1. Fast D.A.D.I

2. Team Members Dale Balsis Aaron Tsutsumi Dennis How Ikaika Ramos

3. Overall Design Side Sensing PCB etching interconnection Flood-Filled Algorithm Motor Driver IC Power Switch and LIGHT Debugging Lights

4. Initial Goals Met WE HAD FUN AND LEARNED A LOT! Tracks & Finds Center Aesthetically pleasing (rims, light, UH LOGO, paint) Working mouse prior mini-comp. Made it to Regional Competition

5. Structure of Design PCB etching –Used Pad2Pad to design etch. –Ended up with two different boards due to circuit redesign. Side Sensors –Used Sharp infrared analog sensors. –Used a Maxim 114 IC to do the analog-to- digital conversion of the sensor signal.

6. Structure of Design (cont.) Motor Driver IC –Allegro 5804 IC, external circuitry only 4 diodes for each chip –Didn’t use half-step, one-phase inputs, only used direction and step inputs Power Circuit –5V linear regulator to power ICs and LEDs. –3.3V switching regulator to power motors.

7. Structure of Design (cont.) Debugging Lights –Lights to tell whether a front, left or right wall has been sensed. –Light to indicate when the step count for the cell has been reached. Flood-fill algorithm –This algorithm is a way to try to reach the center of the maze quickly. –Once center is found, the maze can be flooded to find the shortest path.

8. Design Decisions Hardware Unipolar vs. Bipolar stepper motors Motor Driver ICs vs. MOSFETs How to implement side sensors Switching vs. linear voltage regulators Software How many of the output bits from the A/D converter to use How to implement movement and alignment How to store the maze cell variables How to implement the flood-fill algorithm

9. Final Status 8 th Place Regional Competition Non competition Center-finder

10. Problems Tracking Issues –Sensor readings Sensor Placement Numerous programming –Limited time allotted Voltage regulator overheating –SOLVED! (Switching Regulator) Initial PCB Designs

11. Outstanding Problems Lack of torque Minor Tracking issues Faulty dip-switch Continuous software testing

12. DEMO!

13. ???QUESTIONS??? ?Preguntas?