To design and construct a robotic

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Overview
To design and construct a robotic mouse that
can successfully navigate to a central point of a
randomized maze and return to the starting point
with minimal collisions.
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Hardware
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Initial Goals - Robot base must be able to
rotate 180 degrees in a 16cm x
16cm square - Robot base should be robust -
Robot base should be light (no excessive
material) - Robot should be easily disassembled
- Robot should LOOK GOOD!
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Alteration -Chassis and Sensor Layout -Rear
Sensors -Tire size - Chassis lightening -
Circuit element decisions
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Problems -Thought our motors were bad when
circuit was on Breadboard -Shorted
RCM2000 -Batteries/Power Drain -PCB -Heat
Generated -Finding Right Value of Resistors for
Sensors
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Software
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Initial Goals -Get it moving Straight -Tracking
-Get it to turn -180 -90 -Wall
Hugger -Right -Left -Switching -Random -F
lood Fill -Track (x,y) position in
maze -Flood Filling Functions
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Straight/Tracking -Stop one wheel -Deciding
which sensors to use -Use Costates -Reverse
Code -Acceleration
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Turning -Move both wheels in opposite directions
so turn in place -UTurn is just 2 turns
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Wall Hugger -Slow down when no wall -Turn after
no wall then wall -Started with just right wall
hugging -Mod to left wall -Switching -Random
Pulses
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Flood Fill -Tried position with step
count -Wrote other functions -Not able to get
all function to sync
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Problems
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Straight/Tracking -If tried a smooth correction
it didnt correct fast enough -Sensors to far
apart -Trying to Find the Right speed to move
the mouse -Sometimes tracked when we didnt want
to -(Tracked into Wall) -Changed Sensors Used
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Turning -Getting the values for
turning -Sometimes one wheels locked
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Wall Hugging -Getting Code to compile -Deciding
When the mouse should turn -Instead of using
step counts sense when wall disappears and
then reappears -Turned when it shouldnt or the
wrong directions -Change what sensors were used
to detect turn
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Continued Switching/Random How to make it
switch Implementing a Random Function Added
LED Crashed into wall Reset Feature
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Flood Fill -How to write a flood fill code and
what it is -How to avoid flood overflow -Just
dont check outer walls -Keeping track of
position in the maze
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Recap Final Standing -Have Chassis using Stepper
Motors and a PCB Motorboard -8 Sensors and 2
LED on a Adjustable Sensor Board -10 1.2 V
Rechargeable Batteries -Left, Right, Switching,
Random Wall Hugger, Drag Race switchable with
8 Dip Switches
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Outstanding Problems What we would change
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Power Drain/ Heat -More Voltage
Regulators -Stepper Motors gave
problems -Rechargeable Batteries -Add one more
Switch
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-Sensor Layout -Closer Sensors -More
Sensors -PCB Sensor Boards -Weight
Reduction -Position -Trying to keep track of
position in maze
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-Moving -S-Turns -Better Tracking -Solving
Algorithms -Getting Flood Fill to work -Find a
better algorithm
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