Micromouse Meeting #2 PROGRAM DETAILS, APPLYING FOR FUNDING, OVERALL SYSTEMS

First thing’s First: Teams! There were a lot of you this year.

This Year’s Program  $75 deposit  $250 in funding from IEEE  Must traverse 16 maze cells, which must include right turns, left turns, and dead ends.  $150 deposit  $500 in funding from IEEE  Solve the maze! Easy, right?  Almost all the teams that signed up went for the basic budget

In the Past… Get together with team Create details BOM (Bill of Materials)/Parts List Submit Parts List for funding approval Meet Milestones Build Mouse, Compete Pros Flexible Provides freedom to teams Simple and Efficient Cons Provides little accountability Teams unlikely to finish Funding can be wasted

New System Get together with team Plan out approach for Micromouse Create a BOM/Parts List Submit Hardware/Software Preliminary Design IEEE will review designs for validity and correctness Funding Approved Build Mouse, Compete!

New System  Pros  Ensures teams have completed preliminary design, not just parts, before proceeding  Allows motivated teams to receive more feedback from IEEE  Teams are actively engaged with officers about design requirements  Emulates a “real work” environment, the key being design reviews  They won’t be too crazy in depth, but we are doing this to ensure that teams are serious about creating a working mouse.  Cons  We do a lot of work  Can be a little micro-management-y  We will try to avoid this as much as possible. We are here to help you and give overall guidance, not to micromanage.

Things You Need  When applying for funding, we will request three documents  Parts List/BOM with datasheets for active IC’s and parts  List of all the parts, part number, cost, and link  Datasheets for all active parts  Preliminary Hardware Design  Schematic Outline of hardware I/O systems  Preliminary Software Design  Quick, high-level drawing of software plan

Sample Parts List

Sample Hardware Design  This is a very crude hardware I/O layout  Probably about 80-90% of what we will be looking for in your design  Things missing from this design  Labels on pin headers  Details of the encoders  Where are the motors?

Sample Software Design  High-level drawing of software systems of the mouse  Feedback control (PID?)  Left/Right/U-turn decision making  Maze-solving logic overview  Algorithms  Floodfill  Reports/2001/DWillardson.pdf Reports/2001/DWillardson.pdf For each cell: Get sensor data Determine where walls are Decide movement: Push move forward if not visited Push move left if not visited Push move right if not visited Pop stack Move mouse according to top of stack

Approval  We will review your 3 documents as soon as possible and get back to you on whether or not your design was approved  If it was not approved, we will give you advice on things to change and revise. If necessary, the process will be significantly guided  Otherwise, once you receive approval, turn in your deposits. Once we receive the deposits, your funding will be cleared and you can start ordering parts  Depending on time constraints, we may set up an online submission portal. If this doesn’t happen, then we will do it through regular e- mail.  Time between submission and approval/revision should be < 3 days.  If it takes longer than 3 days, please us and we will get on it right away.

Micromouse from a High Level  We are trying to build a small robot. Parts that are essential to all mice are the following:  Microcontroller  5V Regulators  H-Bridges  IR Sensors (or maybe a different technology?)  Motors  Encoders  Batteries  Gyroscope (not necessary, but useful)

Microcontrollers  Small, low-power computers  Runs custom code that you compile and upload to the controllers  Almost all run C/C++ code  Provides multiple inputs and outputs  Things to consider in your microcontroller choice  Clock Speed  RAM/Flash memory  I/O (Analog or Digital)  Size  Power consumption/requirements  Logic Level (Voltage range)

Arduino Software  Common platform for microcontrollers  C/C++  Simple to use  Standard Arduino software used for:  All Arduinos  Teensy (2.0, ++, 3.0, etc.) with Teensy Loader  Modified Arduino software used for:  LeafLabs (Maple Mini)

Arduino Nano  16 MHz, 32KB Flash, 2KB RAM  $10

Teensy 2.0  Common choice, built-in USB  Arduino IDE  16 MHz, 32KB Flash, 2KB RAM  25 I/O  $16

Teensy 3.0  Built-in USB  Arduino IDE  48 MHz  34 I/O  3.3 V logic level  $19

mBed  Web-based compiler  96 MHz, 512KB Flash, 32KB RAM  25 I/O  $60

Maple Maple Mini  72 MHz  Runs Arduino code  $45 (Mini is $35)

Microcontrollers  Find more information online! Useful links here:  Arduino   Teensy   mbed   LeafLabs (Maple Mini) 

What’s next?  us at with your preliminary choice of microcontroller by next Wednesday, October 30 th  Include a short blurb including your reasoning/theory behind why you chose the one you did  Meet with your team! This is only a little bit important, except for the fact that it’s really important.  We will be designing and planning out our future lectures. A schedule will be sent out by .

Next Week  Next week’s lecture: Motors and Encoders  What are motors and encoders?  How are motors controlled?  Powering your mouse  Attaching an AC 120V to your mouse is not ideal  Batteries will probably work better  Power consumption, voltage, current, etc.