The color sensor in LEGO Mindstorms EV3 is used to detect and differentiate colors as well as measure light intensity. Here’s how it works: Light Emission: The sensor uses an array of light-emitting ...

Basically a lego gyro sensor combines with color sensor and PD control to make a robot drive straight on a straight line The legend of lego gyro sensor has been rumored for years about how it drifts.