Building Block
Although the sentry set out to do what it originally intended there is much room for future work and improvement. In its current state it cannot realistically be used as a sentry. I believe a more suitable mobile platform could be found or built than the Roomba -- one less vulnerable and more threatening. With more work and testing it could be a viable solution in the future.Patrol
Getting the roomba to move relatively straight using the sonar turned out to be the major time mire for the project. Even we have struggled in measuring the degree of rotation while patrolling, accurate calibrations and calculations has been made so that the roomba exactly knows that how much it has to turn ast certian instant of time. For debugging purpose we have used different color LEDs so that we can understand that in which state the roomba currently is in.For measuring the distance from the SONAR we have used RealTerm, so that we can print the distant on the Real Term dispay terminal. We are using this Roomba sentry in a Virtual walled environment so the main problem that we have encountered with PIR and SONAR is focussing them and making them short range,for that we have used a confined paper board that can restraint the external disturbance from the surrounding environment.