1. Team P.A.C.K men EE 296 Project

2. Chris Mcleod Hardware Specialist

3. Kyle Tanabe Logic and programming specialist

4. Paul Linden Systems specialist

5. Aaron Lake Power specialist

6. P.A.C.K. Rat our hard working mouse. February 1 Breadboard Stage Testing of sensors and driver circuit.

7. March 1 ~Connection of the driver circuit. ~Portability in power sources. ~Many tedious connections. ~sodering, clipping wires for connections.

8. May.1/04

9. Interesting Feature The remake of the driver circuit with the addition of a “Voltage regulator” Allowed us to greatly reduce the weight of the mouse. Simplified the power distribution.

10. Driver Circuit The new driver circuit with the addition of the “Voltage Regulator” Our use of the regulator was to step down the voltage from 12 V to 5 V Allowed us to use 10 AA batteries instead of 16 batteries.

11. Goals Design and Build a robot capable of finding the center of a maze Have the mouse be able to return back to the center without looking for a new path.

12. Breakdown of project Rabbit 2000 processor Drive system Sensory input Input/Output logic Maze solving System power management

13. Power management AA Duracell NiMH rechargeable batteries. 2.05 A/hr, 1.2V Processor = 5V Motors = 9.6V Sensors = 5V 10 total batteries

14. Drive system Motors: NEMA 17 stepper motors 9.6 VDC 1.8 o step uni-polar Chassi: single piece of 1/8” aluminum custom fit to specifications. Wheels: custom aluminum alloy rims with rubber treads radius = 2.35cm

15. Original Sensory system 20 infrared sensors, 4 on each corner. 4 middle sensors. Top down design. Symmetrically placed along board with enhanced peeking abilities.

16. Final Sensory System Use of the front 10 sensors For: Alignment Maneuvering

17. Top right corner sensor layout

18. Sensory Layout Middle sensors Outer sensors

19. Traveling down a corridor the inner four sensors remain on telling the mouse that it is centered. These sensors not used.

20. When the mouse reaches a possible turning point the four outer sensors will go off.

21. Detecting Front Walls Two sensors Used to detect front walls

22. PAULS PORTION Logic and processing Rabbit 2000 microprocessor. Dynamic C Tracking based on sensory input.

23. Location PACKrat know’s how to calculate position in Cartesian coordinates based on the amount of steps it has taken and turns it has made. This location is kept track of with 2 variables that change accordingly after each step. For example, location = [0][0], then we head North 1 step. New location = [0][0+1]

24. The Maze

25. Mapping Where are the walls? Only 4 possibilities in each grid -North Wall -East Wall -South Wall -West Wall

26. BitWise Logic 4 Digit Binary Number where each bit represents the value of a specific wall. That data will be stored in 16 by 16 array at a location equal to location of the mouse in the maze.

27. More on the logic Bit values- We use data from the sensors and the logical OR to add these values in.

28. Reading the Map Then when ever the program needs to read the map or search for a path it can call the map array and calculate paths and distances. Each 4 digit binary number is read with the bitwise & operator to find out if there is a wall there or not. For example, if we and to know if there is a North wall at [0][4] we would write: (Map[0][4] & 0x8) = ?

29. Solving Map is divided into 4 quadrants –PACKrat solves maze by dividing map into 4 quadrants. Then PACKrat uses quadrant location to prioritize direction to center and attempts to move in that direction trying to go around walls that It encounters.

30. Quadrants

31. Flooding We have not yet written any code that floods the maze but we hope to implement some rudimentary flooding code in time for competition.

33. SPEED BUMPS!!!!

34. SHRINKING CORRIDORS!!

35. DANGLING CHAD!!!!

36. Further development problems Integration of programs Hardware Rabbit killing Lack of resources to do the project.

37. If we win in California Tep will be proud!

38. Tanks for coming out!