Aether Burst. Our Team… Blaise Arita Team Leader Maran Osakoda Organizer Shaunty Kleinschmidt...

Aether BurstAether Burst

Our Team…Our Team…

Blaise Arita Team Leader Maran Osakoda Organizer Shaunty Kleinschmidt Programmer Matthew Menor Designer

A Brief OverviewA Brief Overview This semester we have

designed, fabricated, and programmed a small robotic mouse to make its way to the center of a difficult 16X16 maze.

Our Initial GoalsOur Initial Goals Simplicity Have a moving, reliable mouse that can move forward with some sort of direction Have our mouse find the center of the maze

under 10 minutes If time allows, have our mouse be able to do more advanced movements

Turn 45, 90, and 180 degrees Be able to move backwards Change speeds

A Look at HardwareA Look at Hardware

Material: 1/32 Aluminum Problems:

Very thin, Not rigid

Wasted Space

No support for other

hardware components

Initial Design:

Material: 1/16 Angled Aluminum 8 Shortened M3 Screw

Motors very close together Use 8 AA batteries Use Velcro to secure battery

holders Use “mini furniture sliders” to keep

the mouse balanced Use top 2 Aluminum plates to

mount circuit boards Used the small wheels given with the

kit Started with 8 sensors

Upgraded Design:

Some IssuesSome Issues

Going through too many batteries

Switched to rechargeable batteries

Takes a very long time to charge

Mouse very noisy

Small wheels getting stuck in maze cracks

Changed to larger wheels

Mouse was very tipsy

Front sensors too close to maze while back sensors too far away

Back to smaller wheelsTook off back slider

Heat sync for 5 volt regulator sometimes gets very hot Sensor placement and layout

Initial Sensor LayoutInitial Sensor Layout

Back sensors taking too long to sense and correct

Stopped using 2 inner back sensors

Added two inner front sensors

Trouble tracking after a turn if there was no

wall

Added sensor #7 to help with our reverse function

Added sensor #10 and #11 to help with the tracking

Final DesignFinal DesignBattery Holders

10 AA rechargeable batteries instead of 8 AA regular batteries

Made the conversion wire to go from regular to rechargeable batteries

Added two switches

One to turn on the sensors

One to turn on the motors

Sensor count and placement

12 sensors

Layered designChassisSensor boardsMotor driveRabbit holder

All wires lead up to the rabbit on top

Heat sync for 5 volt regulator

Final Sensor LayoutFinal Sensor Layout

A Look at the Software: SensorsA Look at the Software: Sensors

Tracking: Sensors 10 & 11- if mouse goes off course, tracks first

Sensors 8 & 9- if mouse goes off course

Sensor 7: reverse (if too close to front wall)

Greedy and Right Wall Hugger:

Sensor 0- Detects Front Wall Sensor 2- Detects Right Wall Sensor 6- Detects Left Wall

Mapping:

Sensors 1 & 4- Resets Counter

Algorithm for GreedyAlgorithm for GreedyAssigning Walls-

N: cell[x][y] = 1 EW: cell[x][y] = 9

E: cell[x][y] = 2 SW: cell[x][y] = 10

S: cell[x][y] = 3 NES: cell[x][y] = 11

W: cell[x][y] = 4 NEW: cell[x][y] = 12

NE: cell[x][y] = 5 NSW: cell[x][y] = 13

NS: cell[x][y] = 6 ESW: cell[x][y] = 14

NW: cell[x][y] = 7 NESW: cell[x][y] = 15

ES: cell[x][y] = 8

Some IssuesSome Issues

Mapping

Reset Counter

Still Hits Front Wall

Tracking

Time Consuming

Batteries Affected Results

Added two outer sensors to help our mouse track better

MovementMovementvoid move(int pace, int distance, int track){ float k; int i; k=0; while(k<distance)

{ PORTA0ON; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); k = initiate_track(k, distance, track); PORTA0OFF; PORTA7OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); k = initiate_track(k, distance, track); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2ON; PORTA5ON; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); k = initiate_track(k, distance, track); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3ON; PORTA4ON; for(i=0;i<pace;i++); k = initiate_track(k, distance, track);

hault(); k++; }}

void reverse(int pace, int distance){ int k; int i; k=0; while(k<distance) { PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3ON; PORTA4ON; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2ON; PORTA5ON; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1ON; PORTA6ON; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0ON; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); hault(); k++; }}

