Adding limit switches

Please note: This document is out of date for the Makelangelo v2 which no longer uses the right angle brackets. It is here only for as a historical record and for those who want to have fun getting experimental.

Limit switches are great. They can prevent catastrophic disasters (like winding up too much string) and give your robot the power to find itself - meaning it can automatically recenter.

Connect a separate wire to each of the following pins: A3, A5, GND (next to A5), and GND (next to A3).

The A5 and a GND wire should go to the motor mount like so: Notice how each wire is exposed. I used two different colors so it would be easier to see which way I set them up. Also notice the 45 degree angle. This is the only way to make sure the pen holder hits the switch instead of the motor housing.

When a metal eye hook in the pen holder touches both wires the switch will turn "on" and the robot will knows the pen holder is right next to the motor mount.

Now that you have installed the limit switches the Settings > Drive Manually > FIND HOME command will work correctly.