1. Firefighting Vehicle By: Scott Benjamin & Reji Jose

2. Description & Objective Navigate through 4’x4’ structure. Search for a lit candle. Extinguish by a fan onboard. Reference Page 1, Appendix A

3. Firefighting Vehicle

4. Operation Range Motor operates between 4.5 – 12 volts and draws 225mA at maximum efficiency. Operating voltage of battery: 1.1 - 1.3V Operating current of H-Bridge: 0.6 - 1A Operating voltage of HCS12: 4.5 – 5.5V Reference Pages 4, 8, 10, 12, Appendices B, C, D

5. IR Sensors Sharp GP2D120 Detects objects between 4cm-30cm Reference Pages 9-11, Appendix D

6. Phototransistor Panasonic PN168 Wavelengths 600-1000nm 30° away Reference Pages 12-13

7. Motor Drive Current peaks at 275 mA each motor adds 2.2Kg-cm of torque Rotates at ~1 revolution per second Reference Pages 3-4, Appendix B

8. System Initialization Wait half a second for sensor startup. Flash all LED’s once for ~0.3 seconds. Keep all LED’s lit upon error or crash. Reference Pages 15-16

9. User Interface 00000001Looking for the candle 00000010Found Candle 00000100Trying to put out the candle 00001000Detected the candle to be out 00010000Detected a wall in the way 00100000Turning left 01000000Going straight 10000000Turning right 11111111Light all LEDs at start up or after an error Reference Pages 15-16

10. Operating Restrictions Non overhead lighting may cause problems. Walls need to be at least 10 inches apart.

11. Software Flowchart Reference Pages 13-14

12. Housing Reference Appendix A

13. Difficulties Sensors may not sense the obstacle within the given range. Sensing the flame and blowing it out. Make sure that the data from the IR sensor is read in correctly. Making sure power consumption is not too high. Reference Pages 17

14. Testing Procedure Test each component individually: Motors IR Sensors Phototransistors H-Bridge Batteries Software Then test Integration Reference Pages 4-5, 6-7, 8, 11, 13

15. System Integration Each subsystem will already be tested for correctness Place vehicle in operating environment First test base functionality (find and extinguish candle) Simultaneously, ensure that the user interface functions properly Finally, confuse it Reference Page 16

16. Costs

17. Questions?