Thomas Kagawa, Kenyan Kawauchi, Christopher Lanuevo, Ronald Mangaoang, Joan Suniga

Micromouse Design an autonomous mouse to find the center of a maze in the fastest time possible

Move Dead EndCornerOpening Reverse Turn Align

Main Dead End Adjust Turn StraightDead End Adjust 2 Adjust 1 Right Left Forward Reverse

Functions We Use void Forward(void);// move in the normal forward direction void Reverse(void);// move in the backward direction, reversing sensors void GoStraight(void); // move straight void GoBackward(void); // move backward (straight for the reverse direction) void TurnLeft(void); // turn left (right in the reverse direction) void TurnRight(void); // turn right (left in the reverse direction) void Adjust1(void); // center the mouse by speeding up motor 1 void Adjust2(void);// center mouse by speeding up motor 2 void Delay1(void);// delay when going straight void Delay2(void);// delay when turning or adjusting position in maze

Some of our Code void Forward(void) { if(S3 && S7) Adjust1(); else if(S1 && S5) Adjust2(); else { if((S2 && S8 && S11) && !S4)//Go straight as long as no left turn is available GoStraight(); else if((S2 && S4 && S6) && !S8)//If there's a left opening, turn left TurnLeft(); else if((S2 && S4 && S6 && S8) && !S9)//If can't go straight, can't go left, but there's TurnRight();//a right opening, turn right else if(S2 && S4 && S6 && S8 && S9)//If can't go straight, left, or right, go into while(1) // reverse mode Reverse(); } void Reverse(void) { if(S12 && S16) Adjust2(); else if(S10 && S14) Adjust1(); else { if((S6 && S9 && S16) && !S13)//Go straight as long as no left turn is available GoBackward(); else if((S11 && S13 && S15) && !S9)//If there's a left opening, turn left TurnRight(); else if((S11 && S13 && S15 && S9) && !S8)//If can't go straight, can't go left, but there's TurnLeft();//a right opening, turn right else if(S11 && S13 && S15 && S9 && S8)//If can't go straight, left, or right, go back Forward();//into forward mode }

Schedule Purchase ALL parts by mid- February Hardware completed by ending of March "B" worthy mouse completed by end of March 75% Programming Completed by ending of March Completed Program by mid-April Improvements until May

What we have done The coding to move (no mapping) Chassis is built Etching design 90% done Purchased all our parts Sprayed the wheels Meeting weekly, making progress

What we’ve tested and how A quarter of the sensor panel on the protoboard If the right functions are being called for certain situations Made sure the motors worked

Problems encountered Didn’t meet as much in the beginning Ronald and Joan works Etching took longer than expected Don’t know how to program mapping Bought wrong screws Didn’t meet our timeline for purchasing parts Chris is getting poor

Timeline of What Remains to be Done MarchAprilMay Building Programming Testing Mini-Comp Advancing Program Improvements Write Paper

Questions?

Tanks Ah!