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PublishBertina Dora Williams Modified over 9 years ago
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Back To Basics A BASIC Stamp Based Micromouse
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B2B MicroMouse Traditional MicroMouse Language used › PBASIC Drive systems › Servo Motors Sensor systems › Side looking IR Language used › Dynamic C Drive systems › Stepper Motors Sensor systems › Top Down IR
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Basic Stamps and PBASIC Vs. Rabbit MCU and Dynamic C
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Basic Stamps Cheap › Starting costs › Micro controller Robust PBASIC Popular Language Easy to program Very Large Hobbyist community Rabbit MCU Expensive › Dev Kits › Small order MCUs Fragile Dynamic C Popular language A little difficult to program
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Servo motors Vs. Stepper Motors
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Servo Motors Stepper Motors Fast › DC motor based Takes industry standard signals Lower voltage, runs off of TTL +5v Slow › “Step“ based Need to buy or build a controller Large steppers require a less standard 12v
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Side looking Vs. Top-Down
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Side looking IR Smaller physical footprint › No large PCB needed › Lighter Less sensors required › Less I/O lines required Top down IR Usually requires large arrays › Large PCBs to stretch over walls › Flimsy construction Leads to jams › Heavy › Uses lots of IO lines
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Possible Issues During Development and Accomplishable Goals
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Measuring distances the MicroMouse moves › Traditionally you’d count steps with a stepper motor › Need to think of a way with servos Possible use of encoders? Maze solving algorithm › Wall hugging? › Flood Fill? › Own Creation?
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Movement algorithm › Sharp turns › Navigate a long corridor Wall tracking algorithm › Wall following algorithm › Re calibrate distance measurements. Backtracking algorithm, › Can retrace steps to last intersection “Smooth Turning” Algorithm
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Overcome the limits of the Basic Stamp Discover new ways of controlling PWM (DC Motor/Servo) controlled robots › Creative techniques for driving DC motors with PWM Come up with creative algorithms to solve the maze › Improve upon flood fill?
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