1. Team P.A.C.K men EE 296 Project

2. Introduction to team P.A.C.K men Paul Linden – Systems specialist. Aaron Lake – Power specialist. Chris McLeod – Hardware and brute force realist. Kyle Tanabe – Logic and programming specialist. P.A.C.K. rat -our hard working mouse.

3. Goals Design and Build a robot capable of finding the center of a maze Have the mouse be able to return back to the center without looking for a new path.

4. SO FAR

5. Breakdown of project Rabbit 2000 processor Drive system Sensory input Input/Output logic Maze solving System power management

6. Drive system Motors: NEMA 17 stepper motors 9.6 VDC 1.8 o step uni-polar Chassi: single piece of 1/8” aluminum custom fit to specifications. Wheels: custom aluminum alloy rims with rubber treads radius = 2.35cm

8. Sensory system 20 infrared sensors, 5 on each corner. Top down design. Symmetrically placed along board with enhanced peeking abilities.

9. Sensory Layout

13. Logic and processing Rabbit 2000 microprocessor. Dynamic C Tracking based on sensory input. Maze flooding concept to solve maze.

14. 7,77,67,57,47,37,27,17,0 6,76,66,56,46,36,26,16,0 5,75,65,55,45,35,25,15,0 4,74,64,54,44,34,24,14,0 3,73,63,53,43,33,23,13,0 2,72,62,52,42,32,22,12,0 1,71,61,51,41,31,21,11,0 0,70,60,50,40,30,20,10,0 MAZE IS ARRANGED AS A NUMBERED GRID TO AID IN PROGRESS TRACKING

15. 7,77,67,57,47,37,27,17,0 6,76,66,56,46,36,26,16,0 5,75,65,55,45,35,25,15,0 4,74,64,54,44,34,24,14,0 3,73,63,53,43,33,23,13,0 2,72,62,52,42,32,22,12,0 1,71,61,51,41,31,21,11,0 0,70,60,50,40,30,20,10,0 DECIDES ON BEST PATH BASED ON DISTANCE TO THE CENTER

16. 7,77,67,57,47,37,27,17,0 6,76,66,56,46,36,26,16,0 5,75,65,55,45,35,25,15,0 4,74,64,54,44,34,24,14,0 3,73,63,53,43,33,23,13,0 2,72,62,52,42,32,22,12,0 1,71,61,51,41,31,21,11,0 0,70,60,50,40,30,20,10,0 REMEMBERS PATH IT HAS TAKEN

17. 7,77,67,57,47,37,27,17,0 6,76,66,56,46,36,26,16,0 5,75,65,55,45,35,25,15,0 4,74,64,54,44,34,24,14,0 3,73,63,53,43,33,23,13,0 2,72,62,52,42,32,22,12,0 1,71,61,51,41,31,21,11,0 0,70,60,50,40,30,20,10,0 REMEMBERS BAD PATHS

18. 7,77,67,57,47,37,27,17,0 6,76,66,56,46,36,26,16,0 5,75,65,55,45,35,25,15,0 4,74,64,54,44,34,24,14,0 3,73,63,53,43,33,23,13,0 2,72,62,52,42,32,22,12,0 1,71,61,51,41,31,21,11,0 0,70,60,50,40,30,20,10,0 REMEMBERS PATH BACK

19. Power management AA Duracell NiMH rechargable batteries. 2.05 A/hr, 1.2V Processor = 5V Motors = 9.6V Sensors = 5V 16 total batteries

20. Additional thoughts Potential problems: design issues logic problems power issues What we will Learn: Teamwork Engineering Applications C C and more C

21. Any questions?

22. Tanks for coming out!