amaze me final presentation may 4, 2007. introduction of team amaze me team members –john miyajima...
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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
Structure of Design
Main approach is to keep a simple design in order to construct and troubleshoot in
an easy manner
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
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
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