Right and Left TurnRight and Left Turnvoid right_90(int pace, int distance){ int k; int i; k=0; while(k<distance) { PORTA0OFF; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3ON; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6ON; PORTA2ON; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1ON; PORTA6OFF; PORTA2OFF; PORTA5ON; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0ON; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4ON; for(i=0;i<pace;i++); hault();

k++; }}

void left_90(int pace, int distance){ int k; int i; k=0; while(k<distance) { PORTA0ON; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4ON; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1ON; PORTA6OFF; PORTA2OFF; PORTA5ON; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6ON; PORTA2ON; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3ON; PORTA4OFF; for(i=0;i<pace;i++); hault();

k++; }}

TrackingTrackingvoid rightoutersensor_track(int pace, int distance){ int k; int i; k=0; while(k<distance) { PORTA0OFF; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6ON; PORTA2OFF; PORTA5OFF;

PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0ON; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5ON; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1ON; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4ON; for(i=0;i<pace;i++);

hault(); k++; }}

void leftoutersensor_track(int pace, int distance){ int k; int i; k=0; while(k<distance) { PORTA0ON; PORTA7OFF; PORTA1OFF; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1ON; PORTA6OFF; PORTA2OFF; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7ON; PORTA1OFF; PORTA6OFF; PORTA2ON; PORTA5OFF; PORTA3OFF; PORTA4OFF; for(i=0;i<pace;i++); PORTA0OFF; PORTA7OFF; PORTA1OFF; PORTA6ON; PORTA2OFF; PORTA5OFF; PORTA3ON; PORTA4OFF; for(i=0;i<pace;i++);

hault(); k++; }}

float initiate_track(float steps, int distance, int track){ if(track) { if(steps > TRACKMIN && steps < TRACKMAX) { if(SENSOR10 == 1) rightoutersensor_track(SPEED,TRACKMOVE); if(SENSOR11 == 1) leftoutersensor_track(SPEED,TRACKMOVE); if(SENSOR8 == 1) track_rightside(); if(SENSOR9 == 1) track_leftside(); } } if(steps > FORWARDMIN) { if(SENSOR2 == 0 && SENSOR1 == 1) steps = distance; else if(SENSOR6 == 0 && SENSOR4 == 1) steps = distance; if(SENSOR7 == 1) { steps = distance; reverse(SPEED,BACK); } } return steps;}

Right Wall HuggerRight Wall Huggermain(){ WrPortI(SPCR,&SPCRShadow,0x84); //Declares all A Ports as output ports while(1) { if(SENSOR2 == 0) { right_90(SPEED,RIGHTTURN); move(SPEED,FORWARD,YES); } else if(SENSOR2 == 1 && SENSOR0 == 0) { move(SPEED,FORWARD,YES); } else if(SENSOR2 == 1 && SENSOR6 == 0 && SENSOR0 == 1) { left_90(SPEED,LEFTTURN); move(SPEED,FORWARD,YES); } else if(SENSOR0 == 1 && SENSOR2 == 1 && SENSOR6 == 1) { right_90(SPEED,RIGHTTURN); right_90(SPEED,RIGHTTURN); move(SPEED,FORWARD,YES); } else if(SENSOR0 == 0 && SENSOR1 == 0 && SENSOR4 == 0) { reverse(SPEED,BACK); } if(SENSOR0 == 0 && SENSOR7 == 1) { reverse(SPEED,BACK); } }}

Greedy FunctionsGreedy Functionsint forward_y(int col, int dir)

{

if (dir==EAST || dir==WEST)

return col;

else if (dir==NORTH)

return col+1;

else if (dir==SOUTH)

return y-1;

}

int forward_x(int row, int dir)

{

if (dir==NORTH || dir==SOUTH)

return row;

else if (dir==EAST)

return row+1;

else if (dir==WEST)

return row-1;

}

int turn_left(int dir)

{

left_90(SPEED, LEFTTURN);

move(SPEED,FORWARD,YES);

if (dir==NORTH) return WEST;

else if (dir==EAST) return NORTH;

else if (dir==WEST) return SOUTH;

else if (dir==SOUTH) return EAST;

}

int turn_right(int dir)

{

right_90(SPEED, RIGHTTURN);

move(SPEED,FORWARD,YES);

if (dir==NORTH) return EAST;

else if (dir==EAST) return SOUTH;

else if (dir==WEST) return NORTH;

else if (dir==SOUTH) return WEST;

} int turn_around(int dir)

{

right_90(SPEED, RIGHTTURN);

right_90(SPEED, RIGHTTURN); move(SPEED,FORWARD,YES);

if (dir==NORTH) return SOUTH;

else if (dir==EAST) return WEST;

else if (dir==WEST) return EAST;

else if (dir==SOUTH) return NORTH;

}

Greedy: Assigning WallsGreedy: Assigning Wallsif(SENSOR6)

{ if (direction=NORTH) tempL=4;

else if (direction=EAST) tempL=1;

else if (direction=WEST) tempL=3;

else if (direction=SOUTH) tempL=2;

