1. Micromouse Ryan Bidlack Ryan Bidlack Jason Wells

2. In this presentation… Background Background Workload Breakup Workload Breakup Overall Design Overall Design Mechanical Design Mechanical Design Electrical Design Electrical Design Software Considerations Software Considerations Schedule Schedule Budget Budget Questions Questions

3. Problem Statement Design and Build an autonomous “mouse” that will navigate its own way through a maze Design and Build an autonomous “mouse” that will navigate its own way through a maze

4. Background Micromouse is an autonomous self contained machine designed to get to the center of a maze in the shortest possible time. Micromouse is an autonomous self contained machine designed to get to the center of a maze in the shortest possible time. A Micromouse comprises of drive motors, sensors and control logic to keep the vehicle 'on track. A Micromouse comprises of drive motors, sensors and control logic to keep the vehicle 'on track.

5. Event Techfest 2009  Student and Professional categories  This event is held every year in different locations around the world  Held in Bombay, India this year  INR 45,000 in prizes (approx $1000 USD)

6. Mouse Requirements A Micromouse shall be self contained. A Micromouse shall be self contained. Micromouse must follow size constraints of 9.85 in wide by 9.85 in long. No height limit. Micromouse must follow size constraints of 9.85 in wide by 9.85 in long. No height limit. Micromouse must not be powered by a combustion or nuclear process Micromouse must not be powered by a combustion or nuclear process A Micromouse shall not leave anything behind while negotiating the maze. A Micromouse shall not leave anything behind while negotiating the maze. A Micromouse shall not jump over, climb, scratch, damage, or destroy the walls of the maze. A Micromouse shall not jump over, climb, scratch, damage, or destroy the walls of the maze.

7. Workload Breakup Ryan Bidlack Ryan Bidlack Mechanical Design, Sensor control software, sensor interfacing. Mechanical Design, Sensor control software, sensor interfacing. Jason Wells Jason Wells Mechanical Design, Motor control software, Circuit board design. Mechanical Design, Motor control software, Circuit board design.

8. Maze characteristics Black Painted Plywood floor Black Painted Plywood floor White painted plywood walls White painted plywood walls 7 inches between walls 7 inches between walls

9. Final Design Drive train Wheels in center Wheels in center DC motors DC motors 2.375” rubber wheels 2.375” rubber wheels Sensors and Control HC08 HC08 Ping sensors Ping sensors LM298 motor driver LM298 motor driverNavigation Look for First opening Look for First opening Left side has priority Left side has priority

10. Navigation Software right_distance = read_right_sensor(); right_distance = read_right_sensor(); delay_100ms(); delay_100ms(); front_distance = read_front_sensor(); front_distance = read_front_sensor(); delay_100ms(); delay_100ms(); left_distance = read_left_sensor(); left_distance = read_left_sensor(); delay_1ms(); delay_1ms(); if((front_distance >0) && (front_distance 0) && (front_distance <= 5)) { ninety_degree_left(); } ninety_degree_left(); } else if((left_distance >0) && (left_distance 0) && (left_distance <25)) { slight_right();} slight_right();} else if((right_distance >0) && (right_distance 0) && (right_distance <25)){ slight_left(); } slight_left(); } else if(left_distance >70){ else if(left_distance >70){ ninety_degree_left();} ninety_degree_left();} else if(right_distance >70){ else if(right_distance >70){ ninety_degree_right(); } ninety_degree_right(); }

11. System Diagram Wall Ping HCS 08 Motor Control

12. Turning Clearance

13. Main P.C. Board Piece of the mouse frame Piece of the mouse frame Same size as motor plate Same size as motor plate Holds three ping sensors Holds three ping sensors

14. Electrical Concepts Motor Control 5V reg. Left Motor Right Motor Battery 9V Ping HCS 08 Mouse Main Board 3.3V reg.

15. Electrical Schematic

16. Motor Drivers L298 Motor Driver Board L298 Motor Driver Board 6-24Vin 6-24Vin 5V at 4amps output 5V at 4amps output

17. Motor Control Software Sample Code PTBDD= 0x1f; Sets PTBD 0-3 to outputs both_motors_forward lda #%00010101 ;sets enable pin, and sets L2 and L4 high sta PTBD rts

