Abumper switch is mounted to a robot with a cortex controller. the bumper switch is connected to digital input port #2. the robot is direct drive. the right wheel is attached to motor port 2 and the left wheel is attached to motor port 3. the following program is used to control this robot. bumper = getdigitalinput(2); setpwm(2,50); setpwm(3,-50); while (1== 1) { if (bumper ==0) { setpwm(2,-50); setpwm(3,50); } }