Transcript TEAM MECHAZAWA

TEAM MECHAZAWA
Jeong Bang
Riley Ceria
Grant Higa
Jeong
Chassis Design
and Fabrication
Program
Algorithms
Job Duties
Riley
Grant
Head
Programmer
Chassis
Circuit design
Assistant
programmer
Micromouse
“Autonomouse”
robot that solves a
maze in the fastest
time possible.
International
Many different types
of mice.
Great Fun!!
Our Mouse
Our Mouse
Side Sensors
(Distance Sensors)
Stepper Motors
Rabbit Processor
Nice Wheels
Cool Chips… a lot of
SMD.
SUPER SMALL!!
Side Sensors
Analog signal
A/D converter
 5 bit accuracy
 Requires calibration
 More distance information

Smoother tracking
Analog to Digital Mux
Sensor Placement
4 sensors-total
2 front-facing
2 side-facing
Chassis Considerations
Placement of components
Sensors
 Motors
 PC boards
 Batteries

Heat
Symmetry
Weight
Limited Tools
Bandsaw was missing teeth
Used clamps to bend brackets
Dremel was the main tool used

Parts mysteriously disappeared
Resulting Chassis
Buddy-esque shape
One piece design
Brackets hold sensors
Standoffs hold Circuit Boards
Furniture slider support
Chassis
Problems/Solutions
Motor axle to long

Choose different motors
Sensor angles

Find a better way to mount sensors
Circuit Design (power)
8 AA NiMH batteries

2100 mAh
Power

12V DC-DC step up converter
MAX1771
 Possibly unnecessary


5V linear regulator
LM340
 Runs hot

Circuit design (driver)
Driver Board

Panasonic 2SK2211 n-MOSFET
Runs fairly cool
 Small size


Gate storing too much charge

Added resistor to increase response
Circuit design
Main board
5V regulator
 Rabbit RCM2000
 MAX118 A/D converter


SHARP GP2D120 distance sensors
PCBoards
Design done in CIRCAD
Double and single sided
Iron-on resist paper

Difficult to iron on well
Ran out of etchant
Programming
Tracking


Staying in Center
Mapping Walls
Solving



Find Center
Fastest Path
Speed Run
Centering
Reading Analog Signals
Delays
Blind Tracking
Front Wall
Mapping
Setting Values
Pointers or no
pointers?
Wall There?
When to check?
Finding Center
Flood fill
Simple
void flood(int floodx, int floody, int notbegin)
{
int x, y; // state position variables for flooding
int hd_value;
// highest defined value while flooding maze
int stopflood;
int mox, moy;
int decided;
// states whether a new direction has been decided
int turn; // states which way tpo turn
decided = FALSE; // no new direction decided in begining
turn = STRAIGHT; // want to go straight first
mox = mx;
moy = my;
// initially floods maze giving all values high
for(x=1; x<17; x++)
{
for(y=1; y<17; y++)
maze_map[x][y].value=256;
}
//gives a starting point to flood from
maze_map[floodx][floody].value=0;
/********************************************************************/
/**********************---MAIN FLOOD AREA---*************************/
/********************************************************************/
stopflood = FALSE;
hd_value = 0;
while(1)
Fastest Path
Searches of finding Center
Floods from Center to Beginning
Goes to unsearched Cells
Speed Run
The Grant Delay
Acceleration
Faster
No mapping, or solving
followpath[x] array
Tracking Problems
Sensors
A to D conversion
Motor limits
Tracking of an “imaginary” wall
Jittery
Step Counts
False Wall Readings
Tracking Solutions
Play with wires
Use 5 bit accuracy
Created new type of Delay
Limited distance for walls
Solving Problems
POINTERS!!!!!
Arrays
Loops…going on and on
Stopping at each cell
Solving Solutions
Make sure the “*” are
everywhere…fixed almost everything
Only Solve at Junctions
Problems
Board Fabrication
Poor PCBoard design
 Lack of sufficient etchant

Chassis
Lack of tools
 Sensor attachment
 Battery placement

Problems
Connectors
Motors
torque
 width

Programming
Time
Initial Goals
Build a working mouse and win regions
Do 45’s
Be able to compete on the international
level at some point in the future
Results
Mouse can find the center and take the
shortest explored path
Too wide for 45’s
Too slow to compete internationally
Mouse is “ghetto”
Sensor connecters may fail