒; mode 0 (toy) byte 2 −100 🔒; mode 3 byte 0 −100; mode 4 v[0] −100; mode 7 v[0] 🔒; mode 9 v[5] lo −100 🔒. Note: byte2 = 細位置+100（0~200）、byte3 = 0；App 原始紅讀成 int16; 細位置+100 經玩具版查表編碼成 byte2~3; 4 個 int16：第 1、2、4 格 = (細位置+100)×100 + 線寬（0~20016；Pybricks hsv(surface=False).h 讀第 1 格，原封不動）；第 3 格 = (細位置+100)×100 + min(線寬,9)×10（Pybricks ambient() 讀這格：4.1.2 先 ÷10 去尾再 ÷10、3.6.1／4.0.0 ÷100，都得到細位置+100 . 線寬，線寬最多顯示 9）。2026-10-30 起第 3 格改這個編碼

line width lineWidth

Range	Meaning
`0~16` 路	number of channels on the line, 0~16; 0 = no line

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[4]
lineWidth = ((w >> 8) & 0xFF)   # line width（hi byte）

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
lineWidth = line.width()

mode 0 (edu) byte 0 🔒; mode 0 (toy) byte 1 🔒; mode 2 byte 0; mode 3 byte 1; mode 9 v[4] hi 🔒. Note: min(線寬, 10)

line segments groupCount

Range	Meaning
`0~8`	number of separate line segments: 0 = lost, 1 = one line, ≥2 = fork / crossing

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[5]
groupCount = ((w >> 8) & 0xFF)   # line segments（hi byte）

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
groupCount = line.junction()

mode 9 v[5] hi 🔒

line bitmap bitmap

Range	Meaning
`0~65535` bit	bit0 = channel 1 (left) … bit15 = channel 16; 1 = that channel sees the line

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

bitmap = dev.read(9)[6]   # line bitmap

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
bitmap = line.bin_raw()

mode 4 v[1]; mode 9 v[6] 🔒. Note: binRaw 16 bit（byte2 低、byte3 高）; byte12 低、byte13 高

channel 1~16 reflect light

Range	Meaning
`0~100`	calibrated reflect of channel 1~~16, 0~~100 (channel 1 = left); ids 10~1F

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

words = dev.read(9)[0:4]
light = []
for w in words:
    for k in range(4):
        light.append((w >> (4 * k)) & 0x0F)   # low bits first

MBC library

from pybricks.parameters import Port
from MBC_line16_obj_Lib import MBC_LINE16

line = MBC_LINE16(Port.A)
light = line.ir_calibration()   # list, channel 1 = [0]

mode 0 (edu) byte 4 🔒; mode 0 (toy) byte 4 🔒; mode 3 byte 2; mode 6 v[0]; mode 8 v[0]; mode 9 v[0] 🔒. Note: 每路 2 bit（(v×10)>>8：0~25→0、26~51→1、52~76→2、77~100→3）；byte4 = 第 5~8 路（第 5 路在 bit7-6）、byte5 = 第 1~4 路、byte6 = 第 13~16 路、byte7 = 第 9~12 路 → App 原始綠 = 第 1~8 路（bit15-14 = 第 1 路）、原始藍 = 第 9~16 路；byte 8~15 = 0; 每路 1 bit（光值 ≥ 門檻（值 07，預設 40）= 1 亮，跟二值化判白同一個判斷；2026-11-03 以前的韌體是光值 > 50）：第 1~8 路合成 1 byte（第 1 路在 bit7）經玩具版查表編碼成 byte4~5；第 9~16 路 → byte6~7; byte2 = 第 1 路、byte3 = 第 16 路（描述表只宣告 3×int8，第 4 byte 主機可能砍掉）; byte0~5 = 第 6~11 路光值 → 3×int16，每個 lo = 前一路、hi = 後一路; byte0~3 = 第 7~10 路（只送 4 B）; 每 int16 四路 4-bit（(v×5)>>5，0~15）：bit0-3 = 第 1 路、bit4-7 = 第 2 路、bit8-11 = 第 3 路、bit12-15 = 第 4 路；v0~v3 = 第 1~16 路

Not readable here：last exit direction, threshold, calibrations done. Use Arduino / mBlock / micro:bit for these.

Commands

Commands need the MBC library (2026-10 or later) and sensor firmware from 2026-10 or later: send with cmd(code, params…), then wait_done() waits for it (True = done; False = failed, rejected or timed out). Sensor states: 0 done, 1 busy, 2 failed (e.g. parameter out of range), 3 rejected (unknown command, or another command sent during calibration).

On older firmware cmd() reports "firmware too old"; readings keep working.
The same command with the same parameters is not repeated (even inside a loop); pass cmd(…, again=True) to run it again.
wait_done() costs 40–60 ms each time: use it for stop-and-do commands such as calibration, not inside a line-following loop.
The official SPIKE App 3 and Pybricks' built-in ColorSensor blocks cannot send commands.