Xtreme Overkill

Source code, schematics and all documentation is now available on a seperate page dedicated to this project.

Description

This is my biggest undertaking yet. It's an autonomous paintball robot. This is my team's entry in the ORE's (Ottawa Robotics Enthusiasts) annual Splat-Bot event.

For the time being, check out the Media Gallery for a short clip from the Splat-Bot 2001 event.

Specifications

Dimensions
- Base length: 16"
- Turret Diameter: 10"
- Total Height: ~18"
- Class: Heavy Weight! (;
Hardware
- Atmel AtMega128 Microcontroller (STK-300 development board)
  - 4KBytes of SRAM
  - 128KBytes of FLASH
  - 4KBytes of EEPROM
  - Approx. 16 MIPS at 16Mhz!
  - Built-in I2C module
  - Hardware Multiplier!
- 12V 17Ah Battery
- High velocity Paintball gun with 14 1/2" barrel
- Differential drive steering using 2 High Torque Gearbox motors
- Laser Scanner for target detection/tracking (I2C Controlled)
- Custom High Current Motor Controller board (I2C Controlled)
- Rotating Turret using High speed Stepper
- Custom Stepper Controller
- SRF04 Sonar module (I2C Controlled)
- Two Sharp GP2D15 Infrared side proximity detectors (I2C monitored)
Software
- Implements Rodney Brooks' Subsumption Architecture
- Based on AVRX RTOS (Real-Time Operating System)
- I2C Interface to Laser Scanner Module
- I2C Interface to mobile's base PCM (Peripheral Control Module)