1. Ramrod IV Micromouse 396

2. The Team  Andrew Igarashi – Programming  Kevin Li – Hardware  Amy Maruyama – Hardware  Stephen Nakamura – Hardware  Quang Ngu – Programming

3. Project Overview  To design a fully autonomous robot, a “mouse”, that can move through a maze, know where in the maze it is, and find the center

4. System SoftwareHardware Decide Direction Read WallsMoveSensorsMotor

5. Hardware Module MotorSensors Rabbit ADC Converter Motor Driver Chips Move

6. New Changes to Hardware  New Circuit Board  5V Switching Regulator  3 Additional Programmable LEDs

7. RCM2000 Ports

8. PORT A 6/8 used for motors  Ports A0 and A5 are used for clock signal for motors.  Ports A1 and A4 chooses full step or half step control.  Ports A2 and A3 control the direction of the motors (either clockwise or counter- clockwise).

9. Outputs to ADC  Ports E0 and E2 selects sensor to read. 1 1 -> Left Sensor 1 0 -> Middle Sensor 0 1 -> Right Sensor  Port D0 must be low (logic 0) to read sensor’s analog output.

10. Inputs from ADC  Ports E1, E3, E5, E7 represent the upper four bits of the conversion value.  Ports D1, D3, D5, D7 represent the lower four bits of the conversion value. E1E3E5E7D1D3D5D7 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 1 = 1 + 4 + 32 = 37 = 1 + 4 + 32 = 37

11. Debugging Tool 7 Segment Display  Allows us to determine what the mouse sees and remembers.  Many ports used to implement A6 A7 B6 B7 D2 E4 E6

13. Software Modules Move Main() Read SensorsMapSolve

14. Main()  Define a lot of Macros and Global Variables  Initialize Ports A2,A3, A1,and A4 for motors  while(1) { Costate { move(); check_sensors(); map(); solve()} }

15. Macros  //Macros  #define RIGHT_FAST 4 //motor speeds  #define RIGHT_SLOW 10 //motor speeds  #define RIGHT_TRACK 6 //motor speeds  #define LEFT_FAST 2 //motor speeds  #define LEFT_SLOW 5 //motor speeds  #define LEFT_TRACK 3 //motor speeds  #define RIGHT 0 //read right sensor/track right  #define LEFT 1 //read left sensor/track left  #define MIDDLE 2 //read middle sensor/track  still got more to add….

16. Motor Macros  #define PORTA0ON BitWrPortI(PADR, &PADRShadow, 1, 0) //Clock for Right Motor  #define PORTA1ON BitWrPortI(PADR, &PADRShadow, 1, 1) //Half Step for Left Motor  #define PORTA2ON BitWrPortI(PADR, &PADRShadow, 1, 2) //Right Motor Backwards  #define PORTA3ON BitWrPortI(PADR, &PADRShadow, 1, 3) //Left Motor Forwards  #define PORTA0OFF BitWrPortI(PADR, &PADRShadow, 0, 0) //Clock for right Motor  #define PORTA1OFF BitWrPortI(PADR, &PADRShadow, 0, 1) //Full Step for Left Motor  #define PORTA2OFF BitWrPortI(PADR, &PADRShadow, 0, 2) //Right Motor Forwards  #define PORTA3OFF BitWrPortI(PADR, &PADRShadow, 0, 3) //Left Motor Backwards

17. More Motor Macros  #define PORTA4ON BitWrPortI(PADR, &PADRShadow, 1, 4) //Half Step for Right Motor  #define PORTA5ON BitWrPortI(PADR, &PADRShadow, 1, 5) //Clock for Left Motor  #define PORTA6ON BitWrPortI(PADR, &PADRShadow, 1, 6) //7-segment  #define PORTA7ON BitWrPortI(PADR, &PADRShadow, 1, 7) //7-segment  #define PORTA4OFF BitWrPortI(PADR, &PADRShadow, 0, 4) //Full Step for Right Motor  #define PORTA5OFF BitWrPortI(PADR, &PADRShadow, 0, 5) //Clock for Left Motor  #define PORTA6OFF BitWrPortI(PADR, &PADRShadow, 0, 6) //7-segment  #define PORTA7OFF BitWrPortI(PADR, &PADRShadow, 0, 7) //7-segment