}

if(SENSOR0)

{ if (direction=NORTH) tempF=1;

else if (direction=EAST) tempF=2;

else if (direction=WEST) tempF=4;

else if (direction=SOUTH) tempF=3;

}

if(SENSOR2)

{ if (direction=NORTH) tempR=2;

else if (direction=EAST) tempR=3;

else if (direction=WEST) tempR=1;

else if (direction=SOUTH) tempR=4;

}

if(cell[x][y] == 0)

{// Assigning 1 wall

if(tempL>0) { cell[x][y]=tempL; }

if(tempF>0) { cell[x][y]=tempF; }

if(tempR>0) { cell[x][y]=tempR; }

// Assigning 2 walls NE

if(tempL==1 && tempF==2) { cell[x][y]=5; } if(tempF==1 && tempR==2) { cell[x][y]=5; } //Assigning 2 walls NS

if(tempL==1 && tempR==3) { cell[x][y]=6; } if(tempL==3 && tempR==1) { cell[x][y]=6; }

// Assigning 2 walls NW

if(tempL==4 && tempF==1) { cell[x][y]=7; } if(tempF==3 && tempR==1) { cell[x][y]=7; }

// Assigning 2 walls SE

if(tempF==2 && tempR==3) { cell[x][y]=8; } if(tempL==2 && tempF==3) { cell[x][y]=8; }

// Assigning 2 walls WE

if(tempL==4 && tempR==2) { cell[x][y]=9; } if(tempL==2 && tempR==4) { cell[x][y]=9; }

// Assigning 2 walls WS

if(tempL==3 && tempF==4)

{ cell[x][y]=10; }

if(tempR==4 && tempF==3)

{ cell[x][y]=10; }

// Assigning 3 walls NES

if(tempL==1 && tempF==2 && tempR==3)

{ cell[x][y]=11; }

// Assigning 3 walls NEW


{ cell[x][y]=12; }

// Assigning 3 walls NWS


{ cell[x][y]=13; }

// Assigning 3 walls ESW


{ cell[x][y]=14; } }

Greedy: MovementGreedy: Movementif (cell[x][y]==7 && direction==NORTH) { direction=turn_right(NORTH); x=forward_x(x,direction); } else if (cell[x][y]==7 && direction==WEST) { direction=turn_left(WEST); y=forward_y(y,direction); } else if (cell[x][y]==5 && direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x,direction); } else if (cell[x][y]==5 && direction==EAST) { direction=turn_right(EAST); y=forward_y(y,direction); } else if (cell[x][y]==6 && direction==EAST) { x=forward_x(x,EAST); move(SPEED,FORWARD,YES); } else if (cell[x][y]==6 && direction==WEST) { x=forward_x(y,direction); move(SPEED,FORWARD,YES); } else if (cell[x][y]==8 && direction==EAST) { direction=turn_left(EAST); y=forward_y(y,direction); } else if (cell[x][y]==8 && direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x,direction); } else if (cell[x][y]==9 && direction==NORTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } else if (cell[x][y]==9 && direction==SOUTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } else if (cell[x][y]==10 && direction==SOUTH) { direction=turn_left(SOUTH); x=forward_x(x,direction); } else if (cell[x][y]==10 && direction==WEST) { direction=turn_right(WEST); y=forward_y(y,direction); } else if (cell[x][y]==11 && direction==EAST) { direction=turn_around(EAST); x=forward_x(x,direction); } else if (cell[x][y]==12 && direction==NORTH) { direction=turn_around(NORTH); y=forward_y(y,direction); } else if (cell[x][y]==13 && direction==WEST) { direction=turn_around(WEST); x=forward_x(x,direction); } else if (cell[x][y]==14 && direction==SOUTH) { direction=turn_around(SOUTH); y=forward_y(y,direction); }

