Ramrod IV Micromouse 396

The Team  Andrew Igarashi – Programming  Kevin Li – Hardware  Amy Maruyama – Hardware  Stephen Nakamura – Hardware  Quang Ngu – Programming

Project Overview  To design a fully autonomous robot, a “mouse”, that can move through a maze, know where it is in the maze, and find the center

System SoftwareHardware Decide Direction Read WallsMoveSensorsMotor

Basic Chassis  Plexiglas frame  2 Sliders  2 Wheels  8 Batteries (formerly 10)

Hardware Module MotorSensors Rabbit ADC Converter Motor Driver Chips Move

Wheels Sensors Batteries Rabbit ADC Converter Switch Motor Driver Circuit 5 Volt Regulator/ Heat Sink

Sensor Sensor ADC Converter Rabbit light Sensor -Distance judgment (analog signal) V to +0.3V ADC Converter -Converts analog into digital --8 bit digital Signal Rabbit - Information to software

How a Side Senor Works Light Emitter Light Detector

Sensor Placement 1.25 in Sensor 1Sensor 2 Sensor 3

Motor Rabbit Motor Driver Chips Motors Rabbit -One clock to each chip -Counter Clockwise or Clockwise --Full or half step Motor Driver Chips -High current outputs for the motor coil Bipolar Motors -Wheels Move

Circuit Diagram ADC Converter Resistors Motor Chip Power Switch RABBIT

Problems with Hardware  Errors on circuit board  Heated 5V regulator  Bad motor driver chip  Bad wire and solder connections  Loose wheel  Unstable chassis  7-Segment Display

Solutions to Problems with Hardware  Created new circuit boards  Switching 5V regulator  Added metal plate and support pilar to chassis  Should add more LEDs instead

Software Control InputMove

Start

Current Task  Fixing Problems  Working on our Solving Code  Increasing Speed  Designing our mouse to be more compact

Schedule

Questions ?