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

5. Sensor Data Digital PIR Tests: Distance Object 6 inches Finger
Value 1
240 2
270 3
250 4
220 5
200 6
190 7
180
Sonar
Inches
Value 1
103 4 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 & (1<<UDRE0)) ); //Wait for UART to clear
UDR0 = 0x80; //Start Byte
while( !(UCSR0A & (1<<UDRE0)) );
UDR0 = 0x00; //Device Type
UDR0 = 0x01; //Motor # and Direction
UDR0 = speed; //Motor Speed (0 to 127)

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