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1 Final Presentation Team Amaze Me May 8, 2008
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2 Content Members Overview of Project Goals Structure of Design Design Decisions Problems & Improvements Status Discussion + Demo!
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3 Members John Miyajima Brandon Gibu Chad Higa Justin Ogata
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4 Overview Construct an autonomous “mouse” Traverse a 16 x 16 maze Implementing better components Efficient solving algorithm
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5 Goals Find the center! Applying our experience Approach project with short goals Using the Gantt Chart
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6 Structure of Design
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7 Structure of Mouse Side Senso rs ADC Wheels Bipolar Motors Motor Drivers Solving Algorith m Movement Code Digital to Numeric value Outlet Voltage +5 Volt Reg LiFePO4 Charger LiFePO4 Battery Or AA’s (12 V) Rabbit μProcess 2000 Power Unit Sensing Unit Driving Unit 12 V supply Charge batteries Step Down Voltage 5 V supply Sensor conditions Sensor byte values Sensor Running Sequence 8-bit Reading Analogue Value Control Movement Pulse motorRotations Figure 1: Block Diagram of Mouse
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8 Hardware Design Figure 2: Front View of Mouse Rabbit Microprocessor PCB Side Sensors Wheels Chassis
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9 Hardware Design Rabbit Microprocessor PCB Chassis Wheels Battery Pack Figure 3: Side View of Mouse
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10 Hardware Design Rabbit PCB Battery Pack Figure 4: Top View of Mouse
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11 Software Design
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12 Software Design Algorithm Seeking Right Wall Hugger Tracking → K-Controller ?? Costates + “for” loops Global functions “If” statements → Navigation
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13 Example of Costates + K Controller Kvalue=Lsensor/Rsensor; costate{ waitfor(DelayMs(3)); } //Counter mouse to the Right if(Kvalue > 0.10 && Kvalue < 1.00){ // Kvalue less than 1 PORTA4OFF; // Control the rotation of right motor PORTA6OFF; // Control the rotation of left motor costate{ PORTA5ON;// Pulse the clock PORTA7ON; PORTA5OFF; waitfor(DelayMs(5));// Delay one motor first PORTA7OFF;// Delay the other motor shortly after waitfor(DelayMs(10)); } Figure 5: Top view Figure 6: Code of Tracking Using Costates
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14 Example of “for” Loop void straight(void){// Go straight! int z, i; for( z=0; z < 50; z++)// Repeat the Sequence { PORTA4OFF; // Control rotation of right motor clockwise PORTA6ON;// Control rotation of left motor counter clockwise for(i=0; i<forspeed; i++)// Hold the values { PORTA5ON;// Clock pulse for right motor PORTA7ON;// Clock pulse for left motor } PORTA7OFF; // Switch clock pulse PORTA5OFF; } }; Figure 7: Straight Global Function
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15 Example of Global Function void rightturn(void){ // Turn right ! This works! int m,n; for(m=0; m < 90; m++) // 90 is a perfect value for perfect 90 degree turns!! { PORTA4OFF;// Control rotation of right motor counter clockwise PORTA6OFF;// Control rotation of left motor counter clockwise for(n=0; n< forspeed; n++)// forspeed clock speed {// Hold the values PORTA5ON;// Clock pulse for right motor PORTA7ON;// Clock pulse for left motor } PORTA7OFF;// Switch clock pulse PORTA5OFF; } }; Figure 8: Right Turn Global Function
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16 “If” Navigation if(Lsensor > 55 && Msensor > 80 && Rsensor > 45) // 111Pattern { reverse(); stop(); oneeighty(); stop(); step(); read(); } Figure 10: Dead End Case Figure 9: Dead End Code
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17 Interesting Features Packing Contest (3 rd Place) → Changes Alkaline → Lithium Bread board → PCB K Controller Video 1: Tracking
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18 Design Decisions Components that we didn’t use Switcher Used Voltage regulator Ball caster Sliders LiFePO 4 battery AA Figure 11: Sliders cushions
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19 Problems & Solutions AA battery pack Leaked fluid + damage Due to contact to chassis Handle with care Difficulty assembling PCB Brute force! Staying on task Work harder! Figure 12: Fluid on battery pack
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20 Outstanding Problems Coding!
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21 Future Improvements Implement desired components Switcher Ball caster LiFePO 4 battery PCB Rabbit Better Wheels Use Dip Switch → Multiple Algorithms Apply Floodfill
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22 Current Status Gantt Chart Coding Hugger Table 1: Final Gantt Chart
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23 Acknowledgements People Dr. Dobry Alex Zamora Tyson Seto-Mook Toy Lim Quang Joanne Flores Monalisa Cabahug Team Raiton-No Desuku
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24 Questions & Discussion Stand by for demo
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