Tuxbot Mark I

This is my entry to the 2000 Trinity College Home Fire Fighting Robot Contest. It's main design features are:

Here's some things I plan on doing different next year. Some are ideas I picked up from other contestants, and some are just things that went wrong with Tuxbot Mark I:

Here's some pictures of Tuxbot Mark I:
Tuxbot in his natural environment - my test maze. I made my maze from 1/2" plywood. I cheated by making my outer walls less than 13" high (so I could get all the outer walls from one 4'x8' sheet of plywood) and by not painting my maze, since Tuxbot Mark I doesn't care about the color of things.
Closeup of Tuxbot Mark I - left side. You can see one of the GP2D02 distance sensors in the lower left, and you can almost see the flame sensor tube. The controller boards are in the rear of the robot (right side of picture).
Closeup of Tuxbot Mark I - rear. A better view of the controller board. Below the controller board is the windshield washer pump, and to the right of it is the water reservoir.
Closeup of Tuxbot mark I - top left. You can see the Hamamatsu driver board and the compass board. The black thing directly on top of the Hamamatsu board is the servo, and the black thing above that is the 35mm film canister that gets lowered over the flame sensor tube.
Tuxbot Mark I's main board. This is the uCsimm 'Gardener' base board with a bunch of electronics hand-wired onto it. I programmed the Lattice part to do PWM motor control; to the left of it is a 556 & assorted parts that generate an input clock to the lattice part. To the right of it are some debug LED's, and to the right of that is a 74ALS08 (quad dual-input AND gate) that I use to do some level shifting from 5v logic to the 3.3v uCsimm. In the bottom right hand corner of the board is a pushbutton wired to an input on the uCsimm that is pressed to start Tuxbot looking for the candle.
Tuxbot Mark I's motor controller & power board. This board has a 7805 regulator that generates 5v from the 12v battery. This is passed to the uCgardener board, where there is a 3.3v regulator for the uCsimm. This board also has a relay to drive the windshield washer pump, and the LMD18200 h-bridges that drive the two main motors.

maintained by Matt Cross - profesor@gweep.net