You are designing a program for a robot controlled by a PIC microcontroller. The robot has a bump detector switch wired to one pin of the microcontroller. The robot should go forward until it hits an obstacle. As soon as the robot hits an obstacle $($the bump switch sends a ON signal$),$ the robot should stop, turn right by $90$ degrees and then continue its forward motion.

Your main program contains the forward motion. You have also available a list of instructions to turn right by $90$ degrees.

Explain how you would manage the interruption of the main program $($forward motion$)$ when the bump detector switch detects an obstacle. Then how the program will continue the forward motion when the turn right is finished.