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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?