This week we successfully completed our flame extinguishing program on the Arduino. Our robot is able to scan for, detect, and extinguish the flame autonomously. When prompted by the raspberry pi, the robot will scan for a flame. If a temperature reading over 60 degrees Celsius is detected, the robot takes the hottest detected reading and calculates how many radians it needs to pivot in order to center itself on that pixel. When the temperature reading is over 280 degrees Celsius (meaning the flame is within range of extinguishing) and the hottest pixel is still in the center of the robot’s view, the servo motor is initiated, blasting the flame with compressed CO₂. We also made progress on our motor control code, which is now able to take commands from our navigation control on the raspberry pi.