1. Curry Mouse EE296 Final Presentation Wednesday, May 10, 2006

2. Team Judy Lee Amy Maruyama Mindy Wong

3. Micromouse Design and build an autonomous robotic “mouse” that can travel to the center of a maze in the quickest amount of time

4. Initial Goals To go forward To turn left & right To track forward To track turns Get to the center of the maze Don’t crash Don’t murder the rabbit

5. Design HardwareSoftware 2 nd Layer: Sensors Circuits, Rabbit 1 st Layer: Chassis 3 rd Layer: Motor Circuits Algorithm Programming..

6. Design HardwareSoftware 2 nd Layer: Sensors Circuits Rabbit 1 st Layer: Chassis 3 rd Layer: Motor Circuits Algorithm Programming..

7. Chassis Material: Aluminum Design: Wheelchair Mounts: Wheels, motor and batteries Batteries: 8 NiMh Battery Total Voltage : 9.6V Expected Total Voltage: 12.0 V Projected diagonal: 15.8cm For balance: Sliders

8. Design HardwareSoftware 2 nd Layer: Sensor circuits, Rabbit 1 st Layer: Chassis 3 rd Layer: Motor Circuits Algorithm Programming..

9. Sensors Top down sensors Total number of sensors –9 sensors Resistor combination –150 ohms and 20k ohms Total possible sensing distance –About 7mm between sensor and object –Projected height of sensors: 5.6 cm above the ground Checking the sensors –Leds above each sensor

10. Sensors Placement 8 123567 4 9 Sensor Purpose Sensor 2, 6, 8, 9 detect walls constantly 4.5cm 2.5 cm

11. Sensor Placement 8 123567 4 9 4.5cm 2.5 cm Sensor Purpose Sensor 2, 6, 8, 9 detect walls constantly Sensors 1, 3, 5, 7 detect misalignment

12. Sensor Placement 8 123567 4 9 4.5cm 2.5 cm Sensor Purpose Sensor 2, 6, 8, 9 detect walls constantly Sensors 1, 3, 5, 7 detect misalignment Sensors 4 detect dead ends

13. Sensor Placement 8 123567 4 9 4.5cm 2.5 cm Sensor Purpose Sensor 2, 6, 8, 9 detect walls constantly Sensors 1, 3, 5, 7 detect misalignment Sensors 4 detect dead ends Sensor 8 & 9 makes sure walls are cleared when turning

14. Pivot Turning 8 123567 4 9

15. Turning Corners After sensors 4 detect there is no wall, mouse needs to stop and turn. To left turn –Left wheel goes backward & right wheel goes forward with equal number of phase steps To right turn –Right wheel goes backward & left wheel goes forward with equal number of phase steps

16. Design HardwareSoftware 2 nd Layer: Sensors Circuits, Rabbit 1 st Layer: Chassis 3 rd Layer: Motor Circuits Algorithm Programming..

17. Algorithm (right wall hugger) Go forward –Check alignment If not aligned adjust speeds to do so. –Check for dead end If dead end and left and right wall –Turn around and go straight If dead end and no right wall –Stop and turn right If dead end and right wall –Stop and turn left If dead end and no left and right wall –Stop and turn right –Check for right wall If no right wall –Turn right If right wall –Go straight Loop

18. The Current Curry

19. Problems!!! Overall, Curry is a temperamental mouse Bad connections –Many wires –Solder blobs Shorting Some of the ports in the rabbit died Programming and debugging Tools Time

20. Solutions Too many solder blobs and wires –Tape everything down with electric tape Shorting –Debug where it was caused by Less ports to use –Make use of others Tools –Get our own Programming and debugging –Keep on trying!

21. Future improvements? Etch boards Seats and connectors on everything Better design and programming Treat the rabbit better

22. What we learned this semester… Soldering Circuits and design –THINK FIRST! Programming –Dynamic C Debugging – circuit and code

23. Any questions?