Atomyk-x |-| The Firefighter Robot

Initial Post - 24/02/2009:

This is a Firefighter Robot, (note that the cointaner of water is a old cointainer of pills):

Wich is not completed, it needs a infrared sensor that will enable the "bomb of water", that is a jet of water from a car (here we can also detect a connecting pole wich is to programme the robot ;) ):

But, before I go further, this robot uses a Picaxe 40x:

It uses a  LM293D to control the motors, (all the printed circuit boards are made at home), to moves itself it uses tracks wich I improve adherence with tape...

As actuators/output devices it has 2 servomotors (Futaba S3001) changed to DC and to 360º (so now they're normal motors), a servomotor used as a servo to rotate the SRF005, a water pump that jets water ;), and that's it about actuators...

As a CPU it has a Picaxe 40x, wich is connected: to a LM293D to coordenate the two motors; and with the control of the water pump; And this makes the Operative System of Atomyk-x...  

As Power Source it has two 9,6v 2000Mah (Racing Pack) connected in parallel to feed the motors, two square 9v standard rechargeable batteries connected in parallel to feed the Picaxe and the sensors, and more two square 9v standard rechargeable batteries connected in series to feed the water pump...

The Programming Language is Picaxe Basic...

As sensors/input devices it has two SRF005 sonars to navigate, a S320115 follower of lines to detect and follow lines (this one is not applied yet)...

 Here is its "control panel", with one on/off switch, one green button for start, and one red one for stop/reset, and connecting poles to recharge all the batteries:

The target environment for this firefighter is indoor, but it can also navigate outdoor in not a highly rough environment...

Here I leave some videos that can show the potential of this robot, I really enjoyed his construction...

I'm having some problems with is programming, when it has been done I will update this post, and show to you new videos...

I leave here also his programme, if anybody can help me, I would be very grateful to that person, this robot will go to a competition in June, on IPG (Instituto Superior Técnico da Guarda in Portugal), and so here I leave also the website of this competition: http://robobombeiro.ipg.pt/

In this website is a highly detailed arena, and the navigation should be applied to that arena:

If someone can help me, I would be very grateful....

Note: Sorry for the bad quality of the pictures/videos....

 
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UPDATE - 25/02/2009:

 So in order to fullfill the request of OddBot, here are two new videos of Atomyk-x |-| The Firefighter Robot squierting water, and fighting the fire:

•  Video 1 - Atomyk-x extinguishing a fire:

http://www.youtube.com/watch?v=gyx_awPD0Xg

• Video 2 - Explanation about the mechanism that has extinguished the fire:

http://www.youtube.com/watch?v=tsfn7SE7hdI

I hope you have enjoyed this two new videos as much as I do!!!... ;) -> Bye...