Transcript of Micromouse 296 Final Presentation Fall 2008 Group: Rabbitwagon.
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- Micromouse 296 Final Presentation Fall 2008 Group:
Rabbitwagon
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- The Team Richard Ordonez- Project Leader Richard Ordonez-
Project Leader Bob Barfield- Software Manager Bob Barfield-
Software Manager Lance Lavarias- Mechanical Architect Lance
Lavarias- Mechanical Architect Micheal Pascual- Hardware Micheal
Pascual- Hardware
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- Overview To create, a small autonomous robotic mouse that will:
1.Navigate its way safely to a central point of a maze 2.Map the
maze 3.Find the shortest route from the start point to central
point of the maze. Contest rules must be followed UH Micromouse
Maze
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- Initial Goals Build a light and fast mouse Build a light and
fast mouse Implement top-down sensor technology Implement top-down
sensor technology Build an Intelligent mouse Build an Intelligent
mouse 1.Wall hugger 2.Follow flood fill algorithm 3.Map and solve
maze FINISH FINISH
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- Design Chassis Stepper Motors Top-down sensors Wall hugger with
good tracking
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- Block Diagram of system
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- Chassis Design A good chassis design should have the the
following features: 1.Made of robust material 2.Narrow enough to
fit in a cell with plenty room for correction on either side.
3.Able to rotate 180 degree turns without hitting walls 4.Shouldnt
have problems riding over cracks Previous Semester Designs
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- First Chassis Design Fossil Watch Box Too big for 18x18 cm cell
Flimsy Aluminum
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- Second Chassis Design Robust and light-weight Aluminum chassis
Narrow-fit to easily maneuver in any cell Sled-shaped bottom to go
over bumps
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- Final Chassis Too Long Cut down sled For better fit in
Cells.
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- Chassis Components 1)Jameco Stepper Motors Aluminum Wheels 2)
Aluminum Wheels 3) 8 Metal Hydride Batteries
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- Chassis Components layout
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- Circuit Design Tower-like design Bottom level: Bottom level:
1.Top-down sensors 2.Voltage regulator Second Level: Second Level:
1.Mosfets 2.Rabbit 3.Power
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- First Level Graphical Representation of Sensor Design Ideal
Sensor layout
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- Actual graphical Sensor layout with two Protoboards
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- Alignment Strategy Sensors lay out is clock face Sensors lay
out is clock face Crossed sensors give best alignment Crossed
sensors give best alignment
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- Actual Sensor Layout Top View Bottom view
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- Major Sensor Problem All sensor connected volts 12 volts. (Red
wires) DUMB! Reconnected to 5 volts (Yellow wires) SMART!
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- Second Level 1.Rabbit Microcontroller 2.Power/Ground 3.Switch
4.Mosfets 2 4 3 1
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- 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
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- Summary Of Problems Chassis Chassis 1.Body too big 2.Sled too
long (not able to rotate) Sensors Sensors 1.Burned out sensors due
to too much voltage 2.Sensor board too close together 3.Too high
Motor Circuit Motor Circuit 1.Step sequence
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- Rabbit microcontroller 1.Programming 2.DEAD Ports
Code/Programming 1.Co-states
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- Completed Goals Completed Hardware Completed Hardware Got mouse
to move Got mouse to move Rabbit read sensors Rabbit read sensors
Tracking Tracking
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- Improvements More compact with fewer wires More compact with
fewer wires Stability Stability Side sensors Side sensors Tracking
Tracking Possibly use a pic Possibly use a picmicrocontroller
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- Lessons Learned More scheduled meetings More scheduled meetings
More design time More design time More coders More coders Put
everything possible in a socket Put everything possible in a socket
Use patch panel between controller and rest of mouse Use patch
panel between controller and rest of mouse Simulate mouse with
breadboard/LEDs while developing software Simulate mouse with
breadboard/LEDs while developing software
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- Gant Chart
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- ANY QUESTIONS?