Micro-MouseBy

Mohamad SamhatNarciso LumbrerasHasan Almatrouk

What is a Micro-Mouse ?

•A micro-mouse is a small battery operated mobile robot that moves randomly to solve a maze

History• In 1977, IEEE Spectrum Magazine, came up with the

concept of a Micro-Mouse• In May 1977, Spectrum announced the first US Amazing

Micro-Mouse Maze Contest to be held in June 1979, New York

• In 1980, the European version of the contest was launched at the Euromice '80 in London

• In March 1990 the Micro-Mouse was introduced to schools and universities.

Why a Micro-Mouse?

• It consists of multiple parts : software & hardware

• Design efficiency • Excellent introduction for robotics field

Design Method

•Google is our friend

Major Components• Micro Controller PIC18F452• Sensors GP2D120• Drive Control System MC3479• Hybrid Stepper Motors• Crystal Oscillator• Voltage Regulator

"Peripheral Interface Controller”• Low Cost• Wide Availability• Large User Base• Extensive Collection of Application Notes• Availability of Low Cost or Free Development Tools

• Serial Programming (and Re-Programming With Flash Memory) Capability.

Microcontroller

Crystal Oscillator •Creates an electrical signal with a very precise frequency

Sensory Array

MC3479 Stepper Motors

DRIVE CONTROL SYSTEM

Hybrid Stepper Motor• Operates based on programmed instructions

VOLTAGE REGULATOR

Block Diagram

MicrocontrollerPIC18F452

Sensory Array

RightSensor

Center

Sensor

Left Sensor

Motor DriverMC3479

Motor DriverMC3479

MOTOR #2 MOTOR #1

Micro-mouse Schematics

Trouble Shooting Testing each component of circuit• Sensors with Oscilloscope• Voltage Regulator• Stepper Motor Drivers with Hybrid Stepper Motors

Trouble Shooting Cont. MPLAB programming and configuration bits• New Software• Including a C file• Different Configuration Bits For Every Program

Trouble Shooting Cont. Programming• Setting I/O Pins• Converting Signals From Analog to Digital• Including Delay Functions

Trouble Shooting Cont. Universal Programmer• Used for Verifying Code/Erasing/Burning Program on PIC

Trouble Shooting Cont. Crystal Oscillator• Changed Clk from 40MHz to 20MHz• Added Two 22pF Capacitors

Trouble Shooting Cont. DC Motor VS Hybrid Stepper Motor• No DC Power Supply• Wiring Configuration

Trouble Shooting Cont. Battery Lifetime• Drains Fast• Parallel Connection• Lithium for 30% Weight Reduction

Trouble Shooting Cont.

MC3479 Hybrid Steppers Heat Reduction• Heat sinks for MC3479

Trouble Shooting Cont.

Final Design• Access to Batteries• Stabilization• Dimensions

Trouble-Shooting Videos

Trouble-Shooting Videos Cont.

Maze•Dimensions•Construction•Materials

MILESTONE

•Arduino•Custom Chassis•Rechargeable Batteries•Modify Program

What we Learned?

•Discipline•Team Work •Patience•Complex Design of Hardware/Software