Connecting PIR sensors to a microcontroller is really simple. The PIR acts as a digital output so all you need to do is listen for the pin to flip high (detected) or low (not detected).
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Its likely that you'll want reriggering, so be sure to put the jumper in the H position!
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Power the PIR with 5V and connect ground to ground. Then connect the output to a digital pin. In this example we'll use pin 2.