How to connect touch sensor to Turtlebot3

asked 2022-08-05 16:10:29 -0600

wheagy gravatar image

Hi,

I'm looking to add a touch/bumper sensor to my TB3 using the OpenCR board. I don't have the Robotis TS-10 sensor, but I'm assuming a simple switch will work. First of all, is that a correct assumption...can I use a normally open touch switch? Or is something more fancy required?

I found this page. https://emanual.robotis.com/docs/en/p... It shows the use of the TS-10 and says it is connected to the OpenCR as follows...

Device PIN Front sensor ROBOTIS_5-PIN 3 Back sensor ROBOTIS_5-PIN 4

My confusion is in specifically which pins are used. It appears that ROBOTIS_5-Pin 3 is a row of 5 pins with Out2, Gnd, ADC, 3.3v, and Out1. ROBOTIS_5-PIN 4 is also a row of 5 pins (see https://emanual.robotis.com/docs/en/p...). I'm assuming the Gnd pin would be connected to one of the other pins to initiate a "touch". I can't find where this is specifically explained anywhere and don't want to take any chances. Any input is appreciated.

(image from the OpenCR page)

image description

Thanks,

Win

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