Back To Basics A BASIC Stamp Based Micromouse B2B MicroMouse Traditional MicroMouse Language used...

Language used› PBASIC

Drive systems› Servo Motors

Sensor systems› Side looking IR

Language used› Dynamic C

Drive systems› Stepper Motors

Sensor systems› Top Down IR

Basic Stamps and PBASICVs.Rabbit MCU and Dynamic C

Basic Stamps Cheap

› Starting costs› Micro controller

RobustPBASIC Popular Language Easy to program Very Large Hobbyist

community

Rabbit MCU Expensive

› Dev Kits› Small order MCUs

FragileDynamic C Popular language A little difficult to

program

Servo motorsVs.Stepper Motors

Fast› DC motor based

Takes industry standard signals Lower voltage, runs off of TTL +5v

Slow› “Step“ based

Need to buy or build a controller Large steppers require a less standard

12v

Side lookingVs.Top-Down

Side looking IR Smaller physical

footprint› No large PCB

needed› Lighter

Less sensors required› Less I/O lines

required

Top down IR Usually requires

large arrays› Large PCBs to

stretch over walls› Flimsy construction

Leads to jams

› Heavy› Uses lots of IO lines

Possible Issues During DevelopmentandAccomplishable Goals

Week 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

Date 25-Aug 1-Sep 8-Sep 15-Sep 22-Sep 29-Sep 6-Oct 13-Oct 20-Oct 27-Oct 3-Nov 10-Nov 17-Nov 24-Nov 1-Dec 8-Dec 15-Dec

Activity

Presentations

Orientation

Proposal

Preliminary Design

Critical Design

Final

Design

RobotCompiling parts list

Checking old partsAdding new parts

Sensor systemsMechanical ModificationsSoftware Design

Manuvering AlgorithmMapping Algorithm

Solving Algorithm

Build

Robotic platformChassis

MotorsElectronics

Sensors boardsDistance Tracker

Test

RobotMovement

Can go straightCan turn accurately

Maps distance accuratelyCan compute centerCan remember path

Can solve maze

Reports

Draft

Final

Project Schedule(Gantt Chart)

Measuring distances the MicroMouse moves› Traditionally you’d count steps with a

stepper motor› Need to think of a way with servos

Possible use of encoders? Maze solving algorithm

› Wall hugging? › Flood Fill?› Own Creation?

Movement algorithm› Sharp turns› Navigate a long corridor

Wall tracking algorithm› Wall following algorithm› Re calibrate distance measurements.

Backtracking algorithm,› Can retrace steps to last intersection

“Smooth Turning” Algorithm

Overcome the limits of the Basic Stamp Discover new ways of controlling PWM

(DC Motor/Servo) controlled robots› Creative techniques for driving DC motors

with PWM Come up with creative algorithms to

solve the maze› Improve upon flood fill?