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The goals of Micromouse: •to build an autonomous “mouse” •Mouse should be able to navigate and solve any given maze •Mouse should be no bigger than 25 cm x 25 cm (unlimited height) •Specific Rules can be found at: http://www-ee.eng.hawaii.edu/~mmouse/new_rules.html Physical Mouse Motors (Feet) Sensors (Eyes) Tracking Mapping Solving (Brain) Final Design Top View: Side View: Bottom Third Layerview Rabbit Layer First Layer Second Layer Initial Goals: •To have a tracking mouse •Wishful Thinking: Mapping and Solving Mouse Currently: •Chassis of Mr. Rabbit is complete •Mr. Rabbit’s circuit is complete -Sensor circuit -Motor circuit •Tracking/Mapping is in arms reach • Still software debugging but the hardware keeps breaking Designs and Features: •Stepper Motors •Top-Down Sensor Layout •Separate battery packs for Rabbit and the rest of the mouse •LEDs for easy motor debugging •LEDs for sensor debugging •Happy Face :D Particularly Unique Features: •MONSTER truck wheels for easy travel on all terrain •Hose clamp design P: Mysterious Voltage drops of 1V per board… S: Made sure that the batteries were fully charged P: Sensors were not completely sensing S: Adjusted heights of the sensors accordingly P: Rabbits burning out… S: Checked voltage regulator each time to make sure its working and we gave the Rabbit it’s own special battery pack P: Parts breaking: sensors on fire (literally), wires breaking from solder heat, MOSFETs burning out, Rabbits dying, voltage regulator burning out S: Buy plenty of extra parts to replace everything including 6 Rabbits, 15 MOSFETs, 20 sensors, 3 voltage regulators, excess batteries P: BAD connections S: fix accordingly … P: Rabbit cable … “Target Communication Error” S: Try various computers and cables until it works … or realize that the Rabbit is really dead P: Waiting for parts to come in S: pay extra for shipping so it gets here faster P: Finding parts on the island S: Order them online P: Running out of $$$$ S: Beg the parents! P: Things work on the breadboard but they don’t work on the perf board S: Take things apart and redo them prettier P: some of the Rabbit ports don’t work S: edit the code and change the port used P: Batteries take too long to charge!!! S: Buy more chargers or use the voltage supply P: Software Issues S: still working on these P: not enough time! S: reduce sleep P: Sensor Layout Ineffective S: change the sensor layout to make it more effective (more than once) P: Not enough space for the rabbit S: keep building up! P: Couldn’t find the right parts in the beginning ex. Metal for chassis, wheels, teflon pads, mount for Rabbit S: Keep looking until we found the perfect fit Outstanding Problems: •Still working on tracking bugs •Looking for ways to create better connections •Looking for a way to always have 4.9-5.1 V coming out of the Rabbit’s battery pack Future Improvement: •Able to map •Able to solve •Secure wire connections to reduce problems with bad connections