This canon was made independently by myself in Computer Science 310: Robotics. The aim of this robot is to guard one's table. the robot sits on a table and, while active, is routinely scanning its environment and comparing distance values. Once there is a negative change in distance, the robot runs through a targeting method that it uses to determine if the change was a fluke, or real enough to be considered a threat to the table. If the latter is determined, the robot will register the sensor that found the distance, spin to face that direction, and approach using a recursive method that has it move forward a fractional amount and then check if it is either in range or off the table. If it is in range, it releases the electromagnetic cannon launching a projectile at the perceived threat (in these tests an Expo marker was used, and proved to be very effective). If the robot reaches the edge of the table but does not sense the threat within range, then it will turn around and move further back onto the table.

     The robot is equipped with 8 ultrasonic sensors (6 for scanning and 2 for edge detection), two continuous servos, and an electromagnetic solenoid. It is controlled by an Arduino Uno and uses three circuits (motors, computer/sensors, and cannon).