else if(0<=x<=7 && 0<=y<=7) { if(cell[x][y]==1) { if (direction==NORTH) { direction=turn_right(NORTH); x=forward_x(x,direction); } else if (direction==EAST) { x=forward_x(x, direction); move(SPEED,FORWARD,YES); } else if (direction==WEST) { x=forward_x(x,direction); move(SPEED,FORWARD,YES); } } // can go straight or left else if(cell[x][y]==2) { if (direction==NORTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } else if (direction==EAST) { direction=turn_left(EAST); y=forward_y(y,direction); } else if (direction==SOUTH); { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } } else if(cell[x][y]==3) { if (direction==EAST) { x=forward_x(x, direction); move(SPEED,FORWARD,YES); } else if (direction==WEST) { direction=turn_right(WEST); y=forward_y(y, direction); } else if (direction==SOUTH) { direction=turn_left(SOUTH); x=forward_x(x, direction); } } else if(cell[x][y]==4) { if (direction==NORTH) { // y=forward_y(y, direction); // move(SPEED,FORWARD,YES); direction=turn_right(NORTH); x=forward_x(x,direction); //could be random } else if (direction==WEST) { direction=turn_right(WEST); y=forward_y(y, direction); } else if (direction==SOUTH) { direction=turn_left(SOUTH); x=forward_x(x, direction); } } } else if(0<=x<=7 && 8<=y<=15) { if(cell[x][y]==1) { if (direction==NORTH) { direction=turn_right(NORTH); x=forward_x(x, direction); } else if (direction==EAST) { x=forward_x(x, direction); move(SPEED,FORWARD,YES); } // or direction=turn_right(E); else if (direction==WEST) { direction=turn_left(WEST); y=forward_y(y, direction); } } else if(cell[x][y]==2) { if (direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x, direction); } // or go straight idk about this one else if (direction==EAST) { direction=turn_right(EAST); y=forward_y(y, direction); } else if (direction==SOUTH) { y=forward_y(y, direction); move(SPEED,FORWARD,YES); } } else if(cell[x][y]==3) { if (direction==EAST) { x=forward_x(x, direction); move(SPEED,FORWARD,YES); } else if (direction==WEST) { direction=turn_right(WEST); y=forward_y(y, direction); } // or x =forward_x(x,direction); else if (direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x, direction); } } else if(cell[x][y]==4) { if (direction==NORTH) { direction=turn_right(NORTH); x=forward_x(x, direction); } else if (direction==WEST) { direction=turn_left(WEST); y=forward_y(y, direction); } else if (direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x, direction); } // or y=forward_y(y,direction); } } else if(8<=x<=15 && 0<=y<=7) { if(cell[x][y]==1) { if (direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x,direction); } else if (direction==EAST) { direction=turn_right(EAST); y=forward_y(y,direction); } else if (direction==WEST) { x=forward_x(x,direction); move(SPEED,FORWARD,YES); } } else if(cell[x][y]==2) { if (direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x, direction); } // or y=forward_y(y,direction); else if (direction==EAST) { direction=turn_left(EAST); y=forward_y(y,direction); } else if (direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x,direction); } } else if(cell[x][y]==3) { if (direction==EAST) { direction=turn_left(EAST); y=forward_y(y,direction); } else if (direction==WEST) { x=forward_x(x,direction); move(SPEED,FORWARD,YES); } // or direction=turn_right(W); // y=forward_y(y,direction); else if (direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x,direction); } } else if(cell[x][y]==4) { if (direction==NORTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } else if (direction==WEST) { direction=turn_right(WEST); // or direction=turn_left(W); y=forward_y(y,direction); } else if (direction==SOUTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } } } else if(8<=x<=15 && 8<=y<=15) { if(cell[x][y]==1) { if (direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x, direction); } else if (direction==EAST) { direction=turn_right(EAST); y=forward_y(y,direction); } else if (direction==WEST) { x=forward_x(x,direction); move(SPEED,FORWARD,YES); } // or direction=turn_left } else if(cell[x][y]==2) { if (direction==NORTH) { direction=turn_left(NORTH); x=forward_x(x, direction); } else if (direction==EAST) { direction=turn_right(EAST); y=forward_y(y,direction); } else if (direction==SOUTH) { direction=turn_right(SOUTH); x=forward_x(x,direction); } // or y=forward_y(y,direction); } else if(cell[x][y]==3) { if (direction==EAST) { direction=turn_left(EAST); y=forward_y(y,direction); } else if (direction==WEST) { x=forward_x(x,direction); move(SPEED,FORWARD,YES); } else if (direction==SOUTH) { direction=turn_right(SOUTH); // or direction=turn_left(S); x=forward_x(x,direction); } } else if(cell[x][y]==4) { if (direction==NORTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } else if (direction==WEST) { direction=turn_left(WEST); y=forward_y(y,direction); } else if (direction==SOUTH) { y=forward_y(y,direction); move(SPEED,FORWARD,YES); } }

Idea Behind GreedyIdea Behind Greedy

Our Final MouseOur Final Mouse

Our Goals AccomplishedOur Goals Accomplished

Simplicity

Have a moving, reliable mouse that can move with some sort of direction

Majority of the time, our mouse can find the center of the maze

Our mouse can make 90 and 180 degree turns

Correct itself and reverse

Time For A Short Demo…Time For A Short Demo…

Aether Burst. Our Team… Blaise Arita Team Leader Maran Osakoda Organizer Shaunty Kleinschmidt...

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