The Pied Pipers Joanne Flores Ken Shum Alyssa Visitacion

Project Overview To create an autonomous robotic mouse that will navigate a maze.

Goals Have each circuit correctly interact with each other. Make mouse move forward Have mouse make turns Complete a wallhugging mouse Find center of maze

System Diagram Program Module Mechanical Module

Program Module Tracking Algorithm Sense walls If offset sensors turn on, you are no longer centered. Increase speed on side of offset sensors until centered. Wall Hugger Algorithm Move forward as long as there is a wall on the left.  If there is a wall in the front, turn right.  If there is no wall on the left, turn left.

Excerpt from Tracking and Wallhugger Code int delaysignal(void); unsigned moveforward(void); unsigned turnright(void); unsigned turnleft(void); main() { RdPortI WrPortI(SPCR,&SPCRShadow,0X84);// declares all A ports as output ports while (1) // basic wallhugger {if (SENF1 || SENF2) {turnright();// this function moves mouse right delaysignal(); } else if (!SENL1 && !SENL2 && !SENL3) {turnleft();// this function moves mouse left delaysignal; } else {moveforward;// this function moves the thing forward delaysignal; }

Mechanical Module Chassis Battery Packs Tires Motors Standoffs Electrical Circuitry Sensors Circuit Motor Drivers Circuit Rabbit

Design Decisions To make it as compact and light as possible To keep the wiring neat To minimize the amount of sensors used To organize circuits by placing each part on three different layers.

Design Structure Consists of three layers of circuitry Chassis contains standoffs, which holds up the three layers Sensors Circuit – Bottom Layer Motor Drivers Circuit – Middle Layer Rabbit and Switch – Top Layer

Overall Design

Sensors Layer Two sensors in front of mouse Three sensors each on left/right side of mouse Has a hole in the middle to lead motor wires to middle layer

Motor Drivers Layer Contains motor drivers circuit Also holds the voltage inverters that connect to each sensor panel.

Top Layer Contains rabbit and switch. Neatly covers the motor drivers layer

Final Status Sensors Circuit and Motor Drivers Circuit works Used Circuitwriter to make connections in circuit Sensors are attached to body using velcro

Problems That Occurred Altering Design Scheduling conflicts Too much time spent on debugging Bad Connections Broken Parts Switch incorrectly connected

Outstanding Problems Unable to move due to a broken rabbit

Future Improvements Time management Etching More visually appealing Coding

Questions?