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Obliterator: New and Improved Mission

Patrol surrounding area, detect human presence, target humans with Laser Eradicator Doombringer cannon, utilizing sensors and data for optimal performance. Behavioral logic and testing in progress.

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Obliterator: New and Improved Mission

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  1. Obliterator Jose Noriega

  2. Obliterator New and Improved

  3. Mission • Patrol surrounding area • Detect human presence • Target human by simulating motion • Power Laser Eradicator Doombringer (LED) cannon • Obliterate human

  4. Sensors MaxBotix Sonar Parallax PIR Sharp IR Titanium Reinforced Bumper

  5. Sensor Data Digital PIR Tests: DistanceObject 6 inches Finger 1.5 feet Arm 4 feet Body 8 feet Flame

  6. Behaviors

  7. Behavior_Arbitrate() Contains 5 IF Statements: IF(Behavior0 == 1 AND all others == 0) Sensors clear, no other behaviors  Move Forward IF(Behavior0 == 0 AND Behavior1 == 1) Both sonar detecting object  Turn Around IF(Behavior1 == 0 AND Behavior2 == 1 AND Behavior3 == 0) Sonar clear, left IR triggered, right IR clear  Turn Right IF(Behavior1 == 0 AND Behavior2 == 0 AND Behavior3 == 1) Sonar clear, left IR clear, right IR triggered  Turn Left IF(Behavior1 ==0 AND Behavior2 == 1 AND Behavior3 == 1) Sonar clear, left IR triggered, right IR triggered  Turn Around

  8. Motor Driver while( !(UCSR0A & (1<<UDRE0)) ); //Wait for UART to clear UDR0 = 0x80; //Start Byte while( !(UCSR0A & (1<<UDRE0)) ); UDR0 = 0x00; //Device Type while( !(UCSR0A & (1<<UDRE0)) ); UDR0 = 0x01; //Motor # and Direction while( !(UCSR0A & (1<<UDRE0)) ); UDR0 = speed; //Motor Speed (0 to 127) while( !(UCSR0A & (1<<UDRE0)) );

  9. Movement Movement Logic: IF( Check Globals ) //LWheelDir, RWheelDir, LSpeed, RSpeed { //Globals match my desired behavior }ELSE { //Current behavior and desired behavior //do not match. Stop motors and set globals to match behavior. }

  10. PIR Functionality Parallax PIR Few Notes On The PIR Sensor: • Angled up and towards the middle to aim at people • Electrical tape minimizes the number of false positives • PIR behavior overrides all other behaviors • Both have to be triggered to fire

  11. Finishing Touches Obliterated!!!! • Write behavior code for PIR sensor triggers • Write behavior code to simulate motion • Write behavior code to have both PIR acquire target • Combine PIR behavior code with obstacle avoidance • Connect L.E.D. cannon and execute test fires • TEST, TEST, + TEST

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