ServoPAL_IR_Roaming.bs2 --- code question

ryan.sessman

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Read both IR sensors. Put inverted values into position in Obstacle.

ReadIR:

FREQOUT IREmtR, 1, 38500 'Activate the right IR emitter.
Obstacle.BIT0 = ~IRDetR 'Read the right IR sensor (and invert).
FREQOUT IREmtL, 1, 38500 'Activate the left IR emitter.
Obstacle.BIT1 = ~IRdetL 'Read the left IR sensor (and invert).
RETURN

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I don't understand why IRDetR and IRDetL needs to be inverted.

ryan.sessman

is it because the IR detector's output state is high when there is no signal?

ryan.sessman

i think i answered my own question...