1. Design Constraints

2. Abstract  Design and build a compact robot to traverse a maze.  Use the robot to generate an ASCII representation of the entire maze.  Mark light locations on map as they are discovered.  Revisit lights intelligently throughout the maze in a user-defined order.

3. Block Diagram Pushbuttons

4. µC Design Constraints  Needs 12 total GPI/O pins 2 for pushbuttons 4 for H-Bridge inputs 3 x 1 RGB status LED 1 x 3 LEDs  Needs 7 A/D channels 10-bit resolution is sufficient for sensors  Needs a decent clock speed Many computations while still moving

5. µC Comparison PIC18F4550TMS320F28069 GPI/O pins2240 A/D channels16 10-bit12 12-bit Max clock speed8 MHz20 MHz PWM channels217