Programming instructions

5 • 64
Sensor
Inventor’s Guide
276-2178-E-0610
Limit Switch Sensor
Signal: Digital
Description: The limit switch
sensor is a physical switch. It
can tell the robot whether the
sensor’s metal arm is being
pushed down or not.
Technical Info:
Type: SPDT microswitch,
congured for SPST
Normally Open behavior.
Behavior: When the limit
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 limit 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 (not recommended),
11-12 (Autonomous Behavior)
For more info, see
Programmed Behaviors later
in this section.
Limit Switch Sensor
Concepts to Understand, continued
Pushing switch brings the signal pin voltage to LOW
N. O. Terminal
(Signal pin on wire)
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