Amaze Me

Final Presentation

May 4, 2007

Introduction of Team Amaze Me

• Team Members

– John Miyajima– Brandon Gibu– Justin Ogata– Ah Ram Kim

Overview• Micromouse

– Construct an autonomous mouse– Navigate and track a 16 x 16 maze– Find the center of the maze in the fastest

time

Initial Goals

• From Proposal Presentation– Have our mouse move straight and make turns without

crashing– Track for a short distance– Find center at least once this semester

• Goals throughout the course– Try to follow our design (from the preliminary design review) – Budget time and stay on schedule according to the Gantt

chart

Gantt Chart(as of today)

Structure of Design

Main approach is to keep a simple design in order to construct and troubleshoot in

an easy manner

Structure of Design(Hardware)

Structure of Design(Hardware continue)

Structure of Design(hardware side view continue)

Structure of Design(hardware side view continue)

Structure of Design(sensor layout)

Structure of Design(software/coding)

void straight(void);void turnleft(void);void turnright(void);

main(){

int a,b;while(1)

{ while(SEN1 == 1 && SEN5 == 0) { straight(); }

while(SEN1 == 0 && SEN5 == 0) { //turn left for(a=0;a<40;a++)

{ straight(); } turnleft(); } }

void straight(void){int i;

PORTA3OFF; PORTA4ON; PORTA5ON; PORTA6OFF; for(i=0; i < 4000; i++);

PORTA3ON; PORTA4OFF; PORTA5OFF; PORTA6ON; for(i=0; i < 4000; i++);

PORTA2ON; PORTA3OFF; PORTA6OFF; PORTA7ON; for(i=0; i < 4000; i++);

PORTA1ON; PORTA2OFF; PORTA7OFF; PORTA8ON; for(i=0; i < 4000; i++);}

Design Decisions

• Changed original sensor placement

• Decided not to use LEDs for sensors

• Reduce the amount of soldering by replacing a protoboard

• Decided not to make it look like an actual mouse

Design Decisions• Changes in the design of the sensor placement

Final Status

Still Coding and debugging any hardware problems that arise

* A confused mouse*

Interesting Features• Used a protoboard

– to reduce the overall size of the circuit– avoid damaging components such as mosfets– avoid heavy soldering– Easy troubleshoot and replace

• Use of alligator clips on the mouse– Easy to remove from circuit– Easy to implement

• Used a octal voltage inverter (MM74HCT240) instead of a hex (7404)

– Takes less space on protoboard (20 pins) instead of 2 7404s (28 pins)

• Using 7 ports from the rabbit (ORing 10 of sensors to 3 ports)

• Chose to use normal batteries– Disadvantage, very costly

Problems• Initial LED problem with the circuit

– Using a smaller LED created problems with current through the circuit

• Experimenting with features of the mouse (i.e., third wheel)-Took too much time and cushions were the solution

• Making things easier for trouble shooting– Not all components were created for “easy trouble shooting”

• Incorrect diode placement

• Unable to traverse cracks in maze– Solution: Modify the furniture cushions for less friction– Problem: Mouse had rocking

• Difficulty in splicing wires for circuit

Suggestions For Future Improvements

• Organize and work in parallel with tasks• Start early and quickly with project• Use big LEDs• Try to avoid heavy soldering• Use better/quality parts• Avoid using normal batteries

– Use rechargeable, 9 volt, or lithium ion batteries

• Keep the circuit simple and rely more on coding and so much on the sensors

Thank You

Questions???

Demo???