The Pied Pipers

Joanne FloresKen ShumAlyssa Visitacion

Project Overview

To create an autonomous robotic mouse that will navigate a maze.

Goals

Have each circuit correctly interact with each other.Make mouse move forwardHave mouse make turnsComplete a wallhugging mouse Find center of maze

System Diagram

Program Module

Mechanical Module

Program Module

Tracking Algorithm Sense walls

If offset sensors turn on, you are no longer centered. Increase speed on side of offset sensors until centered.

Wall Hugger Algorithm Move forward as long as there is a wall on the left.

If there is a wall in the front, turn right. If there is no wall on the left, turn left.

Excerpt from Tracking and Wallhugger Codeint delaysignal(void);

unsigned moveforward(void);

unsigned turnright(void);

unsigned turnleft(void);

main()

{ RdPortI

WrPortI(SPCR,&SPCRShadow,0X84); // declares all A ports as output ports

while (1) // basic wallhugger

{ if (SENF1 || SENF2)

{ turnright(); // this function moves mouse right

delaysignal();

}

else if (!SENL1 && !SENL2 && !SENL3)

{ turnleft(); // this function moves mouse left

delaysignal;

}

else

{ moveforward; // this function moves the thing forward

delaysignal;

}

}

}

Mechanical ModuleChassis Battery Packs Tires Motors Standoffs

Electrical Circuitry Sensors Circuit Motor Drivers Circuit

Rabbit

Design Decisions

To make it as compact and light as possibleTo keep the wiring neatTo minimize the amount of sensors usedTo organize circuits by placing each part on three different layers.

Design StructureConsists of three layers of circuitryChassis contains standoffs, which holds up the three layersSensors Circuit – Bottom LayerMotor Drivers Circuit – Middle LayerRabbit and Switch – Top Layer

Overall Design

Overall Design

Overall Design

Overall Design

Sensors LayerTwo sensors in front of mouseThree sensors each on left/right side of mouseHas a hole in the middle to lead motor wires to middle layer

Motor Drivers LayerContains motor drivers circuitAlso holds the voltage inverters that connect to each sensor panel.

Top Layer

Contains rabbit and switch. Neatly covers the motor drivers layer

Final StatusSensors Circuit and Motor Drivers Circuit worksUsed Circuitwriter to make connections in circuitSensors are attached to body using velcro

Problems That Occurred

Altering DesignScheduling conflictsToo much time spent on debuggingBad ConnectionsBroken PartsSwitch incorrectly connected

Outstanding Problems

Unable to move due to a broken rabbit

Future Improvements

Time managementEtchingMore visually appealingCoding

Questions?