Obliterator

1
Obliterator

• Jose Noriega

2
Obliterator

• New and Improved

3
Mission

1. Patrol surrounding area
2. Detect human presence
3. Target human by simulating motion
4. Power Laser Eradicator Doombringer (LED) cannon
5. Obliterate human

4
Sensors
MaxBotix Sonar
Parallax PIR
Sharp IR
Titanium Reinforced Bumper
5
Sensor Data
IR IR
Inches Value
1 240
2 270
3 250
4 220
5 200
6 190
7 180
Sonar Sonar
Inches Value
1 103
4 103
8 104
12 105
16 106
20 108
24 109
Digital PIR Tests Distance Object 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 (1ltltUDRE0)) ) //Wait for UART
to clear UDR0 0x80 //Start Byte while(
!(UCSR0A (1ltltUDRE0)) ) UDR0
0x00 //Device Type while( !(UCSR0A
(1ltltUDRE0)) ) UDR0 0x01 //Motor and
Direction while( !(UCSR0A (1ltltUDRE0)) ) UDR0
speed //Motor Speed (0 to 127) while(
!(UCSR0A (1ltltUDRE0)) )
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