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Final Presentation EE 296 – Micromouse Spring 2007 Friday, May 4, 2007 POST 214
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Team Giga-Cat Team Members Mark Fujihara Christopher Ho Katherine Ishida David Ota
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Overview Build an autonomous robot mouse that can find the center of a 16 x 16 maze and then calculate and make multiple runs using the shortest path to the center.
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Our First Design Top Down sensors for path/wall detection 4 sensors at each corner 3 for error correction 1 for wall detection 2 sensors in the middle for error correction during turns Two wheels and a ball bearing for mobility Stepper motors
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Sensor LayoutChassis Layout Drawings and Designs
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More Designs Top and Side View Base LayoutTop View with Sensor Blocks
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Goals For Original Design Move forward and back Front and back sensors Look sleek, not bulky Stacked circuit boards Put a spoiler and bumper on it Use a flood fill algorithm to map and solve the maze Go to the mainland and win competition Build a killer mouse
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What We Ended Up With Top Down sensors for path/wall detection 3 sensors at each corner 2 for error correction, 1 for wall detection 2 sensors in the front and back for front and back wall detection 1 sensor in front and back for emergency stop 2 wheels and 2 slider pads for mobility Stepper motors Right wall hugger
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Our Final Design Here are the early stages of construction…
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Our Final Design Which eventually became our final beauty!
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Final Design Features Used a stacked circuit board design L-braces to hold motors in place Had sensors on a metal frame, adjustable according to the wall height
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More Design Features Put LEDs on top sensor board instead of directly over corresponding sensor Incorporated LEDs for each motor step
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So What Went Wrong? Sensor layout was bad We re-did the sensor layout Number of sensors Placement Our original chassis was too big We built a new chassis Our “stacked” design was terrible Hard to solder Spacing was bad We “sucked it up” and dealt with it
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More Problems… Our mouse did not move the first time We found our power and ground rails were connected together and fixed it One motor did not step correctly We found a loose connection in the MOSFET Mouse moved, but kept getting stuck We found the mouse was too heavy, so we slowed the speed down to create more torque Battery connections were loose We had to put more electrical tape
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Programming Problems Originally pulsed each motor individually (right, left, right, left, etc.) We changed the program so the motors stepped together Both wheels were programmed to go clockwise, so it went in a circle Made one go counter clockwise
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What’s Still Wrong? Mouse can only navigate the maze Does not map Does not solve the shortest path Does not go backward Does not win any competition (except the beauty contest!)
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Design Suggestions Do not use the “stacked” design Complicated and messy, too many extra wires Do not use too many standoffs or extra metal that adds weight Use a Perforated Circuit Board with copper lining in the holes It will make soldering neater and easier Color-coding wires is very useful
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Completion Suggestions Do not waste time at the beginning of the semester. It is not as long as you think. Multi-task. Have someone begin code before mouse is completely built Work hard during spring break
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Now, lets see our beauty in action! Mini-maze please…
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Thank You Any Questions, Comments, Suggestions?
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