take your JACKET take your JACKET OFFOFF

KELLIEKELLIE SCOTTSCOTT

KENDALLKENDALL JAYSONJAYSON

Final PresentationFinal Presentation

Members:Members: Jayson NakakuraJayson Nakakura: Chassis Design and : Chassis Design and

FabricationFabrication Kellie MurakamiKellie Murakami: Circuitry Design and : Circuitry Design and

FabricationFabrication Scott BonillaScott Bonilla: Algorithm Development and : Algorithm Development and

ProgrammingProgramming Kendall KogasakaKendall Kogasaka: Programming: Programming

Hi I’m Scott

Overview of ProjectOverview of Project

Micromouse:Micromouse: Autonomous programmable robot designed to Autonomous programmable robot designed to

navigate and solve a 16x16 square mazenavigate and solve a 16x16 square maze Mouse must be less than 25cm x 25cm, but Mouse must be less than 25cm x 25cm, but

there is no height limitationthere is no height limitation

Initial GoalsInitial Goals

Find the center by solving the maze using Find the center by solving the maze using a flood fill algorithma flood fill algorithm

Don’t run into walls or get lost in the mazeDon’t run into walls or get lost in the maze Don’t waste time with dead ends, loops, & Don’t waste time with dead ends, loops, &

spiralsspirals Speed run after initially solving the mazeSpeed run after initially solving the maze Compete in the mini-competition!Compete in the mini-competition!

Overview of Structure of Overview of Structure of Design and Decisions MadeDesign and Decisions Made

Block diagramBlock diagram Solving and mapping algorithmsSolving and mapping algorithms SteppingStepping Chassis slidersChassis sliders SensorsSensors

Original arrangmentOriginal arrangment First ModificationFirst Modification Second ModificationSecond Modification Third ModificationThird Modification

Block DiagramBlock Diagram

1

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44

5

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66

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77

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99

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1010

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13M

0

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1314

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2

WALLSADDED-IN WALLS

UNSEEN WALLS

SolvingSolving

Original S-TurnOriginal S-Turn

Modified S-TurnModified S-Turn

45 Turn45 Turn

Program OverviewProgram Overview

Flood-fill algorithm starting from Flood-fill algorithm starting from destinationdestination

No 180 degree turnsNo 180 degree turns S-turns & 45 degree turnsS-turns & 45 degree turns Speed runsSpeed runs Searched cellsSearched cells

Wall Input on 1Wall Input on 1stst visit only visit only Speed upSpeed up

Maze Cell ValuesMaze Cell Values

Is there Is there leftleft / / toptop / / rightright / / bottombottom walls? walls? Has the Has the cell been searchedcell been searched?? Flood fillFlood fill value value All the info is in a single 16 bit int value.All the info is in a single 16 bit int value.

00001111 0 01100 00 0000 01110000 0111

Set by bit operations (and, or)Set by bit operations (and, or) Get by bitwise mask and shiftGet by bitwise mask and shift

Program Flow Diagram Program Flow Diagram (1)(1)

starting_values()

fill_array()

Is flood-fillneccessary?

Yes

Program Flow Diagram Program Flow Diagram (2)(2)

move_decision()

step(LEFT) orstep(RIGHT)

Which move?

step(STRAIGHT) step(HALF)

front_wall_input()and

side_wall_input()

turn around bychanging mousestate variables

PartsParts

Chassis: Green 2092 PlexiglasChassis: Green 2092 Plexiglas PCB: One-sided copperPCB: One-sided copper Processor: RabbitProcessor: Rabbit Bipolar Stepper Motors: Jameco 237471CBBipolar Stepper Motors: Jameco 237471CB Stepper Motor Drivers: ON Semiconductor MC3479Stepper Motor Drivers: ON Semiconductor MC3479 Side Sensors: Sharp GP2D120 IR SensorSide Sensors: Sharp GP2D120 IR Sensor A/D Converter: Maxim MAX118A/D Converter: Maxim MAX118 Batteries: 10 1.2V RechargeablesBatteries: 10 1.2V Rechargeables Miscellaneous: 5V regulator, chip connectors, wire Miscellaneous: 5V regulator, chip connectors, wire

connectors, On/Off switchconnectors, On/Off switch

Hardware - ChassisHardware - Chassis

FrontFront

Hardware – ChassisHardware – Chassis

SideSide

Hardware - ChassisHardware - Chassis

Balancing ChassisBalancing Chassis

What to use to keep chassis balancedWhat to use to keep chassis balanced Sliders?Sliders?

