2. TAKE YOUR JACKET OFF!

3. Proposal Presentation  Members:  Jayson Nakakura: Chassis Design and Fabrication  Kellie Murakami: Circuitry Design and Fabrication  Scott Bonilla: Algorithm Development  Kendall Kogasaka: Programming and Debugging

4. Overview of Project  Micromouse:  Autonomous programmable robot designed to navigate and solve a 16x16 square maze  Mouse must be less than 25cm x 25cm, but there is no height limitation

5. Hardware Overview  Build and THEN code! Hardware  Two sets of side sensors, three on each side (front and back)  Chassis made out of lightweight plexiglass  Bipolar DC motors  PCB board  10 1.2 V batteries  Rabbit 2000

6. Hardware - Chassis Front

7. Hardware – Chassis Side

8. Hardware - Chassis

9. Software Overview Software  Flood-fill algorithm starting from destination  No 180 degree turns!  Align with rear sensors  S-turns & 45 degree turns  Speed runs

10. Sensor Readings

11. 1 2 2 3 3 3 4 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 9 9 9 9 9 9 10 11 12 13 M 0 13 12 13 14 2 WALLS ADDED-IN WALLS UNSEEN WALLS Solving

12. Potential Problems  Double set of sensors might cause…  Fast battery drainage  Running out of memory  Length of chassis  Alignment  Delicate plexiglass  Debugging!  Unforeseen problems

13. Expectations (Learning)  How to design circuits using etching program & how to etch a PCB  Learn to use side sensors

14. Deliverable Goals  Find the center by solving the maze using a flood fill algorithm  Don’t run into walls or get lost in the maze  Don’t waste time with dead ends, loops, & spirals  Speed run after initially solving the maze  Compete in the mini-competition!

15. Proposed Schedule Feb 17 Feb 24 Mar 3 Mar 10 Mar 17 Mar 24 Apr 1 Gather materials & equipment Build chassis Complete PCB Programming & Debugging Compete in Mini-competition!

16. KEEP HAWAII GREEN any questions?