Reconstruction

A few things were added to the robot to allow for more room for sensors and the extinguishing apparatus. Most notably a third plate was added to the robot to give it more of a cylinder shape. The fan was moved to the front of the robot and an LCD screen was added to allow for easier display of data used to debug the programming.

The base from the original robot was kept, the third plate was added using the hexagonal standoffs. This physical change has not effected the flow of the algorithm too drastically so no major changes have been made other than some continuing debugging of certain areas where the robot's actions are unpredictable. 

Things that were removed from the robot:

    -Compass sensor because of its inaccuracies
    -Fan mounting arm to reduce weight and also proved to be unnecessary with 3rd plate added
    -Left ultrasonic sensor was not being used in any of the code so it was also removed