Too bigToo big Ball CastersBall Casters

The smallest ones would fit well (9mm tall)The smallest ones would fit well (9mm tall) $20 each – YOU MUST BE CRAZY$20 each – YOU MUST BE CRAZY

Acorn NutsAcorn Nuts JackpotJackpot

Fits wellFits well cheapcheap

SensorsSensors

How to mount sensors?How to mount sensors? Erector set double angle bracketsErector set double angle brackets

Hole distances for both sensors and brackets are Hole distances for both sensors and brackets are in metricin metric

CheapCheap GREENGREEN

Sensor PlacementSensor Placement

First Sensor ArrangementFirst Sensor Arrangement

Sensor PlacementSensor Placement

Outside sensorsOutside sensors Problems with reading side wallsProblems with reading side walls

If too close then no valueIf too close then no value Tracking problemsTracking problems

Horizontal center sensorHorizontal center sensor Caused problems with alignmentCaused problems with alignment

Mouse tends to drift towards detector sideMouse tends to drift towards detector side

Sensor PlacementSensor Placement

Second ArrangementSecond Arrangement

Sensor PlacementSensor Placement

Outside SensorsOutside Sensors Still having problemsStill having problems

ValuesValues TrackingTracking

WiringWiring Bending wire too muchBending wire too much

Wire breaking off of crimpsWire breaking off of crimps

Sensor connector hits the wall firstSensor connector hits the wall first

Sensor PlacementSensor Placement

Third ArrangementThird Arrangement

Sensor PlacementSensor Placement

Emitters and Detectors at different levelsEmitters and Detectors at different levels No cross signal readingsNo cross signal readings

AlignmentAlignment Able to read further aheadAble to read further ahead Outside sensors do not get too closeOutside sensors do not get too close

ConsistentConsistent

WiringWiring Still bentStill bent Does not hit walls anymoreDoes not hit walls anymore

Additional Sensor Additional Sensor ProblemsProblems

Output readingsOutput readings Low OutputLow Output

Poor Voltage in connectionPoor Voltage in connection

Fluctuating OutputsFluctuating Outputs Poor Voltage out connectionPoor Voltage out connection Loose groundLoose ground Sensor connectorSensor connector

Loose contact between sensor and its connectorLoose contact between sensor and its connector

BumpersBumpers

Sensors overhang the chassisSensors overhang the chassis Sensors hit the walls and pegs firstSensors hit the walls and pegs first

Bumper SolutionBumper Solution Shaved erector set piecesShaved erector set pieces

Takes impact off of outside sensorsTakes impact off of outside sensors No more worries about sensors slamming into No more worries about sensors slamming into

the wallsthe walls

Accessing BatteriesAccessing Batteries

The battery packs are held tightly The battery packs are held tightly between the motors and sensorsbetween the motors and sensors Problems accessingProblems accessing

Many wires in the wayMany wires in the way Taking top offTaking top off

Tension on the connectors each timeTension on the connectors each time Resulting in more loose connectionsResulting in more loose connections

SolutionSolution

Addition of a hingeAddition of a hinge Hinge second plexi-glass with the erector set Hinge second plexi-glass with the erector set

double angle bracketsdouble angle brackets Now we have a hood (ORIGINALITY)Now we have a hood (ORIGINALITY)

Looks goodLooks good No tensionNo tension No breaking connectionsNo breaking connections

TRIPLETSTRIPLETS

ResettingResetting

Final problem before regionalsFinal problem before regionals Mouse resetting itself to the starting cellMouse resetting itself to the starting cell

WHAT THE?WHAT THE? Code?Code? Hardware?Hardware? Bad luck?Bad luck?

SituationSituation

We got the s turns downWe got the s turns down Now able to do long continuous runsNow able to do long continuous runs Noticed resettingNoticed resetting

We checked the codeWe checked the code We checked the circuitWe checked the circuit

SimilaritiesSimilarities

The mouse would reset on its first run on a The mouse would reset on its first run on a long pathlong path

The mouse would reset on its fourth or fifth run The mouse would reset on its fourth or fifth run on a short pathon a short path

Noticed that as mouse kept running, voltage Noticed that as mouse kept running, voltage regulator output increasedregulator output increased Starting around 4.8VStarting around 4.8V Increasing up to 5.2VIncreasing up to 5.2V

SolutionSolution

Mouse runs longerMouse runs longer Voltage regulator heats up and passes more Voltage regulator heats up and passes more

voltagevoltage

Add a heat sync to dissipate heatAdd a heat sync to dissipate heat JACKPOTJACKPOT

Runs until batteries dieRuns until batteries die Or crashes because moving too fastOr crashes because moving too fast

Ready for regionalsReady for regionals

CompetitionCompetition

Held at CSU FresnoHeld at CSU Fresno Competed against 12 other miceCompeted against 12 other mice Placed 3Placed 3rdrd by searching 113 cells by searching 113 cells

Didn't get to show off 45sDidn't get to show off 45s Didn't reach the centerDidn't reach the center

Congratulations, Kyle!!! (2Congratulations, Kyle!!! (2ndnd place) place)

Outstanding ProblemsOutstanding Problems

Broken sensor at competitionBroken sensor at competition Couldn't get reset code to workCouldn't get reset code to work No way to physically switch between No way to physically switch between

different algorithmsdifferent algorithms Breaking connections of sensors when Breaking connections of sensors when

changing batterieschanging batteries

Suggestions for Further Suggestions for Further ImprovementImprovement

Directly hardwire sensors to PCBDirectly hardwire sensors to PCB Write new reset codeWrite new reset code Add dipswitch to the circuitAdd dipswitch to the circuit Make batteries more accesibleMake batteries more accesible

Thank you!Thank you!

Any Questions???Any Questions???