Back To Basics A BASIC Stamp Based Micromouse

B2B MicroMouse Traditional MicroMouse  Language used › PBASIC  Drive systems › Servo Motors  Sensor systems › Side looking IR  Language used › Dynamic C  Drive systems › Stepper Motors  Sensor systems › Top Down IR

Basic Stamps and PBASIC Vs. Rabbit MCU and Dynamic C

Basic Stamps  Cheap › Starting costs › Micro controller  Robust PBASIC  Popular Language  Easy to program  Very Large Hobbyist community Rabbit MCU  Expensive › Dev Kits › Small order MCUs  Fragile Dynamic C  Popular language  A little difficult to program

Servo motors Vs. Stepper Motors

Servo Motors Stepper Motors  Fast › DC motor based  Takes industry standard signals  Lower voltage, runs off of TTL +5v  Slow › “Step“ based  Need to buy or build a controller  Large steppers require a less standard 12v

Side looking Vs. Top-Down

Side looking IR  Smaller physical footprint › No large PCB needed › Lighter  Less sensors required › Less I/O lines required Top down IR  Usually requires large arrays › Large PCBs to stretch over walls › Flimsy construction  Leads to jams › Heavy › Uses lots of IO lines

Possible Issues During Development and Accomplishable Goals

 Measuring distances the MicroMouse moves › Traditionally you’d count steps with a stepper motor › Need to think of a way with servos  Possible use of encoders?  Maze solving algorithm › Wall hugging? › Flood Fill? › Own Creation?

 Movement algorithm › Sharp turns › Navigate a long corridor  Wall tracking algorithm › Wall following algorithm › Re calibrate distance measurements.  Backtracking algorithm, › Can retrace steps to last intersection  “Smooth Turning” Algorithm

 Overcome the limits of the Basic Stamp  Discover new ways of controlling PWM (DC Motor/Servo) controlled robots › Creative techniques for driving DC motors with PWM  Come up with creative algorithms to solve the maze › Improve upon flood fill?