Welcome to MDRC
Thursday, June 29 2017 @ 01:35 AM EDT
Entry for the 2009 Trinity Home Robot Firefighting Competition, designed around an Arduino and a circular base to be small and able to navigate hallways with ease.
- Arduino: Control unit for Martlet, programmed in C.
- UVTron: Detects candle somewhere nearby, added capacitor to give it constant high functionality.
- Thermopile: Locates when the candle is directly ahead, mounted vertically. Uses I2C.
- SRF08 Range Finder: Measures distance to walls in front and to the sides, uses I2C.
- IR Line Detector: Presently unused, but connector is still present to potentially use to detect lines marking doorways.
- Motors: Driven through an inverter and H-bridge, with encoders to drive straight-ish and turn consistently-ish
- Fan: Puts out candle and causes small windstorms
Pinouts - Due to the Arduino no longer being hooked up, these are no longer accurate!
- 9, 10: Left/Right motor enable, pulsed to vary speed of each motor or held low to stop
- 7, 4: Left/Right motor direction, high/low changes forward/reverse
- 3, 2: Left/Right motor encoder outputs, drives interrupt functions on Arduino
- 8: Fan - High to activate
- 12: UVTron output, high indicates presence of flame
- 11: Line detector output
- 13: Activate switch
- 4 (Analog side): SDA (Data) for I2C
- 5 (Analog side): SCL (Clock) for I2C
I2C Addresses - The Sonars are now hot-swappable on Martlet due to sharing with BArd, so these should be checked every time!
- 0xE2: Front sonar
- 0xE0: Left sonar
- 0xE6: Right sonar
- 0xD0: Thermopile
All located in mdrc/personal/BrianR of the SVN presently:
- Fire: Latest competition code
- FFDiag: Diagnostic tool, tests all hardware functionality by outputting sensor data and running fan while switch is held
- encoder/Sonar/thermopile/UVTron: Code solely for the respective sensor implementation for independent testing
Last Updated: Thursday, March 22 2012 @ 08:38 AM EDT
Now with 180° span-o-vision!
Directions to the Lab
The MDRC lab is located on the 4th floor of the Engineering building, room 09-4418. It is located on the Senior Design floor, which is accessible from two stairwells:
The north stairwell is located across from the elevator inside the Pi Quad entrance to the building. This is at the end of the glass-walled hallway for the Brinkman Lab on the 2nd floor of the building. The elevator also services the 4th floor, and may be used to bring large / heavy things up to the lab.
The south stairwell is located in the computer engineering wing. On the 3rd floor of the building, find the corner near Lab D (room 09-3280). There is a large sign labelled "Computer Engineering" pointing out the connecting hallway to the wing. Follow that hallway, and take a left-handed U-turn at the first doorway. There is a small stairwell connecting the 3rd floor to the 4th floor.
The lab is in the hallway connected to the main Senior Design floor (the south stairwell directly connects to this hallway).
The floor doors and elevator are controlled by card swipe, but are unlocked from 8AM to 4:30PM Monday - Friday. The lab is always locked with card swipe, but if members are in the lab the door is usually open. Check the webcam to see if people are in if you don't have card swipe access.
EventsThere are no upcoming events
Who We AreMDRC stands for Multi-Disciplinary Robotics Club
We are a collection of students from the Rochester Institute of Technology. There are students from Electrical Engineering, Mechanical Engineering, Computer Engineering, and Computer Science. Of course anyone is welcome, though!
Weekly meetings during the semester are on Saturdays starting at 2PM. We are located on the 4th floor of Gleason Hall in the Computer Engineering wing, room 4418
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