Fire Army 5/20/14



These are the general step by step instructions for building

Step 1: After obtaining all the parts needed for the project we must organize all the parts obtained in a kewl fashion.

Step 2: secondly we tried to dry fit all of the parts which seemed fine. How ever during the actual assembly we came across numerous issues.

Step 3:Some of our issues involved missing parts such as nuts, screws and washers. Even some steps in the instructions were not mentioned such as during certain points soddering was not mentioned but was necisary for the platform to function.

Step 4: then we started programming an ardwino pro mini, a joy stick and two wireless xbees.

Step 5: second to last we connected the ardweeno to the mobile platform to decent success with some soddering points breaking. We also brain stormed how we would attach the vacume.

Step 6: lastly we attached the vacume to the top of the mobile platform using sugru self setting rubber. We also utilized a small sheet of cardboard to propup and assist with holding the vacume at our desired angle.



  1.     Velcro
  2.     Black & Decker  7.2-Volt Cordless Dustbuster
  3.     Baron 4WD Mobile Platform
  4.     XBee 1mW Chip Antenna
  5.     Breakout board for Thumb Joystick
  6.     Thumb Joystick
  7.     “Breakout Board for XBee Module”
  8.     XBee 1mW Chip Antenna
  9.     40 Pin Break Away Male Header- Long Straight-10 Pcs
  10. “Breakout Board for XBee Module”
  11. XBee 1mW Chip Antenna
  12. Official Arduino Motor Shield


Blue Print:

image (5)


const int
PWM_A   = 3,
DIR_A   = 12,
BRAKE_A = 9,
SNS_A   = A0;

void setup() {
  // Configure the A output
  pinMode(BRAKE_A, OUTPUT);  // Brake pin on channel A
  pinMode(DIR_A, OUTPUT);    // Direction pin on channel A

  // Open Serial communication
  Serial.println("Motor shield DC motor Test:\n");

void loop() {

// Set the outputs to run the motor forward

  digitalWrite(BRAKE_A, LOW);  // setting brake LOW disable motor brake
  digitalWrite(DIR_A, HIGH);   // setting direction to HIGH the motor will spin forward

  analogWrite(PWM_A, 255);     // Set the speed of the motor, 255 is the maximum value

  delay(5000);                 // hold the motor at full speed for 5 seconds
  Serial.print("current consumption at full speed: ");

// Brake the motor

  Serial.println("Start braking\n");
  // raising the brake pin the motor will stop faster than the stop by inertia
  digitalWrite(BRAKE_A, HIGH);  // raise the brake

// Set the outputs to run the motor backward

  digitalWrite(BRAKE_A, LOW);  // setting againg the brake LOW to disable motor brake
  digitalWrite(DIR_A, LOW);    // now change the direction to backward setting LOW the DIR_A pin

  analogWrite(PWM_A, 255);     // Set the speed of the motor

  Serial.print("current consumption backward: ");

  // now stop the motor by inertia, the motor will stop slower than with the brake function
  analogWrite(PWM_A, 0);       // turn off power to the motor

  Serial.print("current brake: ");
  Serial.println("End of the motor shield test with DC motors. Thank you!");


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