18. Analog to Digital Converter Macros  // Output Macro for Sensor Select on ADC  #define PORTE0ON BitWrPortI(PEDR, &PEDRShadow, 1, 0)  #define PORTE2ON BitWrPortI(PEDR, &PEDRShadow, 1, 2)  #define PORTE0OFF BitWrPortI(PEDR, &PEDRShadow, 0, 0)  #define PORTE2OFF BitWrPortI(PEDR, &PEDRShadow, 0, 2)  // Output Macro for Sensor RD Input low to access data  #define PORTD0ON BitWrPortI(PDDR, &PDDRShadow, 1, 0)  #define PORTD0OFF BitWrPortI(PDDR, &PDDRShadow, 0, 0)

19. Analog to Digital Converter Macros  //Sensor Definitions  #define PORTE1ON BitRdPortI(PEDR,1) // MSB  #define PORTE3ON BitRdPortI(PEDR,3) // D6  #define PORTE5ON BitRdPortI(PEDR,5) // D5  #define PORTE7ON BitRdPortI(PEDR,7) // D4  #define PORTD1ON BitRdPortI(PDDR,1) // D3  #define PORTD3ON BitRdPortI(PDDR,3) // D2  #define PORTD5ON BitRdPortI(PDDR,5) // D1  #define PORTD7ON BitRdPortI(PDDR,7) // LSB

20. Global Variables  int left_sen;//sensor values  int middle_sen;//sensor values  int right_sen;//sensor values  int motor; //pick which motor to pulse  int pulse_delay; //delay for motor pulsing  int track_pick; //Pick direction to track  int sen_pick; //Pick which sensor to use  int i;//Counter/index for loops  and more to come...

21. Initialization 00 00 (0,0) 1 11 1 11 113 33 3 22 2 2 222 2 2 4 4 4 3 4 335 5 5 5 (0,1) (0,2) (0,3) (0,4) (0,5) (1,0) (1,1) (1,2) (1,3) (1,4) (1,5)(2,5) (2,4) (2,3) (2,2) (2,1) (2,0) (3,5) (3,4) (3,3) (3,2) (3,1) (3,0) (4,5) (4,4) (4,3) (4,2) (4,1) (4,0) (5,5) (5,4) (5,3) (5,2) (5,1) (5,0) C (X,Y) C = Shortest number of steps away from center (X,Y) = Coordinate of the Cell R F L What is 1 step? -moving 1 cell forward -90 degree turn left/right (without moving after turn) -180 degrees (without moving after turn) B

22. The Mapping System Orientation: W N S E Wall Orientation: L F B R

23. How do we store walls? 00 0 0 (0,0) 1 1 1 1 11 1 1 2 22 2 22 2 2 222 2 2 3 3 3 3 3 334 4 4 4 (0,1) (0,2) (0,3) (0,4) (0,5) (1,0) (1,1) (1,2) (1,3) (1,4) (1,5)(2,5) (2,4) (2,3) (2,2) (2,1) (2,0) (3,5) (3,4) (3,3) (3,2) (3,1) (3,0) (4,5) (4,4) (4,3) (4,2) (4,1) (4,0) (5,5) (5,4) (5,3) (5,2) (5,1) (5,0) Front Mouse

24. 00 0 0 (0,0) 1 1 1 1 11 1 1 2 22 2 22 2 2 222 2 2 3 3 3 3 3 334 4 4 4 (0,1) (0,2) (0,3) (0,4) (0,5) (1,0) (1,1) (1,2) (1,3) (1,4) (1,5)(2,5) (2,4) (2,3) (2,2) (2,1) (2,0) (3,5) (3,4) (3,3) (3,2) (3,1) (3,0) (4,5) (4,4) (4,3) (4,2) (4,1) (4,0) (5,5) (5,4) (5,3) (5,2) (5,1) (5,0) Cont. Wall[0][1][R] = NoWall Wall[0][1][L] = Wall Wall[0][0][F] = NoWall

