Programming and Operation

To operate, place the robot on a tabletop with both arms supported by the table. Note that when the robot reaches an edge, one of the arms is unsupported, triggering the limit switch. The robot backs up and swings in the opposite direction of the arm that fell off (it attempts to get closer to the center of the table). The robot also can be used to detect walls.

Project Notes and Engineering Principles

The limit sensor, like the bumper sensor, is a digital sensor, with possible readings of 1 (not pressed) or 0 (pressed). The sensor loop continues while neither limit sensor is pressed. When either sensor is pressed, the robot backs up and turns (direction depending on which sensor detects the edge), then repeats by going forward toward the edge again.