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Micromouse 296 Final Presentation

Micromouse 296 Final Presentation. Fall 2008 Group: Rabbitwagon. The Team. Richard Ordonez- Project Leader Bob Barfield- Software Manager Lance Lavarias- Mechanical Architect Micheal Pascual- Hardware. Overview. To create, a small autonomous robotic mouse that will:

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Micromouse 296 Final Presentation

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  1. Micromouse 296Final Presentation Fall 2008 Group: Rabbitwagon

  2. The Team • Richard Ordonez- Project Leader • Bob Barfield- Software Manager • Lance Lavarias- Mechanical Architect • Micheal Pascual- Hardware

  3. Overview To create, a small autonomous robotic mouse that will: Navigate it’s way safely to a central point of a maze Map the maze Find the shortest route from the start point to central point of the maze. Contest rules must be followed UH Micromouse Maze

  4. Initial Goals • Build a light and fast mouse • Implement top-down sensor technology • Build an Intelligent mouse • Wall hugger • Follow flood fill algorithm • Map and solve maze • FINISH

  5. Design • Chassis • Stepper Motors • Top-down sensors • Wall hugger with good tracking

  6. Block Diagram of system

  7. Chassis Design • A good chassis design should have the the following features: • Made of robust material • Narrow enough to fit in a cell with plenty room for correction on either side. • Able to rotate 180 degree turns without hitting walls • Shouldn’t have problems riding over cracks Previous Semester Designs

  8. First Chassis Design Fossil Watch Box Too big for 18x18 cm cell Flimsy Aluminum

  9. Second Chassis Design Robust and light-weight Aluminum chassis Narrow-fit to easily maneuver in any cell Sled-shaped bottom to go over bumps

  10. Final Chassis Too Long Cut down sled For better fit in Cells.

  11. Chassis Components • Jameco Stepper Motors 3) 8 Metal Hydride Batteries 2) Aluminum Wheels

  12. Chassis Components layout

  13. Circuit Design Tower-like design • Bottom level: • Top-down sensors • Voltage regulator • Second Level: • Mosfets • Rabbit • Power

  14. First LevelGraphical Representation of Sensor Design Ideal Sensor layout

  15. Actual graphical Sensor layout with two Protoboards

  16. Alignment Strategy • Sensors lay out is clock face • Crossed sensors give best alignment

  17. Actual Sensor Layout Bottom view Top View

  18. Major Sensor Problem All sensor connected 12 volts. (Red wires) DUMB! Reconnected to 5 volts (Yellow wires) SMART!

  19. Second Level • Rabbit Microcontroller • Power/Ground • Switch • Mosfets 2 4 3 1

  20. Programming • RabbitWagon Program Overview • Series of states • Used CoState functions in Dynamic C • Strategy • Wander as right wall hugger while mapping • Flood fill to solve • Speed up stepper motors for timed run

  21. Summary Of Problems • Chassis • Body too big • Sled too long (not able to rotate) • Sensors • Burned out sensors due to too much voltage • Sensor board too close together • Too high • Motor Circuit • Step sequence

  22. Rabbit microcontroller • Programming • DEAD Ports • Code/Programming • Co-states

  23. Completed Goals • Completed Hardware • Got mouse to move • Rabbit read sensors • Tracking

  24. Improvements • More compact with fewer wires • Stability • Side sensors • Tracking • Possibly use a pic microcontroller

  25. Lessons Learned • More scheduled meetings • More design time • More coders • Put everything possible in a socket • Use patch panel between controller and rest of mouse • Simulate mouse with breadboard/LEDs while developing software

  26. Gant Chart

  27. ANY QUESTIONS?

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