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

2. Chris Mcleod Hardware specialist

3. Kyle Tanabe Logic and programming specialist

4. Paul Linden Systems specialist

5. Aaron Lake Power specialist

6. P.A.C.K. Rat our hard working mouse. February 1 Breadboard Stage

7. March 1 ~Connection of the driver circuit. ~Portability in power sources. ~Many tedious connections. ~sodering, clipping wires for connections.

8. 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.

9. By the end of March Complete fabrication of the sensor layout. Basic tracking and alignment code for traveling down a corridor.

10. By April 5 Have all the code up and running. Begin trouble shooting.

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

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

13. 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

14. Driver Circuit

15. Underneath view

16. Sensory system 20 infrared sensors, 4 on each corner. 4 middle sensors. Top down design. Symmetrically placed along board with enhanced peeking abilities.

17. Top right corner sensor layout

18. Sensory Layout Middle sensors Outer sensors

19. Traveling down a corridor the inner four sensors remain on telling the mouse that it is centered. These sensors correct and adjust alignment and also scout out walls in theory.

20. When the mouse reaches a possible turning point the four outer sensors will go off.

21. When all 4 middle sensors all activated the mouse knows to turn.

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

23. 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 Flooding

24. Logic Modules Driver –S–Search Mode Sensors Decision Movement (Left,Right,Forward,U-Turn) Direction Alignment –F–Found Mode

25. Sample Algorithm Forward Movement –Initialize sensor readings –Do following until moved 1 square Move forward 12 steps After each step check sensors –If sensors detect turn, set sensor reading as such Check Alignment and fix if alignment no good –Check Alignment –Alter array

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

27. Any questions?

28. Tanks for coming out!