Source code for my autonomous mobile robot that participates in the annual Trinity College Fire Fighting Home Robot Contest.
Results so far: 2013: software was not ready 2014: placed 5th out of 50+ in the senior division 2015: placed 7th out of 30+ in the senior division
This repository contains code that run on the robot itself ("robot" folder) as well as code that runs on a pc for teleoperation / debuggin / testing mode ("pc" folder).
General robot platform in a nutshell (pretty much the same so far over the years):
- Pololu Orangutaon SVP 1284 controller
- 2 gear motors 2/ encoders
- several Sharp IR range sensors for wall following
- several sonars for some situations where the IR is unreliable
- look-down line sensors to detect the entracne into a room
- Bluetooth module for 2-way communication with a PC for remote control and debugging
- microphone for detecting the 3.8Khz sound start signal
Specfic to the 2015 contest:
- water pupmp with nozzle attached to a pan-tilt mechanism - used to extinguish the flame
- omni-directional and directional flame sensors
Software:
- Uses the cocoOS cooperative O/S
- Logic is implemented as several concurrently running finite state machines, plus a PID loop for wall following
- All of the robot code (including the cocoOS) also runs on win32 and talks to a V-REP simulator
https://www.youtube.com/playlist?list=PLKz57Za9efT8gHFnLunfcnyxTgr257nPJ