Team P'A'C'K men EE 296 Project

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Team P.A.C.K menEE 296 Project
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Chris McleodHardware specialist
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Kyle TanabeLogic and programming specialist
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Paul LindenSystems specialist
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Aaron LakePower specialist
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P.A.C.K. Rat our hard working mouse. February 1
Breadboard Stage
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March 1
Connection of the driver circuit. Portability
in power sources.
Many tedious connections. sodering , clipping
wires for connections.
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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.

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By the end of March

• Complete fabrication of the sensor layout.
• Basic tracking and alignment code for traveling
  down a corridor.

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By April 5

• Have all the code up and running.
• Begin trouble shooting.

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Breakdown of project
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Power management

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

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Drive system

• Motors NEMA 17 stepper motors
• 9.6 VDC
• 1.8o 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

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Driver Circuit
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Underneath view
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Sensory system

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

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Top right corner sensor layout
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Sensory Layout
Outer sensors
Middle sensors
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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.
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When the mouse reaches a possible turning point
the four outer sensors will go off.

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

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Logic and processing

• Rabbit 2000 microprocessor.
• Dynamic C
• Tracking based on sensory input.
• Maze flooding concept to solve maze.

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Maze Flooding
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Logic Modules

• Driver
• Search Mode
• Sensors
• Decision
• Movement (Left,Right,Forward,U-Turn)
• Direction
• Alignment
• Found Mode

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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

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Additional thoughts

• Potential problems
• design issues
• logic problems
• power issues
• What we will Learn
• Teamwork
• Engineering Applications
• C C and more C

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Any questions?

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Tanks for coming out!