1. EE396 Project Micromouse Team: Ocha

2. Team Members Kanoa Jou (Programmer) Ryan Sato (Hardware) KiWoon Ahn (Recorder) Alan Do (Programmer)

3. Overview of the Project  To build and design an autonomous robot to find the quickest path to the canter of a maze.

4. Goal  Implementing distance sensors  Implementing stepper motors  LEGO body chassis  Smooth Turns  Find the Center!

5. Block Diagram Side Sensors Batteries Rabbit ADC Motors Maze Solving Algorith m Moving Tracking Code

6. Sensor Module  Side sensors  Sensor layout  Analog to digital converter

7. Sharp GP2D12  Analog IR distance sensor  Range: 10cm – 80cm  High Immunity to ambient light  Self contained sensor

8. Sensor Design Change

9. Inputs from the Sensor  Final Sensor layout

10. A/D Converter  Max154 or MX7828 -8bit ADC with MUX -Conversion time: 2.5μs -Onboard Vref: 2.5v -Supply voltage: +5v -No clock needed -4 inputs -8 outputs

11. Chassis  LEGO

12. Control  Rabbit 2000 Microprocessor

13. Rabbit Ports PortsConnections Port AMotor Circuit Port D – Pin 0Read and Chip Select Pin 1Channel Select Pin 2Channel Select Port EADC Bits

14. Problems Encountered  Hardware  Side sensor minimum range  ADC setup  PCB Circuit design  Use of old hardware  Software  ADC Programming  Maze solving algorithm  Multiple smooth turns

15. Suggestions  Don’t fry the Rabbit  Recheck circuit before soldering  Check circuit before hooking up to power supply  Cover exposed wires  Finish hardware quickly  Time management  Allow enough time for potential problems

16. Future Improvements  Complex algorithm utilizing more sensors  Find center faster  Better choice of the sensors  Easier adjustment of parts  Batteries  More “plug and play” connections  Set earlier finish date

17. Incomplete Tasks  Programming  Maze solving algorithm  Tracking while turning  Multiple smooth turns