18. Time needed for a 90 deg. turn 7.46” circumference wheel = C 7.46” circumference wheel = C 130 rpm motor = rpm 130 rpm motor = rpm Robot speed = C * rpm = 969 in/min Robot speed = C * rpm = 969 in/min Robot speed = 16.16 in/s Robot speed = 16.16 in/s

19. Time needed for a 90 deg. turn Robot turns 17.27” circumference Robot turns 17.27” circumference 90 deg. = ¼ arc = 4.3” circumference 90 deg. = ¼ arc = 4.3” circumference 90 deg. time = 4.3” / robot speed (in/s) 90 deg. time = 4.3” / robot speed (in/s) 90 deg. Time = 266 mS

20. 90 deg. left software ninety_degree_left lda #%00001101 ; motors turning opposite ways lda #%00001101 ; motors turning opposite ways sta PTBD sta PTBD ldhx # 266 ; this is where the 90 deg. time gets put in ldhx # 266 ; this is where the 90 deg. time gets put in jsr delay_xhms jsr delay_xhms lda #%000000001 ;motors stop lda #%000000001 ;motors stop sta PTBD sta PTBD rts rts

21. Sensors Parallax Ping Sensor Parallax Ping Sensor Published working range of 2cm-3m Published working range of 2cm-3m Tested Working range of 1cm-3m Tested Working range of 1cm-3m When distance is under 1cm a longer When distance is under 1cm a longer pulse is returned Pings are set back on mouse to prevent false readings Pings are set back on mouse to prevent false readings Sensor returns a value into a variable Sensor returns a value into a variable

22. Sensor Calibration Sensor resolution is adjusted by changing a time delay Sensor resolution is adjusted by changing a time delay With a 20us delay there is no chance of overflowing the counter With a 20us delay there is no chance of overflowing the counter

23. Sensor Programming read_left_sensor: bclr 5,PTBD ;making port an output bclr 5,PTBD ;making port an output bset 5,PTBDD bset 5,PTBDD nop nop bset 5,PTBD bset 5,PTBD jsr delay_10us ; min 2us, max 750us (Tout) jsr delay_10us ; min 2us, max 750us (Tout) bclr 5,PTBD bclr 5,PTBD bclr 5,PTBDD ;making port an input bclr 5,PTBDD ;making port an input clrx clrxecho_start1: incx incx beq echo_timedone beq echo_timedone jsr delay_20us ; looks for start of pulse adjusting this delay adjusts the resolution jsr delay_20us ; looks for start of pulse adjusting this delay adjusts the resolution lda PTBD lda PTBD bit #%00100000 bit #%00100000 beq echo_start1 beq echo_start1 clrx clrxecho_time1: incx incx beq echo_timedone beq echo_timedone jsr delay_20us ; looks for end of pulse jsr delay_20us ; looks for end of pulse lda PTBD lda PTBD bit #%00100000 bit #%00100000 bne echo_time1 bne echo_time1 pshx pshx pula pula rts rts 1ms-20ms

24. Schedule Fall Semester Spring Semester What?Who? Week 11Week 12Week 13Week 14 Week 1Week 2Week 3Week 4Week 5Week 6Week 7Week 8Week 9 Week 10Week 11Week 12Week 13Week 14 Design Mouse layout (cad)Jason/Ryan sensorsRyan motor mounts (cad)Ryan mouse main frame (cad)Jason Custom circuit boardJason mouse drive systemsJason/Ryan Research sensor optionsRyan types of motorsJason/Ryan Eagle cadJason Build Motor mountsRyan Mouse main frameJason/Ryan custom circuit boardJason Assembly Assemble micromouseJason/Ryan Programming Main loop programmingJason sensor programmingRyan motor control programsJason Test SensorsJason/Ryan ProgramsJason/Ryan Overall FunctionalityJason/Ryan

25. Milestones WhenWhatWho Week 4 Build frame and motor mounts Ryan/Jason Week 4 Get motors to turn using a simple program Jason Week 5 Activate and read sensors using a simple program Ryan Week 7 Build custom circuit board Jason Week 8 Preliminary mouse assembly Ryan Week 9 Control both motors with input from one ping sensors Jason Week 10 Control Both motors with input from three ping sensors Jason/Ryan Week 10 Final mouse assembly Ryan Week 11 Final testing Ryan/ Jason

26. Budget Total Allocated funds $400 Maze materials -$54.00 Motor Drivers(1) - $18 Motors (2) - $43.90 Ping Sensors(3) - $89.97 Remaining Funds $194.13

27. Questions ?