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With the Create 2 iRobot if it is already moving backwards (with its bump sensors in the front of it) how would I code it to sense that it is hitting something on its back side with only using the create's sensors?

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Since there are no sensors on the back, its probably best to only back up a short distance and then make a 180 degree turn.

The only other way I can think of is to monitor the left and right motor current (packet 54 & 55) to see if its above the normal level assuming its backed into something and bogging down

Frank

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