Programming instructions
5 • 63
Sensor
Inventor’s Guide
276-2178-E-0610
Bumper Switch Sensor
Signal: Digital
Description: The bumper
sensor is a physical switch.
It tells the robot whether the
bumper on the front of the
sensor is being pushed in or
not.
Technical Info:
Type: SPST switch
(“Single Pole, Single Throw”)
congured for Normally Open
behavior.
Signal Behavior: When the
switch is not being pushed in,
the sensor maintains a digital
HIGH signal on its sensor port.
This High signal is coming from
the Microcontroller. When an
external force (like a collision
or being pressed up against
a wall) pushes the switch
in, it changes its signal to a
digital LOW until the switch is
released. An unpressed switch
is indistinguishable from an
open port.
Note: You can connect
multiple switches to the
same port using a y-cable.
PIC Microcontroller Default
Code Behavior Info:
Usable Ports: Analog/Digital
1-8 (Limit Switch Behavior),
9-10 (Tag Behavior), 11-12
(Autonomous Behavior)
For more info, see Programmed
Behaviors later in this section.
Bumper Switch Sensor
Concepts to Understand, continued
Signal pin is HIGH when switch is open
Pushing switch brings the signal pin voltage to LOW
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