3. The goals of Micromouse: to build an autonomous “mouse” Mouse should be able to navigate and solve any given maze Mouse should be no bigger than 25 cm x 25 cm (unlimited height) Specific Rules can be found at: http://www-ee.eng.hawaii.edu/~mmouse/new_rules.html

5. Motors (Feet) Sensors (Eyes) Tracking Mapping Solving (Brain) Physical Mouse

6. Final Design First Layer Third Layer Top View: Side View: Bottom view Second Layer Rabbit Layer

7. Initial Goals: To have a tracking mouse Wishful Thinking: Mapping and Solving Mouse

9. Currently: Chassis of Mr. Rabbit is complete Mr. Rabbit’s circuit is complete -Sensor circuit -Motor circuit Tracking/Mapping is in arms reach Still software debugging but the hardware keeps breaking

10. Designs and Features: Stepper Motors Top-Down Sensor Layout Separate battery packs for Rabbit and the rest of the mouse LEDs for easy motor debugging LEDs for sensor debugging Happy Face :D

11. Particularly Unique Features: MONSTER truck wheels for easy travel on all terrain Hose clamp design

13. P: Mysterious Voltage drops of 1V per board… S: Made sure that the batteries were fully charged P: Sensors were not completely sensing S: Adjusted heights of the sensors accordingly P: Rabbits burning out… S: Checked voltage regulator each time to make sure its working and we gave the Rabbit it’s own special battery pack P: Parts breaking: sensors on fire (literally), wires breaking from solder heat, MOSFETs burning out, Rabbits dying, voltage regulator burning out S: Buy plenty of extra parts to replace everything including 6 Rabbits, 15 MOSFETs, 20 sensors, 3 voltage regulators, excess batteries

14. P: BAD connections S: fix accordingly … P: Rabbit cable … “Target Communication Error” S: Try various computers and cables until it works … or realize that the Rabbit is really dead P: Waiting for parts to come in S: pay extra for shipping so it gets here faster P: Finding parts on the island S: Order them online P: Running out of $$$$ S: Beg the parents!

15. P: Things work on the breadboard but they don’t work on the perf board S: Take things apart and redo them prettier P: some of the Rabbit ports don’t work S: edit the code and change the port used P: Batteries take too long to charge!!! S: Buy more chargers or use the voltage supply P: Software Issues S: still working on these P: not enough time! S: reduce sleep

16. P: Sensor Layout Ineffective S: change the sensor layout to make it more effective (more than once) P: Not enough space for the rabbit S: keep building up! P: Couldn’t find the right parts in the beginning ex. Metal for chassis, wheels, teflon pads, mount for Rabbit S: Keep looking until we found the perfect fit

18. Outstanding Problems: Still working on tracking bugs Looking for ways to create better connections Looking for a way to always have 4.9-5.1 V coming out of the Rabbit’s battery pack

19. Future Improvement: Able to map Able to solve Secure wire connections to reduce problems with bad connections