1. Ramrod IV Micromouse 396

2. The Team  Andrew Igarashi – Programming  Kevin Li – Hardware  Amy Maruyama – Hardware  Stephen Nakamura – Hardware  Quang Ngu – Programming

3. Project Overview  To design a fully autonomous robot, a “mouse”, that can move through a maze, know where it is in the maze, and find the center

4. System SoftwareHardware Decide Direction Read WallsMoveSensorsMotor

5. Basic Chassis  Plexiglas frame  2 Sliders  2 Wheels  8 Batteries (formerly 10)

6. Hardware Module MotorSensors Rabbit ADC Converter Motor Driver Chips Move

7. Wheels Sensors Batteries Rabbit ADC Converter Switch Motor Driver Circuit 5 Volt Regulator/ Heat Sink

8. Sensor Sensor ADC Converter Rabbit light Sensor -Distance judgment (analog signal) - -0.3 V to +0.3V ADC Converter -Converts analog into digital --8 bit digital Signal Rabbit - Information to software

9. How a Side Senor Works Light Emitter Light Detector

10. Sensor Placement 1.25 in Sensor 1Sensor 2 Sensor 3

11. Motor Rabbit Motor Driver Chips Motors Rabbit -One clock to each chip -Counter Clockwise or Clockwise --Full or half step Motor Driver Chips -High current outputs for the motor coil Bipolar Motors -Wheels Move

12. Circuit Diagram ADC Converter Resistors Motor Chip Power Switch RABBIT

13. Problems with Hardware  Errors on circuit board  Heated 5V regulator  Bad motor driver chip  Bad wire and solder connections  Loose wheel  Unstable chassis  7-Segment Display

14. Solutions to Problems with Hardware  Created new circuit boards  Switching 5V regulator  Added metal plate and support pilar to chassis  Should add more LEDs instead

15. Software Control InputMove

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17. Current Task  Fixing Problems  Working on our Solving Code  Increasing Speed  Designing our mouse to be more compact

18. Schedule

19. Questions ?