1. 1 Final Presentation Team Amaze Me May 8, 2008

2. 2 Content Members Overview of Project Goals Structure of Design Design Decisions Problems & Improvements Status Discussion + Demo!

3. 3 Members John Miyajima Brandon Gibu Chad Higa Justin Ogata

4. 4 Overview Construct an autonomous “mouse” Traverse a 16 x 16 maze Implementing better components Efficient solving algorithm

5. 5 Goals Find the center!  Applying our experience Approach project with short goals  Using the Gantt Chart

6. 6 Structure of Design

7. 7 Structure of Mouse Side Senso rs ADC Wheels Bipolar Motors Motor Drivers Solving Algorith m Movement Code Digital to Numeric value Outlet Voltage +5 Volt Reg LiFePO4 Charger LiFePO4 Battery Or AA’s (12 V) Rabbit μProcess 2000 Power Unit Sensing Unit Driving Unit 12 V supply Charge batteries Step Down Voltage 5 V supply Sensor conditions Sensor byte values Sensor Running Sequence 8-bit Reading Analogue Value Control Movement Pulse motorRotations Figure 1: Block Diagram of Mouse

8. 8 Hardware Design Figure 2: Front View of Mouse Rabbit Microprocessor PCB Side Sensors Wheels Chassis

9. 9 Hardware Design Rabbit Microprocessor PCB Chassis Wheels Battery Pack Figure 3: Side View of Mouse

10. 10 Hardware Design Rabbit PCB Battery Pack Figure 4: Top View of Mouse

11. 11 Software Design

12. 12 Software Design Algorithm  Seeking Right Wall Hugger  Tracking → K-Controller ?? Costates + “for” loops Global functions “If” statements → Navigation

13. 13 Example of Costates + K Controller Kvalue=Lsensor/Rsensor; costate{ waitfor(DelayMs(3)); } //Counter mouse to the Right if(Kvalue > 0.10 && Kvalue < 1.00){ // Kvalue less than 1 PORTA4OFF; // Control the rotation of right motor PORTA6OFF; // Control the rotation of left motor costate{ PORTA5ON;// Pulse the clock PORTA7ON; PORTA5OFF; waitfor(DelayMs(5));// Delay one motor first PORTA7OFF;// Delay the other motor shortly after waitfor(DelayMs(10)); } Figure 5: Top view Figure 6: Code of Tracking Using Costates

14. 14 Example of “for” Loop void straight(void){// Go straight! int z, i; for( z=0; z < 50; z++)// Repeat the Sequence { PORTA4OFF; // Control rotation of right motor clockwise PORTA6ON;// Control rotation of left motor counter clockwise for(i=0; i<forspeed; i++)// Hold the values { PORTA5ON;// Clock pulse for right motor PORTA7ON;// Clock pulse for left motor } PORTA7OFF; // Switch clock pulse PORTA5OFF; } }; Figure 7: Straight Global Function

15. 15 Example of Global Function void rightturn(void){ // Turn right ! This works! int m,n; for(m=0; m < 90; m++) // 90 is a perfect value for perfect 90 degree turns!! { PORTA4OFF;// Control rotation of right motor counter clockwise PORTA6OFF;// Control rotation of left motor counter clockwise for(n=0; n< forspeed; n++)// forspeed clock speed {// Hold the values PORTA5ON;// Clock pulse for right motor PORTA7ON;// Clock pulse for left motor } PORTA7OFF;// Switch clock pulse PORTA5OFF; } }; Figure 8: Right Turn Global Function

16. 16 “If” Navigation if(Lsensor > 55 && Msensor > 80 && Rsensor > 45) // 111Pattern { reverse(); stop(); oneeighty(); stop(); step(); read(); } Figure 10: Dead End Case Figure 9: Dead End Code

17. 17 Interesting Features Packing Contest (3 rd Place) → Changes  Alkaline → Lithium  Bread board → PCB K Controller Video 1: Tracking

18. 18 Design Decisions Components that we didn’t use  Switcher Used Voltage regulator  Ball caster Sliders  LiFePO 4 battery AA Figure 11: Sliders cushions

19. 19 Problems & Solutions AA battery pack  Leaked fluid + damage  Due to contact to chassis  Handle with care Difficulty assembling PCB  Brute force! Staying on task  Work harder! Figure 12: Fluid on battery pack

20. 20 Outstanding Problems Coding!

21. 21 Future Improvements Implement desired components  Switcher  Ball caster  LiFePO 4 battery PCB Rabbit Better Wheels Use Dip Switch → Multiple Algorithms Apply Floodfill

22. 22 Current Status Gantt Chart  Coding  Hugger Table 1: Final Gantt Chart

23. 23 Acknowledgements People  Dr. Dobry  Alex Zamora  Tyson Seto-Mook  Toy Lim  Quang  Joanne Flores  Monalisa Cabahug Team  Raiton-No Desuku

24. 24 Questions & Discussion Stand by for demo