MicroMouse

Final Presentation

Jill Kobashigawa

Min Mo

Jon Shindo

Christy Kaneshiro

Introduction• Jill

– Leader

– Programming

• Christy

– Sensor boards

– Programming

• Jon

– Chassis

– Motor Circuit

• Min

– Sensor layout design

– Webpage

Overview• Micromouse

– Autonomous robot that navigates and finds the center of the maze

– Project will apply programming concepts as well

as circuit design

– Maze (16x16 cells)

Initial Goals

• Build a mouse that is functional

• Learn how to apply skills learned in class

• Learn how to work in a group

Block Diagram

Design- Chassis

• Initial chassis– Rubber wheel

attachments– Ni-MH Batteries– Height for boards– Old car deck holder

• Problems with chassis– Wheels unstable– Batteries hard to access– Too heavy

Design – Chassis cont.

• Final chassis• Emphasis on less

weight– Aluminum wheel

attachments– More space for

batteries, Velcro attachments

– Aluminum chassis– Aluminum standoffs

Design- Sensors• Sensors (Initial)

– 12 total top down– Main purpose

• Alignment, keep straight, know when crooked

• Sensors (Final)– 10 sensors – (inner 2 too close to

wheels)

Design- Motor Circuit

• Our initial circuit• Built exactly how it was built on the protoboard• Did not work

– Checked connections!!!– Checked inverters!!!– Checked MOSFETs!!!– Checked rabbit!!!– We do not know why!?!?!?

• Eventually the board was stripped and salvaged and a new motor circuit was designed and built

Design- Motor Circuit cont.• Second motor circuit

worked much better– No inverters– Diodes were considered

but were not used because we feared they may not work correctly

– Lower resistance to prevent feedback current to rabbit

– Reduced amount of wires and neater layout

– More power efficient

Design - Programming

• Tracking– Alignment– Gaps

• Mapping– Algorithm

• Solving– Algorithm

Outstanding Problems & Suggestions for the Future

• Mapping code conflicts with tracking

• Better way to connect everything

• Get an earlier, better understanding of each components role in the entire process

What we learned

• How concepts and equations physically behave in real life

• Pre-planning is the key to success

• More flexible designs

• Perform tasks after you understand the reason for them