oBumper8 Object

Description
Operation
Properties

Examples
Connections
Related
Version History & Bug list

A Hardware Object that reads a group of 8 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 oBumper8 Object.

	Object	Size	Description	A1	A2	B1	B2	C1
	oBumper8	4 Bytes	Reads an 8-contact bumper.				x	x

Operation:

The oBumper8 Object uses the 8 I/O lines specified by the IOGroup property to read a group of 8 bumper switches. It converts the data to a URCP Heading value indicating the direction of the impact which is then stored in the Heading property.

If any two or four adjacent bumper switches are pressed at the same time, the Heading property is adjusted to a URCP Heading indicating that the impart was located between the two center bumper switches and if any three adjacent bumper switches are pressed at the same time, the Heading property is adjusted to a URCP Heading indicating that the impact was located at the position of the center switch.

When any one of the 8 bumper switches or two, three or four adjacent bumper switches are pressed, the Bumped property will be set to 1 and when all 8 bumper switches are not are pressed or two or more non-adjacent switches are pressed, the Bumped property is cleared to 0.

Properties:

The following table lists the properties of the oBumper8 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

Data Type: Numeric Default Value: 0

I/O Inputs Bumpers Position Heading Bumped 3 or 4 adjacent switches pressed

URCP Heading

I/O Inputs Bumpers

00000001 -------x Front 0 1 10010001 x-----xx

00010001 ------xx 16 1 10010011 x----xxx

00010000 ------x- Front-Left 32 1 00010011 -----xxx

00010010 -----xx- 48 1 00110011 ----xxxx

00000010 -----x-- Left 64 1 00110010 ----xxx-

00100010 ----xx-- 80 1 00110110 ---xxxx-

00100000 ----x--- Back-Left 96 1 00100110 ---xxx--

00100100 ---xx--- 112 1 01100110 --xxxx--

00000100 ---x---- Back -128 1 01100100 --xxx---

01000100 --xx---- -112 1 01101100 -xxxx---

01000000 --x----- Back-Right -96 1 01001100 -xxx----

01001000 -xx----- -80 1 11001100 xxxx----

00001000 -x------ Right -64 1 11001000 xxx-----

10001000 xx------ -48 1 11001001 xxx----x

10000000 x------- Front-Right -32 1 10001001 xx-----x

10000001 x------x -16 1 10011001 xx----xx

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

IOGroup

A value that specifies which group of 8 I/O lines is connected to the 8 bumper switches.

Object Class: oIOGroup Value Range: 0 - 3

Data Type: Numeric Default Value: 0

Some I/O Lines have special purposes. Be sure to see oIOGroup 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: oOrbitSwitch8X 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:

The following examples use the oBumper8 Object.

Visual Basic Syntax

C and Java Syntax

' This program reads a 8 switch
' bumper, displays the URCP 
' heading value on I/O lines 
' 24 - 31 and the Received
' property on I/O line 7.

Dim A As New oBumper8 
Dim B As New oDIO8
Dim C As New oDIO1

Sub Main()
  ooPIC.PullUp = 1
  A.IOGroup = 1
  A.Operate = cvTrue
  B.IOGroup = 3 
  B.Direction = cvOutput
  C.IOLine = 7
  C.Direction = cvOutput
  Do
    B.Value = A.Value
    C.Value = A.Received
  Loop
End Sub

// This program reads a 8 switch
// bumper, displays the URCP
// heading value on I/O lines
// 24 - 31 and the Received
// property on I/O line 7.

oBumper8 A = New oBumper8;
oDIO8 B = New oDIO8;
oDIO1 C = New oDIO1;

Void Main(Void){
  ooPIC.PullUp = 1;
  A.IOGroup = 1;
  A.Operate = cvTrue;
  B.IOGroup = 3;
  B.Direction = cvOutput;
  C.IOLine = 7;
  C.Direction = cvOutput;
  Do{
    B.Value = A.Value;
    C.Value = A.Received;
  } While (1);
}

Basic Syntax

' This program reads a 8 switch
' bumper, displays the URCP 
' heading value on I/O lines 
' 24 - 31 and the Received
' property on I/O line 7.

A Var oBumper8(1,cvOn)
B Var oDIO8(3,cvOutput)
C Var oDIO1(7,cvOutput)

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

Connections:

The oBumper8 uses 8 I/O lines. These 8 I/O lines must be 8 contiguous I/O lines starting with I/O line 8, 16 or 24. The inputs are active low and each of the 8 I/O lines will require a pull up resister. If the I/O lines starting with I/O line 8 are selected, the internal pull up resisters can be used by setting the ooPIC.PullUp property to 1.

The first set of 4 I/O lines of the 8 are used for the 4 four switches; Front, Left, Back and Right. The second set of 4 I/O lines of the 8 are used for the 4 four switches; Front-Left, Back-Left, Back-Right & Front-Right.

Switch Position

Typical wiring for each switch

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

Caution: IOGroup 2 contains special purpose I/O such as Debugging, Serial Port & PWM. Do not use IOGroup 2 if these other functions are in use.