PNP switching voltages
If you really want to go with the TIP2955 I would suggest you need an extra transistor (NPN type) to interface it with the logic circuit. Something like this.



TR1 switches 'ON' when the input voltage is greater than 0.6V. R3 controls the base current. With the value given this will be about (12 - 0.6)/100 = 114 mA. The current gain of the TIP2955 is between 20 and 70.  R2 ensures that TR2 is fully OFF when TR1 is turned OFF.