MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro

Introduction Jill –Leader –Programming Christy –Sensor boards –Programming Jon –Chassis –Motor Circuit Min –Sensor layout design –Webpage

Overview Micromouse –Autonomous robot that navigates and finds the center of the maze –Project will apply programming concepts as well as circuit design –Maze (16x16 cells)

Initial Goals Build a mouse that is functional Learn how to apply skills learned in class Learn how to work in a group

Block Diagram

Design- Chassis Initial chassis –Rubber wheel attachments –Ni-MH Batteries –Height for boards –Old car deck holder Problems with chassis –Wheels unstable –Batteries hard to access –Too heavy

Design – Chassis cont. Final chassis Emphasis on less weight –Aluminum wheel attachments –More space for batteries, Velcro attachments –Aluminum chassis –Aluminum standoffs

Design- Sensors Sensors (Initial) –12 total top down –Main purpose Alignment, keep straight, know when crooked Sensors (Final) –10 sensors –(inner 2 too close to wheels)

Design- Motor Circuit Our initial circuit Built exactly how it was built on the protoboard Did not work –Checked connections!!! –Checked inverters!!! –Checked MOSFETs!!! –Checked rabbit!!! –We do not know why!?!?!? Eventually the board was stripped and salvaged and a new motor circuit was designed and built

Design- Motor Circuit cont. Second motor circuit worked much better –No inverters –Diodes were considered but were not used because we feared they may not work correctly –Lower resistance to prevent feedback current to rabbit –Reduced amount of wires and neater layout –More power efficient

Design - Programming Tracking –Alignment –Gaps Mapping –Algorithm Solving –Algorithm

Outstanding Problems & Suggestions for the Future Mapping code conflicts with tracking Better way to connect everything Get an earlier, better understanding of each components role in the entire process

What we learned How concepts and equations physically behave in real life Pre-planning is the key to success More flexible designs Perform tasks after you understand the reason for them