How does ambient light affect the sensors?
The sensors measure infra-red light. In most cases, there will not be much of that in an area away from direct sunlight. One way to measure ambient infra-red light is to take a reading with the emitters turned off. When I have done this with the robot on a white surface I have gotten readings that indicate very little light was hitting the sensors. Readings on the same surface with the emitters on show that a lot of light was hitting the sensors. Readings taken in direct sunlight with the robot on the same surface show no difference whether the emitters are on or off. One conclusion would be that for readings inside ambient light does not really matter and outside it is all that matters.
