A lot of extraneous tasks were completed this week. We finishing mounting our fire extinguishing system, we designed the voltage regulating circuit to regulate our battery down to ~9V for the Arduino board, and we modeled the microphone circuit with a multiple feedback band-pass filter in P-Spice (a second op-amp is needed to further amplify the signal). Most importantly, our robot is successfully running on its own in a straight path, and is able to successfully round corners. Video of Robot Moving