oBumper4 Object

Description
Operation
Properties

Examples
Connections
Related
Version History & Bug list

A Hardware Object that reads a group of 4 bumper switch inputs and returns a URCP Heading value indicating the direction of the impact.

The following table lists the size and availability of the oBumper4 Object.

	Object	Size	Description	A1	A2	B1	B2	C1
	oBumper4	4 Bytes	Reads a 4-contact bumper.			x	x	x

Operation:

The oBumper4 Object uses 4 I/O lines specified by the IOPack property to read a group of 4 bumper switches. It converts the reading to a URCP Heading value indicating the direction of the impact which is then stored in the Heading property. If any two adjacent bumper switches are pressed at the same time, the Heading property is adjusted to a URCP value indicating that the impact was located between the two bumper switches. When any one of the 4 bumper switches or two adjacent bumper switches are pressed, the Bumped property will be set to 1 and when all 4 bumper switches are not are pressed or two or more non-adjacent switches are pressed, the Bumped property is cleared to 0.

When created, the oBumper4 Object also creates an instance of the oOrbitSwitch4 object which it uses to read the 4 I/O lines and generate the Heading value. Modifying any of the properties of the oOrbtSwitch4X Object instance will affect the oBumper4 Object's operation. See the oOrbitSwitch4 for more detail on how the 4 I/O lines are read.

Properties:

The following table lists the properties of the oBumper4 Object:

Property
Description

Heading

A value that indicates the heading in the direction of the bumper switch that has been pressed.

Object Class: oHeading Value Range: -128 to +127 (URCP Heading)

Data Type: Numeric Default Value: 0

I/O Inputs Bumper Position Heading Bumped

URCP Heading

0001 ---x Front 0 1

0011 --xx 32 1

0010 --x- Left 64 1

0110 -xx- 96 1

0100 -x-- Back -128 1

1100 xx-- -96 1

1000 x--- Right -64 1

1001 x--x -32 1

Other Unchanged 0

Bumped

A value that indicates if the one of the bumper switches is pressed.

Object Class: oLogic Value Range: 0 - 1

Data Type: Numeric Default Value: 0

IOPack

A value that specifies which pack of 4 I/O lines is connected to the 4 bumper switches.

Object Class: oIOPack Value Range: 0 - 7

Data Type: Numeric Default Value: 0

Some I/O Lines have special purposes. Be sure to see oIOPack help file for details.

Operate

A value that selects whether or not the bumper switches are being read.

Object Class: oOperate Value Range: 0 - 1

Data Type: Numeric Default Value: 0

Operate Constant Description

0 cvOff The bumper switches are not read.

1 cvOn The bumper switches are read.

DIO

The I/O function object used to read the bumper switches

Object Class: oOrbitSwitch4 Value Range: -128 to +127

Data Type: Numeric Default Value: 0

Address

Returns a pointer to the address of the oCounter Object instance.

Object Class: oAddress Value Range: 0 - 127

Data Type: Pointer (Read Only) Default Value: Address of Object

Examples:

In the following example, the oBumper4 Object is used.

Visual Basic Syntax

C and Java Syntax

' This program reads a 4 switch
' bumper, displays the binary 
' URCP value on I/O Lines 
' 24 - 31 and the Received 
' property on I/O line 7.

Dim A As New oBumper4 
Dim B As New oDIO8
Dim C As New oDIO1

Sub Main()
  ooPIC.PullUp = 1
  A.IOPack = 5
  A.Operate = cvTrue
  B.IOGroup = 3
  B.Direction = cvOutput
  C.IOLine = 21
  C.Direction = cvOutput
  Do
    B.Value = A.Value
    C.Value = A.Received
  Loop
End Sub

// This program reads a 4 switch
// bumper, displays the binary
// URCP value on I/O Lines
// 24 - 31 and the Received
// property on I/O line 7.

oBumper4 A = New oBumper4;
oDIO8 B = New oDIO8;
oDIO1 C = New oDIO1;

Void Main(Void){
  ooPIC.PullUp = 1;
  A.IOPack = 5;
  A.Operate = cvTrue;
  B.IOGroup = 3;
  B.Direction = cvOutput;
  C.IOLine = 21;
  C.Direction = cvOutput;
  Do{
    B.Value = A.Value;
    C.Value = A.Received;
  } While (1);
}

Basic Syntax

' This program reads a 4 switch
' bumper, displays the binary 
' URCP value on I/O Lines 
' 24 - 31 and the Received 
' property on I/O line 7.

A Var oBumper4(5,cvOn)
B Var oDIO8(3,cvOutput)
C Var oDIO1(21,cvOutput)

ooPIC.PullUp = 1
1:
  B.Value = A.Value
  C.Value = A.Received
  Goto 1

Connections:

The oBumper4 uses 4 I/O lines. These 4 I/O lines must be 4 contiguous I/O lines starting with I/O line 8, 12, 16, 20, 24, or 28. The inputs are active low and each of the 4 I/O lines will require a pull up resister. If the I/O lines starting with 8 or 12 are selected, the internal pull up resisters can be used by setting the ooPIC.PullUp property to 1.

The 4 I/O lines are used for the 4 four switches; Front, Left, Back and Right.

Switch Position

Typical wiring for each switch

IOPack:	1	2	3	4	5	6	7	Switch Location
I/O 0:	8	16	24	5	12	20	28	Front
I/O 1:	9	17	25	6	13	21	29	Left
I/O 2:	10	18	26	7	14	22	30	Back
I/O 3:	11	19	27	-	15	23	31	Right

Caution: IOPack 2 and 6 contain special purpose I/O such as Debugging, Serial Port & PWM. Do not use these I/O Lines if they are in use by the other functions.