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Asphalt Featuring Fountain Turtle Toaster a.k.a. Bastard Child of Puanani Brad Centeno Kellen King Ikaika Ramos.

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Presentation on theme: "Asphalt Featuring Fountain Turtle Toaster a.k.a. Bastard Child of Puanani Brad Centeno Kellen King Ikaika Ramos."— Presentation transcript:

1 Asphalt Featuring Fountain Turtle Toaster a.k.a. Bastard Child of Puanani Brad Centeno Kellen King Ikaika Ramos

2 Warning: The following material is intended for mature audiences. PG-13 Please view with discretion.

3 Brad Future officer of the law (high speed chase/traffic division) Future officer of the law (high speed chase/traffic division) Proud 2002 graduate of Waianae High School Proud 2002 graduate of Waianae High School Tracking technician Tracking technician

4 Kellen Future baseball great (in the footsteps of Derek Jeter) Future baseball great (in the footsteps of Derek Jeter) Alumnus of Saint Louis High School in 2001 Alumnus of Saint Louis High School in 2001 Personal bodyguard of FTT (Fountain Turtle Toaster) Personal bodyguard of FTT (Fountain Turtle Toaster)

5 KIZZAIKA Future executive chef of Chateau de Bunny Future executive chef of Chateau de Bunny Representing the Kamehameha Schools Class of 2002 Representing the Kamehameha Schools Class of 2002 Styler and Profiler Styler and Profiler

6 Honorary Members Dr. Thadeus Dobry Dr. Thadeus Dobry Mr. Kevin Chung Mr. Kevin Chung Mr. Alex Gomera Mr. Alex Gomera Mr. Brent Hashimoto Mr. Brent Hashimoto Mr. David Larson Mr. David Larson Mr. Matt Markley Mr. Matt Markley Mr. Paul Ramirez Mr. Paul Ramirez Mr. Brent Uyehara Mr. Brent Uyehara Much Mahalo for your Assistance!

7 Dr. Tep Dobry – Resident Pimp T-Dawg up in the hizzle

8 Kevin Chung – Cherry Popper “Where’s my cherry pepsi?!”

9 Alex Gomera - Zephyr In the words of Tony Montana: “You look like a lizzard!”

10 Brent Hashimoto – Show me the money Wow, I so bootylicious! Beyonce, eat your heart out! GOT CRACK? “I WILL STRIP FOR A SHMOKE AND A PANCAKE.” CENSORED

11 David Larson You may not see me, but I’m here in spirit!

12 Matt Markley – man behind the code main() { printf(“Hi Tep!\n”); printf(“Will you be my friend?\n”); }

13 Brent Uyehara – Jedi Knight Brent no longer exists. Only the power of the Bendon will be with you. My brass light saber will destroy you all!

14 Brief History In 1972, first concepts of Micromouse which were mechanical and spring powered. 1977, IEEE Spectrum magazine sponsored a contest with the concept of an autonomous mouse with a processor. Only 15 out of 6000 entries could compete. March 1990, the idea of Micromouse was distributed to schools and junior colleges, in which many started their own clubs. In, 1995 University of Hawaii first mouse was named Hokule`a. The main pioneer of UH Micromouse was Nathan Mariels, and the first two members to do Micromouse for credit was Mike Masaki and Crieighton Lai. And the legacy continues…

15 Why bother? Reason: This project was brought to our attention in the fall of 2003 as an "opportunity we couldn't pass up". Micromouse was the premier 296project of the College of Engineering. We took the assignment as of December 2003 and whence began the crusade to California. Through the course of the past 5 months, we have bled, collapsed, and nearly underwent psychological reevaluation, but without further ado, Asphalt presents: FTT - Fountain Turtle Toaster a.k.a. Bastard Child of Puanani. BOREDOM

16 Summary of Progress January - Tutorials January - Tutorials February - Tutorials, proposal presentation, Experiment w/ chassis and circuits. February - Tutorials, proposal presentation, Experiment w/ chassis and circuits. March - Finalize circuits needed and chassis, design presentation March - Finalize circuits needed and chassis, design presentation April - Main code developed, mini competition April - Main code developed, mini competition May - Kill lingering bugs (use OFF), Regional competition May - Kill lingering bugs (use OFF), Regional competition

17 Early Decision-making Top down infrared sensors Top down infrared sensors Stizzeper motors Stizzeper motors RC cell Nickel batteries RC cell Nickel batteries Custom plastic battery holsters Custom plastic battery holsters $30 hot wheel wheels $30 hot wheel wheels Rabbit Microprocessor 2000 Rabbit Microprocessor 2000 Hex spacer stand offs Hex spacer stand offs

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19 Description of Hardware

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21 Abstraction Driver Circuit Bunny Motors Wheels

22 Description of Software

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24 Driver.c main() main() { int i; int i; Instruction direction; Instruction direction; int position; int position; int path[CELLSINMAP]; int path[CELLSINMAP]; Compass face; Compass face; Cell map[CELLSINMAP]; Cell map[CELLSINMAP]; WrPortI(SPCR,&SPCRShadow, 0x84); WrPortI(SPCR,&SPCRShadow, 0x84); /* driver initial conditions */ /* driver initial conditions */ i = 0; i = 0; position = 0; position = 0; path [i++] = 0; path [i++] = 0; face = NORTH; face = NORTH; initializemap(map); initializemap(map); /* get input from sensors */ /* get input from sensors */ get_input(map, position, face); get_input(map, position, face); /* update values of cells */ /* update values of cells */ update_values(map); update_values(map); /* choose next move */ /* choose next move */ direction = decide_best_move(map, position, face); direction = decide_best_move(map, position, face); while (!IN_CENTER(position)) while (!IN_CENTER(position)) { make_move(map, &position, &face, direction, path, &i); make_move(map, &position, &face, direction, path, &i); /* update path */ /* update path */ path[i++]=position; path[i++]=position; /* get input from sensors */ /* get input from sensors */ get_input(map, position, face); get_input(map, position, face); /* update values of cells */ /* update values of cells */ update_values(map); update_values(map); /* choose next move */ /* choose next move */ direction = decide_best_move(map, position, face); direction = decide_best_move(map, position, face); } }

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27 THE UNIT CELL Typedef struct cell{ Int n; Int s; Int e; Int w; Int number; Int value; } Cell;

28 NO MULTIDIMENSIONAL ARRAYS!!!

29 Cell 0 Cell 1Cell 17 Cell 16

30 Adjacent_cell_test() Cell iCell i+16

31 Dead_cell_test()

32

33 Here it is

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38 Plumbing out the problems: CENSORED

39 Solutions Developed

40 The Finished Product Finally DONE!

41 Experience Gained Testing circuits that don't behave correctly Testing circuits that don't behave correctly Neatness of design Neatness of design Planning pays off Planning pays off Camera work Camera work Music heals! Music heals!

42 Conclusion Any Questions??? What would Tep do? WWTD


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