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Firefighting Vehicle By: Scott Benjamin & Reji Jose

Firefighting Vehicle By: Scott Benjamin & Reji Jose

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Firefighting Vehicle

By: Scott Benjamin &

Reji Jose

Description & Objective

Navigate through 4’x4’ structure.

Search for a lit candle. Extinguish by a fan onboard.

Reference Page 1, Appendix A

Firefighting Vehicle

PN168 PN168PN168

HCS12

GP2D120 GP2D120GP2D120

Plexiglas Base

151440151440

CPU fanLightweight wheelLightweight wheel

Operation Range Motor operates between 4.5 – 12 volts

and draws 225mA at maximum efficiency.

Operating voltage of battery: 1.1 - 1.3V Operating current of H-Bridge: 0.6 - 1A Operating voltage of HCS12: 4.5 – 5.5V

Reference Pages 4, 8, 10, 12, Appendices B, C, D

IR Sensors Sharp GP2D120 Detects objects between 4cm-30cm

HCS12

0 1 2 3 4 5 6 7Port AD

4 cm4 cm 4 cm

GP2D120

Reference Pages 9-11, Appendix D

Phototransistor Panasonic PN168 Wavelengths 600-1000nm 30°

away

Reference Pages 12-13

Motor Drive Current peaks at 275 mA each motor adds 2.2Kg-cm of torque Rotates at ~1 revolution per second

Breadboard151440

151440

Reference Pages 3-4, Appendix B

System Initialization

Wait half a second for sensor startup.

Flash all LED’s once for ~0.3 seconds.

Keep all LED’s lit upon error or crash.

Reference Pages 15-16

User Interface0000000

1 Looking for the candle

00000010 Found Candle

00000100 Trying to put out the candle

00001000 Detected the candle to be out

00010000 Detected a wall in the way

00100000 Turning left

01000000 Going straight

10000000 Turning right

11111111 Light all LEDs at start up or after an error

Reference Pages 15-16

Operating Restrictions

Non overhead lighting may cause problems.

Walls need to be at least 10 inches apart.

Software Flowchart

Move

Candle Out yet?

Start

End

Overall Flow

Start

Is the square ahead clear?

Move one square ahead

End

Yes

Yes

No

No

Go back to start

Move Algorithm

Start

Turn Algorithm

Turn Left

Turn

Is the square ahead clear?

Backout

No

Yes

Move one square ahead

Turn Right

End

Start

Backout Algorithm

Turn Left

Is the square ahead clear?

Move one square ahead

End

Turn Right

Yes

No

Reference Pages 13-14

Housing

Reference Appendix A

Difficulties Sensors may not sense the obstacle

within the given range. Sensing the flame and blowing it

out. Make sure that the data from the IR

sensor is read in correctly. Making sure power consumption is

not too high.

Reference Pages 17

Testing Procedure Test each component individually:

Motors IR Sensors Phototransistors H-Bridge Batteries Software

Then test Integration

Reference Pages 4-5, 6-7, 8, 11, 13

System Integration Each subsystem will already be

tested for correctness Place vehicle in operating

environment First test base functionality (find and

extinguish candle) Simultaneously, ensure that the user

interface functions properly Finally, confuse it

Reference Page 16

Costs

Questions?