Question: You are designing a program for a robot controlled by a PIC microcontroller. The robot has a bump detector switch wired to one pin of

You are designing a program for a robot controlled by a PIC microcontroller. The robot has a bump detector switch wired to one pin of the microcontroller. The robot should go forward until it hits an obstacle. As soon as the robot hits an obstacle

(

the bump switch sends a ON signal

),

the robot should stop, turn right by

90

degrees and then continue its forward motion.

Your main program contains the forward motion. You have also available a list of instructions to turn right by

90

degrees.

Explain how you would manage the interruption of the main program

(

forward motion

)

when the bump detector switch detects an obstacle. Then how the program will continue the forward motion when the turn right is finished.

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