Curry Mouse EE296 Design Review Presentation Saturday, March 11, 2006

Team Amy Maruyama Mindy Wong Judy Lee

Micromouse Design and build an autonomous robotic “mouse” that can travel to the center of a maze in the quickest amount of time Restrictions apply

Design HardwareSoftware 2 nd Layer: Sensors and Circuits 1 st Layer: Chassis 3 rd Layer: Microprocessor and Circuits Algorithm Programming..

Design HardwareSoftware 2 nd Layer: Sensors and Circuits 1 st Layer: Chassis 3 rd Layer: Microprocessor and Circuits Algorithm Programming..

Chassis *Already Made* Material: Aluminum Already Mounted: Wheels, motor and batteries Batteries: 8 NiCd Battery Total Voltage : 10.2V Future of Chassis: Cutting Shaft of Motor: 0.5 cm Projected diagonal: 15.8cm

Design HardwareSoftware 2 nd Layer: Sensors and Circuits 1 st Layer: Chassis 3 rd Layer: Microprocessor and Circuits Algorithm Programming..

Sensors Top down sensors AC voltage Total number of sensors –9 sensors Resistor combination –150 ohms and 20k ohms Total possible distance –The combination allowed about 7mm between sensor and object; projected height of sensors 5.6 cm Checking the sensors –Leds above each sensor

Sensors Placement Sensor Purpose Sensor 2, 6, 8, 9 detect walls constantly Sensors 1, 3, 5, 7 detect misalignment Sensors 4, 3, 5 detect dead ends Sensor 8 & 9 makes sure walls are cleared when turning 4.5cm 2.5 cm

Pivot Turning

Turning Corners Mouse stop in center of cell (8 cm) after sensors 8 or 9 detect there is no wall –Approx 23 phase steps To left turn –Left wheel goes forward right wheel goes backwards with equal number of phase steps To right turn –Right wheel goes forward left wheel goes backwards with equal number of phase steps

Design HardwareSoftware 2 nd Layer: Sensors and Circuits 1 st Layer: Chassis 3 rd Layer: Microprocessor and Circuits Algorithm Programming..

Algorithm (right wall hugger) Check if in cell –If in cell Check Alignment –If not aligned adjust speeds to do so. Check for dead end –If there is a dead end turn around Check for right wall –If detect no right wall »Turn right, adjust speeds properly. Check for left wall –If detect no left wall »Turn left, adjust speeds properly. Check if in cell –If not in cell Go to next cell Check if in cell

Moving to the Next Cell To move to the next cell we will use the rabbit to count the motor phases –Wheel diameter = 5.5cm –Circumference of Wheel = 17.28cm –Phases per turn = 50 –Distance per Phase = cm/phase –Phase till next cell = ≈ 46 ¼

Potential problems Manual labor Sensor placement Turning corners Programming and debugging

Gantt Chart Feb Feb Feb.26 -Mar.4 Mar Mar Mar Mar.26 -Apr.1Apr.2-8 Apr Apr Apr Apr.30- May 6 Chassis Move forward Turn corners Circuit and sensors Track forward Track turns Programming

Tasks Completed –Chassis –Chassis to move when plugged into circuit board Current –Moving forward and turning without sensors –Sensor placement and circuits –Algorithm and programming –Figure how to connect programming + microprocessor with hardware Pending –Buying parts…

Any questions?