Midyear Pre

8/8/2019 Midyear Pre

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Qazi Asif Saleh Energy & Environment

Click to edit Master text stylesSecond level

Third level Fourth level

Fifth level


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Maze navigation robot

Fall 2008 & SpRING 2009


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IntroducingTeam member

Syed fakhar sajjad

Nyma haqqani


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Our ApproachTry to learn the basics of circuits andprogramming

Take things one step at a time

Develop a very basic design and then improveupon it

To implement a top looking design using DC

motors and a wall hugging software codewhich will then be expanded into the mazeflooding algorithm.


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Possible Problems

May not have enough time

Schedule problems

Slow progression


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Learning

Expectations To successfully create a robot that will findthe center of a maze .

To gain hands on experience withimplementing theoretical design into aphysically working model.

To explore different approaches for designing

and logically determining the most efficient

solution.


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GoalsTo create a basic robot that can run through themaze

To gain more experience and knowledge in

dealing with circuits and programming To be able to make our robot move forward

To make our robot turn left/right

To create a program that maps the movement of the robot To have a working robot find the center of the maze


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MICR

O

CON

TROLLE

SESNSORS

SENSORELECTRONI

CS

MOTOR

DRIVE

R

LEFTMOTO

R

RIGHT

MOTOR

Hardwareoverview


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Basic components ofRobot:Sensors

Motors

Microcontroller

Batteries


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SENSORS



Fifth level


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SENSOR CIRCUIT



Fifth level


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MOTORS



Fifth level


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H-BRIDGE CIRCUIT



Fifth level


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MICROCONTROLLER



Fifth level


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MICROCONTROLLERCIRCUIT



Fifth level


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CODE

#include

sbit L293D_A = P2^4;

sbit L293D_B = P2^3;

sbit L293D_E = P2^2;

sbit L293D_A1 = P2^7;sbit L293D_B1= P2^6;

sbit L293D_E1 = P2^5;


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//inputssbit sensorF = P1^0;

sbit sensorB = P1^1;sbit sensorR = P1^2;sbit sensorL = P1^3;// Function Prototypes

void rotate_f(void); //Forward run funtionvoid rotate_b(void); //Backward runfunctionvoid breaks(void); //Motor stop function

void delay(void); //Some delayvoid left_turn(void);void right_turn(void);void delay_turn(void);


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void main(){ //Our mainfunction

sensorF=1;

sensorB=1;sensorR=1;sensorL=1;

while(1){ //Infinite loop

if(sensorF==0)// & sensorB==1& sensorR==1 & sensorL==1)

{breaks();delay_turn();

rotate_f(); //Runforward

delay();breaks();

}


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else if(sensorB==0)//sensorF==1 & & sensorR==1& sensorL==1)

{breaks();delay_turn();rotate_b();delay();

breaks();}

else if(sensorR==0)//sensorF==1 & sensorB==1 && sensorL==1)

//delay();//Some delay

{breaks();


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else if(sensorL==0)//(sensorF==1 && sensorB==1&& sensorR==1 && sensorL==0)

{ breaks();delay_turn();left_turn();delay();breaks();

//Stop}

elsebreaks();

} //Do this infinitely}void left_turn(){L293D_E = 1; //BOTH MOTORS SHOULD BE

ENABLEDL293D_E1 = 1;

id i ht t (){


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void right_turn(){

L293D_E = 1; //BOTHMOTORS SHOULD BE

ENABLEDL293D_E1 = 1;L293D_A = 0;L293D_B = 1;L293D_A1 = 1;

L293D_B1 = 0;}void rotate_f(){

L293D_A = 1;

//Make positive of motor 1L293D_B = 0;//Make negative of motor 0

L293D_E = 1;//Enable L293D

L293D_A1 = 1;//Make ositive of motor 1


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void rotate_b(){

L293D_A = 0; //Make positive ofmotor 0

L293D_B = 1; //Make negative of

motor 1L293D_E = 1; //Enable L293DL293D_A1 = 0; //Make positive of

motor 0L293D_B1 = 1; //Make negative of

motor 1L293D_E1 = 1; //Enable L293D

}void breaks(){

L293D_A = 0; //Make positive of


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void delay(){ //Some delay...unsigned char i,j,k;

for(i=0;i


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SIMULATION OFSOFTWARE


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SoftwareoverviewSearch AlgorithmSimple Depth-First SearchRobot scans each cell for walls and constructsa DFS tree rooted at the START cellAs the DFS tree is constructed, it indicateswhich cells have been explored and provides

paths for backtrackingThe DFS halts when the GOAL cell is found


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Example 3x3 maze

GOAL


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We start out at (0,0) the southwest corner

of the mazeLocation of goal isunknown


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Check for a wall theway forward is blocked


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So we turn right


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Check for a wall nowall in front of us


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So we go forward; thered arrow indicatesthat (0,0) is (1,0)spredecessor.


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Turn right


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We sense a wall heretoo, so were gonnahave to look north.


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Turn left


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The way forward isclear


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We sense a wall cantgo forward


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so well turn right.


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This way is clear


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so we go forward.


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How about this way?


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Clear!


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We already know thatthe wall on the right isblocked, so we tryturning left instead.


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Whoops, wall here.


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Wall here too!

Now there are nounexplored

neighboring squaresthat we can get to.

So, we backtrack!(Retrace the red

arrow)


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We turn to face the redarrow


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and go forward.

Now wevebacktracked to a

square that mighthave an unexploredneighbor. Lets check!


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Ah-ha!


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Onward!


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Drat!


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Theres gotta be a wayout of here


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Not this way!


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Two 90-degree turns toface west


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No wall here!


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What luck! Heres thegoal.

Final step: Execute

victory dance.


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Questions!

?????


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Thank you

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