Data Sheet

Pin function: Kill switch

A pin with the “Kill switch” function is used as a digital input that can tell the Tic to stop moving the

motor. If the “Active high” checkbox is checked, that means that the kill switch is considered active

whenever its digital reading is high (5 V). If the “Active high” checkbox is not checked, the switch is

considered active whenever its digital reading is low (0 V). The Tic sets its “Kill switch active” error bit

whenever any of the pins configured as kill switches are in their active state, and it clears the bit once

all of the kill switches have left the active state.

As described in Section 5.4, the kill switch error is considered to be a “Soft error”. By default, the Tic

will decelerate to zero speed and hold position when a kill switch is triggered, but you can change this

behavior using the “Soft error response” setting.

Pin option: Pull-up

The “Pull-up” checkbox allows you to enable the internal pull-up resistor for a pin. This option is only

available for the SCL and SDA pins. The TX and RX pins are always pulled up with 100 kΩ resistors

which cannot be disabled. The RC pin input is always pulled down.

If the “Pull-up” checkbox is disabled (grayed out), it means that the value of the checkbox will have

no effect on the Tic, either because the pin function is “Default”, so the pull-up option is based on the

control mode of the device as described above, or because a pin function is selected that never uses

pull-ups (e.g. potentiometer power).

Pin option: Active high

For pins configured as kill switch inputs, the “Active high” checkbox lets you choose whether the switch

is active when the digital reading is high (checked) or low (unchecked).

If the “Active high” checkbox is disabled (grayed out), it means that the value of the checkbox will have

no effect on the Tic because the pin’s function is not set to “Kill switch”.

Pin option: Analog

The “Analog” checkbox tells the Tic to do analog readings on the specified pin. The RC pin is not

capable of doing analog readings due to hardware limitations.

If the “Analog” checkbox is disabled (grayed out), it means that the value of the checkbox will have no

effect on the Tic because the pin function is “Default”. In that case, the analog option is based on the

control mode of the device as described above.

You can read the state of the analog inputs using the “Get variable” command. See the Variable

reference section [https://www.pololu.com/docs/0J71/7] for more information about the analog reading

variables.

5. Details Page 78 of 150