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