Enforcer

IMDL Fall 2012Eduardo Moreno

What does enforcer do?

• Locks in to a target when powered on.

• Approaches target.• Performs a 180 degree.• Enforces pain with a

strike from its rear mounted piston.

Sonar

• Ultrasonic Range Finder HRLV-EZ4 advertised up to 5000mm range with 1mm resolution.

• Real value is 0.3m – 1.8m with 5mm resolution this constitutes a conversion value from 59 to 360.

CMUcam• Track a bright colored object.• Auto Calibration at power up.• Tracks color and returns a two

dimensional coordinate of where center of mass of the object is.

• Fright Props 1.5 inch bore 3 inch stroke.

• 1.77*psi power push factor.• Operated by a 3 way solenoid

with a exaust port. Requires 12V and 0.25 amp.

Piston

Future Work• Wheel encoder to track where it stands.

Specially when turning around.• Directional punting of objects.• Better suspension, motors and body.• Make it land safely. Some day upgrade it to

the swamp flea.