Chapter 5 Summary

This chapter introduced the first sensor system for the BOE Shield-Bot, and allowed the robot to roam around on its own and navigate by touch.  The project built on skills acquired in the last chapter, and employed a variety of new ones:


  • Building normally open, momentary, single-pole, single-throw, tactile switch circuits


  • Using the Arduino language’s pinMode and digitalRead functions to set a digital I/O pin to input and then monitor the pin’s input state
  • Declaring and initializing global variables
  • Nesting function calls
  • Using if…else statements to direct program flow based on sensor input states
  • Using three levels of nested if statements

Robotics Skills

  • Autonomous robot navigation based on sensor inputs
  • Using a simple example of artificial intelligence so the autonomously roaming BOE Shield-Bot can tell if it’s stuck in a corner, and exit

Engineering Skills

  • Subsystem testing again—build that good habit!
  • Using an indicator LED to visibly display the state of a system input
  • Using an indicator LED to visibly display program flow