Ottawa Robotics Enthusiasts (ORE) igORE2 board with PIC18F452
- Motor driver: L293D (onboard the igORE2 board)
- Wheel encoder: Optical rotary, DigiKey part 600CS-ND
- Flame extinguisher: Model airplane propeller mounted onto a small 12V DC motor
- 2x Hamamatsu UVtron flame detectors: Acroname part R67-UVTRON
- Eltec 442-3 pyroelectric detector: Acroname part R1-442-3
- White line detectors: photo-reflector, DigiKey part QRB1114-ND
- 2-wire LCD driver: onboard the igORE2 board
- Devantech SRF08 Ultrasonic rangefinder (mounted on a servo): Acroname part R145-SRF08
- 12V, 200 rpm, 3.60 kg-cm torque, noload current 111 mA, gear ratio 30:1 Jameco part 161381
Batteries:
- 1100 mAHr 12 V gel cells for the motors
- Battery pack of 6 AA NiMH for the electronics
Port usage on igORE 2 board:
Navigation:
Motor control:
Locked anti-phase.
The motors are controlled by the wall following procedures.
Wall following:
The servo points the SRF08 range finder at the wall to be followed. The initial distance is read. This is the distance that will be maintained. Distance readings are taken approximately every 10 milliseconds and compared to the initial distance. The bigger the discrepancy, the larger the compensating adjustment to the motors' PWM.