Autonomous Maze Traversal

To find the flame, we had to program the Squarebot to move towards each room so that it can call it detect flame function. We used a combination of simple drive calls in conjunction with the ultrasonic sensor.

void searchRoom1()

{

  goForward(340);

  goRightSlowly(63);

  goForward(268);

  goRightSlowly(63);

  goForward(170);

  roomNum=1;

}

void searchRoom2()

{

  goLeftSlowly(67);

  goLeftSlowly(67);

  uSonicMove(7);

  goLeftSlowly(63);

  goForward(450);

  goLeftSlowly(67);

  uSonicMove(7);

  roomNum=2;

}

void searchRoom3()

{

  goRightSlowly(67);

  goRightSlowly(67);

  uSonicMove(7);

  goRightSlowly(63);

  goForward(170);

  goLeftSlowly(63);

  goForward(180);

  goLeftSlowly(63);

  uSonicMove(7);

  roomNum=3;

}

void searchRoom4()

{

  goRightSlowly(67);

  goRightSlowly(67);

  uSonicMove(7);

  goLeftSlowly(63);

  uSonicMove(7);

  goRightSlowly(63);

  uSonicMove(14);

  goRightSlowly(63);

  roomNum=4;

}

We successfully navigated on both our attempts. Our problem was that the squirt gun did not fire due to technical difficulties of the water pump. Overall, we had a blast and are looking forward to the next firefighting competition.