25. 00 0 0 (0,0) 1 1 1 1 11 1 1 2 22 2 22 2 2 222 2 2 3 3 3 3 3 334 4 4 4 (0,1) (0,2) (0,3) (0,4) (0,5) (1,0) (1,1) (1,2) (1,3) (1,4) (1,5)(2,5) (2,4) (2,3) (2,2) (2,1) (2,0) (3,5) (3,4) (3,3) (3,2) (3,1) (3,0) (4,5) (4,4) (4,3) (4,2) (4,1) (4,0) (5,5) (5,4) (5,3) (5,2) (5,1) (5,0) Cont. Wall[1][1][F] = NoWall Wall[1][1][B] = Wall Wall[0][1][R] = NoWall Wall[0][1][L] = Wall

26. Move(); track_straight()turn_left()turn_right()180_right() move() Solve telling move where we want to go find_walls telling move where we can go Tell solve where we are going Did we move 1 cell? When can I move 1 cell?

27. track_Straight()  void track_straight(void) {  if ((right_sen > 70)) {  //printf("Going into right track loop\n");  for (i = 0;i < 50; i++)  forward(RIGHT);  }  else if ((left_sen > 80)) {  //printf("Going into left track loop\n");  for (i = 0;i < 50; i++)  forward(LEFT);  }  else {  //printf("Going into sraight loop\n");  for (i = 0;i < 50; i++)  forward(MIDDLE);  }

28. forward()  void forward(int motor) {  if (motor == MIDDLE) {  costate  {  PORTA0ON;  waitfor(DelayMs(RIGHT_FAST));  PORTA0OFF;  waitfor(DelayMs(RIGHT_FAST));  }  costate  {  PORTA5ON;  waitfor(DelayMs(LEFT_FAST));  PORTA5OFF;  waitfor(DelayMs(LEFT_FAST));  }  else if (motor == LEFT) {  //printf("In left loop");  costate  {  PORTA5ON;  waitfor(DelayMs(LEFT_TRACK));  PORTA5OFF;  waitfor(DelayMs(LEFT_TRACK));  }  costate  {  PORTA0ON;  waitfor(DelayMs(RIGHT_FAST));  PORTA0OFF;  waitfor(DelayMs(RIGHT_FAST));  } 

29. Check_Sensors  Check_sensor();  costate  {  read_sensor(RIGHT);  waitfor (DelayMs(50));  //printf("right_sen = %d\t",right_sen);  read_sensor(LEFT);  waitfor (DelayMs(50));  //printf("left_sen = %d\t",left_sen);  read_sensor(MIDDLE);  waitfor (DelayMs(50));  //printf("middle_sen/left_sen = %d\n",middle_sen);  }

30. Read_sensor  void read_sensor(int sen_pick) //initialzes a conversion for 1 sensor  {  int distance1; //variable for 4MSBs  int distance2; //variable for 4LSBs  int total; //representing distance without splitting in two creates  //invalid results  if (sen_pick == LEFT) {  PORTE0ON; PORTE2ON;  }  else if (sen_pick == RIGHT) {  PORTE0ON; PORTE2OFF;  }  else if (sen_pick == MIDDLE) {  PORTE0OFF; PORTE2ON;  }   costate {  PORTD0OFF;  waitfor(DelayMs(50)); //wait for conversion  distance1 = PORTE1ON*128 + PORTE3ON*64 + PORTE5ON*32 + PORTE7ON*16;  distance2 = PORTD1ON*8 + PORTD3ON*4 + PORTD5ON*2 +PORTD7ON;  total = distance1 + distance2;  if (sen_pick == LEFT) {  left_sen = total;  //printf("left_sen = %d\t",left_sen); }  else if (sen_pick == RIGHT) {  right_sen = total;  //printf("middle_sen = %d\n",middle_sen); }  else if (sen_pick == MIDDLE) {  middle_sen = total;  //printf("right_sen = %d\n",right_sen); }  PORTD0ON; } } 

31. Map find_walls()position() Did we move 1 cell yet? Sensors Move Tell solve where we are Tell solve where the walls are What moves are possible? Move Did we move 1 cell yet? This module also stores the walls with respect to position in an array Wall[x][y][side] = 0 or 1

32. Solve remember()filter()go_home() solving() Store moves we made go_center() Walls we found Moves we want to make Array of moves

33. Schedule

34. Questions ?