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MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro

MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro. Introduction. Jill Leader Programming Christy Sensor boards Programming Jon Chassis Motor Circuit Min Sensor layout design Webpage. Overview. Micromouse

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MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro

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  1. MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro

  2. Introduction • Jill • Leader • Programming • Christy • Sensor boards • Programming • Jon • Chassis • Motor Circuit • Min • Sensor layout design • Webpage

  3. Overview • Micromouse • Autonomous robot that navigates and finds the center of the maze • Project will apply programming concepts as well as circuit design • Maze (16x16 cells)

  4. Initial Goals • Build a mouse that is functional • Learn how to apply skills learned in class • Learn how to work in a group

  5. Block Diagram

  6. Design- Chassis • Initial chassis • Rubber wheel attachments • Ni-MH Batteries • Height for boards • Old car deck holder • Problems with chassis • Wheels unstable • Batteries hard to access • Too heavy

  7. Design – Chassis cont. • Final chassis • Emphasis on less weight • Aluminum wheel attachments • More space for batteries, Velcro attachments • Aluminum chassis • Aluminum standoffs

  8. Design- Sensors • Sensors (Initial) • 12 total top down • Main purpose • Alignment, keep straight, know when crooked • Sensors (Final) • 10 sensors • (inner 2 too close to wheels)

  9. Design- Motor Circuit • Our initial circuit • Built exactly how it was built on the protoboard • Did not work • Checked connections!!! • Checked inverters!!! • Checked MOSFETs!!! • Checked rabbit!!! • We do not know why!?!?!? • Eventually the board was stripped and salvaged and a new motor circuit was designed and built

  10. Design- Motor Circuit cont. • Second motor circuit worked much better • No inverters • Diodes were considered but were not used because we feared they may not work correctly • Lower resistance to prevent feedback current to rabbit • Reduced amount of wires and neater layout • More power efficient

  11. Design - Programming • Tracking • Alignment • Gaps • Mapping • Algorithm • Solving • Algorithm

  12. Outstanding Problems & Suggestions for the Future • Mapping code conflicts with tracking • Better way to connect everything • Get an earlier, better understanding of each components role in the entire process

  13. What we learned  • How concepts and equations physically behave in real life • Pre-planning is the key to success • More flexible designs • Perform tasks after you understand the reason for them

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