Transcript Fast D.A.D.I. (Micromouse)

Fast D.A.D.I
Team Members
• Dale Balsis
• Aaron Tsutsumi
• Dennis How
• Ikaika Ramos
Overall Design
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Side Sensing
PCB etching interconnection
Flood-Filled Algorithm
Motor Driver IC
Power Switch and LIGHT
Debugging Lights
Initial Goals Met
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WE HAD FUN AND LEARNED A LOT!
Tracks & Finds Center
Aesthetically pleasing (rims, light, UH LOGO, paint)
Working mouse prior mini-comp.
Made it to Regional Competition
Structure of Design
• PCB etching
– Used Pad2Pad to design etch.
– Ended up with two different boards due to
circuit redesign.
• Side Sensors
– Used Sharp infrared analog sensors.
– Used a Maxim 114 IC to do the analog-todigital conversion of the sensor signal.
Structure of Design (cont.)
• Motor Driver IC
– Allegro 5804 IC, external circuitry only 4
diodes for each chip
– Didn’t use half-step, one-phase inputs, only
used direction and step inputs
• Power Circuit
– 5V linear regulator to power ICs and LEDs.
– 3.3V switching regulator to power motors.
Structure of Design (cont.)
• Debugging Lights
– Lights to tell whether a front, left or right wall
has been sensed.
– Light to indicate when the step count for the
cell has been reached.
• Flood-fill algorithm
– This algorithm is a way to try to reach the
center of the maze quickly.
– Once center is found, the maze can be
flooded to find the shortest path.
Design Decisions
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Hardware
Unipolar vs. Bipolar
stepper motors
Motor Driver ICs vs.
MOSFETs
How to implement
side sensors
Switching vs. linear
voltage regulators
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Software
How many of the output
bits from the A/D
converter to use
How to implement
movement and alignment
How to store the maze
cell variables
How to implement the
flood-fill algorithm
Final Status
• 8th Place Regional Competition
• Non competition Center-finder
Problems
• Tracking Issues
– Sensor readings
• Sensor Placement
• Numerous programming
– Limited time allotted
• Voltage regulator overheating
– SOLVED! (Switching Regulator)
• Initial PCB Designs
Outstanding Problems
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Lack of torque
Minor Tracking issues
Faulty dip-switch
Continuous software testing
DEMO!
???QUESTIONS???
?Preguntas?