1. Ramrod III Micro mouse

2. The Team  Andrew Igarashi – software  Kevin Li – hardware  Stephen Nakamura – hardware  Quang Ngu – software

3. Project Overview  To design a fully autonomous robot that can move through the maze  Top down sensors locate walls around the mouse  Programmed in Dynamic C to locate the center

4. Our Approach  Bottom up approach  Build chassis and frame  Install motor and sensors  Test proper operation using Dynamic C

5. Block Diagram ControlSolvingBatteriesMotorsSensors

8. 12345678910111213141516 1 7777777777777777 2 7666666666666667 3 7655555555555567 4 7654444444444567 5 7654333333334567 6 7654322222234567 7 7654321111234567 8 7654321001234567 9 7654321001234567 10 7654321111234567 11 7654322222234567 12 7654333333334567 13 7654444444444567 14 7655555555555567 15 7666666666666667 16 7777777777777777 Start

9.  Overwrite starting cells with value 10 until first multiple choice turn  Overwrite cells with value 10 after hitting a dead end

10. Delays  Used to prevent phantom walls  Used dummy variables hold delay values  Ex.  If tracking sensors are on for more than X miliseconds, then adjust  If there 1 pad detectors nothing for more than X seconds, then it is ok to turn

11.  One Choice  Force Case  Two Choices  Straight or Left  Straight or Right  Right or Left  Three Choices  Right, Left, or Straight

12. This algorithm tells the mouse which cell is closer to the middle and gives preference to that cell. If it is not possible to move to a lower value, then move to a cell with equal value, if even that is not possible as shown above, then move to a cell with a greater value. Front of the Mouse

13. This is a special case when the Algorithm is in confusion. Since both cells are of equal value. To get around this, we have the mouse remember what type of turn previous to the 180 turn was executed. If this certain turn was a right turn (like in the last slide), when the mouse reaches the wall, we will give preference to a right turn. Vice Versa for left turns. If the mouse did not make any 180 turns, then it will act on a set initial turn. Front of the Mouse The mouse will reverse only to adjust itself so it won’t hit the wall. The cell behind the mouse is not an option.

14. Problems While Testing  Wall detection and sensor problems  Heat  Wires coming loose  Not enough voltage  Cell counting / Solving

15. [16][1][17][1][15][1][14][1][13][1][12][1] Out of Bounds [16][1] [15][2] [16][1] – [1][0] = [15][1]

16. Outstanding Problems  Inconsistent results  Wall detection  Alignment  Algorithm / Mapping

17. Updated Schedule