Transcript Iole o Manoa

‘Iole o Mãnoa
Mouse of Mãnoa
Team Members
Jeff Fines
Designer, Fabricator,
Programmer
&
Thomas Matsushima
Designer, Fabricator,
Programmer
Overview
We will be designing and fabricating
small robotic mouse. The mouse will be
programmed to find the center of a 16 x 16
maze.
Initial Goals
We will design and fabricate a
micromouse that can consistently and quickly
navigate to the center of a maze.
Chassis Final Status
We have:
• Shaped a base with enough area to hold the
mouse components and the ability to easily
traverse diagonally through the maze.
• Ordered necessary parts.
• Decided to use bipolar motor steppers.
• Cut metal attachments which will be used to
screw down the stepper motors and sensors.
• Decided on placement of sensors
Design Structure
• Flying Rabbit
• Soldered circuit to PCB board.
• Four eyes in front, with a round end for
easy turns.
• Two stepper motors which control wheels
that spin like crazy.
Solving Algorithm
We have decided to implement the “FloodFill” method for navigating through the maze.
Where the center cells are is Cell 0, the four
cells around that are initially Cell 1, and so on
for a total of thirteen layers of cells. From Cell
13 the mouse will move by choosing the cell
closer to the center, i.e. moving from Cell 13
to Cell 12.
Mouse Modules
• Mouse Brain Module • Chassis Module
– Microcontroller
– Programming
Solving Algorithms
Tracking Algorithm
• Sensor Module
– Physical Sensors
– Analog to Digital Converter
• Motor Module
– Motor Circuit
– Motor Logic Controller
• Power Module
– Power Supply
– Power Converter
– Motor Mounts
– Sensor Mounts
– Base
Motor Module
Using Bipolar motors, H-Bridges,
inverters, and Mosfets. We will be able to
produce a micro-stepping mouse. Rather
than rotating in a full step, the mouse will
adjust its microstepping accordingly in
order to center itself in the maze creating
proper sensor readings.
Motor Circuit Schematic
H-Bridges are necessary to control the
Bipolar motor because we have to reverse
voltage through the coil to properly control
the motor.
Logic Circuit Schematic
The Inverter will allow us to control the
mouse to control each motor using only
two inputs and to micro-step using only
four.
Mosfets are used to remove power to HBridges to allow micro-stepping.
Tasks Accomplished
• Assembled and Tested the Circuit for
proper mouse behavior.
• Transfer the circuit from a proto-board to a
soldered circuit on a PCB.
• The Flood-fill algorithm.
• Locate the center.
• Teamwork.
Problems Encountered
• Sensor Issues
– Mistaken Identity: sensors had to be removed from chassis several times, and were
mixed up, so when the code asked for a reading from Sensor 0, it may have been
reading another sensor, causing an incorrect reading for the mouse.
– Drilling holes to screw the sensors to the chassis, we were not precise so we had to
make the sensors fit.
– Soldering iron would not get hot!
• Programming Issues
– Understanding the algorithm. In flood-fill we must use arrays and understand how
each cell represents a cell in the array, but not as simple as it sounds.
– When flooding the mouse would kick out of the code.
– When transferring the circuit from the bread board to the PCB the circuit reacted
differently, and concluded that the toroids were the cause.
– Our stepping was off during the competition, it used to be able to turn 90 degrees,
but ended up making 45 degree turns.
• Time
– Sleep deprivation.
Future Improvements
• Our code could use some optimizing.
• Wires could be held together in its
respective group to make it look less
messy.
• Solder could definitely be done better.
• Add the UH Mãnoa logo.
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