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Preliminary Design Review Micromouse Team: Ocha
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Team Members Kanoa Jou Ryan Sato KiWoon Ahn Brett Ikei
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Overview of the Project Traditional top down style mouse Implementing infrared sensors Implementing stepper motors Begin with an easy design Making mice a wall hugger or random turns Design more complicated algorithm Mouse can find the quickest way to the center
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Block Diagram Mouse/Motors Battery Rabbit Sensor
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Rabbit Module Inputs from the sensors Algorithm Code
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Inputs from the Sensor Sensor layout
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Algorithm Right wall hugger Go straight while front sensor is false and right sensor is true Turn right when right sensor is false Turn left when right sensor and front sensor is true.
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Codemain(){ While(1) While(1) { /* keep straight if there is a wall to the right of the mouse */ /* keep straight if there is a wall to the right of the mouse */ while(RSEN1 == 1 || RSEN2 == 1 || RSEN3 == 1 || RSEN4 == || RSEN5 == 1 || RSEN6 == 1 && FSEN1 == 0 && FSEN2 == 0 && FSEN3 == 0) while(RSEN1 == 1 || RSEN2 == 1 || RSEN3 == 1 || RSEN4 == || RSEN5 == 1 || RSEN6 == 1 && FSEN1 == 0 && FSEN2 == 0 && FSEN3 == 0) { go_straight(); go_straight(); } /* turn right if there is an opening on the right wall */ /* turn right if there is an opening on the right wall */ if(RSEN4 == 0 || RSEN5 == 0 || RSEN6 == 0) if(RSEN4 == 0 || RSEN5 == 0 || RSEN6 == 0) turn_right(); turn_right(); /* Checking for a wall in front */ /* Checking for a wall in front */ if(FSEN1 == 1 || FSEN2 == 1 || FSEN3 == 1) if(FSEN1 == 1 || FSEN2 == 1 || FSEN3 == 1) { /* turn left if there is a wall on the right */ { /* turn left if there is a wall on the right */ if(RSEN1 == 1 || RSEN2 == 1 || RSEN3 == 1 || RSEN4 == || RSEN5 == 1 || RSEN6 == 1) if(RSEN1 == 1 || RSEN2 == 1 || RSEN3 == 1 || RSEN4 == || RSEN5 == 1 || RSEN6 == 1) turn_left(); turn_left(); /* turn right if there is no wall to the right */ /* turn right if there is no wall to the right */ else else turn_right(); turn_right(); } }}
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Incomplete Tasks Build Complete circuit Mounting of Sensors Power supply Combining all components Code
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Potential Problems Power supply not adequate Hardware Wheels not aligned Body not balanced
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Timeline
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