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.
The Chassis
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
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.
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 Remaining
•
•
•
•
Assemble and Test Circuit
Finalize Circuit Placement
Integrate Circuitry with Chassis
Programming
Potential Problems
• Sensor Issues
– Ambient Light Interference
– Calibration Error
• Programming Issues
– Code Errors
– Hardware/Software Implementation Errors
• Time
– Not Enough
Deliverable Goals
We will design and fabricate a
micromouse that can consistently and quickly
navigate to the center of a maze.
Schedule
s