Spencer Cupp and Kiel Wood Dr. Khalid Al-Olimat – Advisor ONU Micromouse Spencer Cupp and Kiel Wood Dr. Khalid Al-Olimat – Advisor
Outline Prototype System Overview Sensors Motor Control System Drift Correction Yaw Correction Algorithm Performance Conclusion Questions
Prototype
Prototype
System Overview
Sensors
Motor Control
Motor Control
Drift Correction
Yaw Correction
Drift and Yaw Correction
Arduino Uno Limitations Has only 2 digital interrupt pins SRAM 2 kB Stores the stack (restricts recursive calls) Stores local and global variables Flash Memory 32kB Stores program memory Stores constant variables
Arduino Mega 2560 Has 8 kB of SRAM Has 256 kB of Flash Memory Has 6 digital interrupt pins available
Prototype in action
Algorithm Flood Fill Algorithm Pros Cons Provided great performance Not very computationally intensive Does not use up a lot of precious memory Does not require mapping of the entire maze Cons Success is dependent on hardware performance Once the Micro-mouse gets “lost” there is no recovery.
Conclusion Functional prototype developed Algorithm tested and verified in software and hardware Various movement control systems implemented Algorithm and movement control function in tandem Third place in the 2013 SAC IEEE R2 Micro-mouse competition.
Questions