Micromouse 296

1
Micromouse 296

• By Lemmings

2
Introductions

• Vicky- coordinator, software oriented
• Bryce-morale booster, software oriented
• Ruffer-time keeper, hardware oriented
• Sean-rule enforcer, hardware oriented

3
Overview

• Make a robotic mouse as a group
• Be able to find the center of a maze as fast as
  possible
• Do so without crashing into a wall

4
Initial Goals

• Map the maze using intersection markers
• Use reverse directions to return to start
• Coordinates prevent looping
• Mark dead ends to prevent re-entry
• Do a left wall hugger
• Time permitting add other maze solving algorithms
• Make the mouse move and turn
• Find the center of the maze

5
Overall Design

• Top Down Sensors
• Using a Wall Hugger as the maze solver
• Research previous micromouse projects in aid for
  design
• Adjustable front sensor to fine tune centering in
  cells

6
Overall Design

• 13 sensors, 3 in each corner of the main board
  and one on the front
• Large heat sink to prevent overheating that also
  has aesthetic purposes
• Hid sensor circuit under a layer with the motor
  circuit

7

8
Accomplishments Thus Far

• Built the complete structure of our mouse
• Built website
• Programmed to hug the left wall
• Learned to work more efficiently as a team
• Center can be identified if found
• Learned how to solder properly

9
Fixed Problems

• Original chassis was too big
• Built a new chassis
• Couldnt find 100 Ohm resistors for detector
  circuit
• Used two 48 Ohm resistors in series
• Difficulty tracking
• One wheel moves twice as fast as the other
• When too far off track back the other way
• Limit the amount of tracking
• Removed tracking directly after turning

10
Fixed Problems

• Burnt out a MOSFET
• Replaced the MOSFET and used a heat sink
• Multiple sensor problems
• Solder touching the chassis
• Disconnected wires
• Main board was crooked
• Drilled larger holes for adjustability

11
Fixed Problems

• Head portion had to be adjusted after changing
  designs
• Support bars were re-cut to allow the head to
  move farther back
• Inverter pins were incorrect
• Looked up the correct pin placement and
  re-soldered

12
Fixed Problems

• Not enough experience with tools
• Learned how to use them
• Sheet metal was thick and hard to mold
• Made most of our chassis out of
• L-brackets
• Main board was too low and touched the wheels
• Cut holes into main board for wheels

13
Outstanding Problems

• Make a seeking program that finds the center
• Make a mapping program
• Some wires are too long
• Some components are loose
• Mouse gets stuck on sliders
• Sensors too sensitive

14
Suggestions

• Increase the spacing between sensors horizontally
• Decrease the spacing between sensors vertically
• Use PC board with copper rings to make soldering
  easier
• Some of the programming cables are less than
  reliable
• Better equipment/tools would be helpful

15
We learned...

• The lower the resistance, the higher the
  sensitivity of the sensors
• Time management
• How to work efficiently as a team
• The proper way to solder
• How to program the rabbit with stepper motors

16
We also learned...

• Better ways to debug circuits
• Better ways to program with C
• How to use AutoCAD
• MOSFETS and other components are heat sensitive
• How to build a working heat sink
• How to build a webpage

17
Website

• http//www2.hawaii.edu/vtsugawa/title.html