Transcript Curry Mouse (Micromouse)

Curry Mouse
EE296 Final Presentation
Wednesday, May 10, 2006
Team
• Judy Lee
• Amy Maruyama
• Mindy Wong
Micromouse
• Design and build an autonomous robotic
“mouse” that can travel to the center of a
maze in the quickest amount of time
Initial Goals
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•
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•
•
To go forward
To turn left & right
To track forward
To track turns
Get to the center of
the maze
• Don’t crash
• Don’t murder the
rabbit
Design
Hardware
Software
Algorithm
1st
Layer:
Chassis
2nd Layer:
Sensors
Circuits,
Rabbit
3rd Layer:
Motor
Circuits
Programming..
Design
Hardware
Software
Algorithm
1st
Layer:
Chassis
2nd Layer:
Sensors
Circuits
Rabbit
3rd Layer:
Motor
Circuits
Programming..
Chassis
Material: Aluminum
Design: Wheelchair
Mounts: Wheels,
motor and batteries
Batteries: 8 NiMh
Battery Total Voltage
: 9.6V
Expected Total
Voltage: 12.0 V
Projected diagonal:
15.8cm
For balance: Sliders
Design
Hardware
Software
Algorithm
1st
Layer:
Chassis
2nd Layer:
Sensor
circuits,
Rabbit
3rd Layer:
Motor
Circuits
Programming..
Sensors
• Top down sensors
• Total number of sensors
– 9 sensors
• Resistor combination
– 150 ohms and 20k ohms
• Total possible sensing distance
– About 7mm between sensor and object
– Projected height of sensors: 5.6 cm above the ground
• Checking the sensors
– Leds above each sensor
Sensors Placement
Sensor Purpose
•Sensor 2, 6, 8, 9
detect walls
constantly
2.5 cm
4
4.5cm
1 2 3
5 6 7
8
9
Sensor Placement
Sensor Purpose
•Sensor 2, 6, 8, 9
detect walls
constantly
2.5 cm
•Sensors 1, 3, 5, 7
detect
misalignment
4
4.5cm
1 2 3
5 6 7
8
9
Sensor Placement
Sensor Purpose
•Sensor 2, 6, 8, 9
detect walls
constantly
2.5 cm
•Sensors 1, 3, 5, 7
detect
misalignment
4
4.5cm
1 2 3
5 6 7
8
9
• Sensors 4 detect
dead ends
Sensor Placement
Sensor Purpose
•Sensor 2, 6, 8, 9
detect walls
constantly
2.5 cm
1 2 3
8
•Sensors 1, 3, 5, 7
detect
misalignment
4
4.5cm
5 6 7
9
• Sensors 4 detect
dead ends
•Sensor 8 & 9
makes sure walls
are cleared when
turning
Pivot Turning
4
1 2 3
5 6 7
8
9
Turning Corners
• After sensors 4 detect there is no wall,
mouse needs to stop and turn.
• To left turn
– Left wheel goes backward & right wheel goes
forward with equal number of phase steps
• To right turn
– Right wheel goes backward & left wheel goes
forward with equal number of phase steps
Design
Hardware
Software
Algorithm
2nd
1st
Layer:
Chassis
Layer:
Sensors
Circuits,
Rabbit
3rd Layer:
Motor
Circuits
Programming..
Algorithm (right wall hugger)
• Go forward
– Check alignment
• If not aligned adjust speeds to do so.
– Check for dead end
• If dead end and left and right wall
– Turn around and go straight
• If dead end and no right wall
– Stop and turn right
• If dead end and right wall
– Stop and turn left
• If dead end and no left and right wall
– Stop and turn right
– Check for right wall
• If no right wall
– Turn right
• If right wall
– Go straight
• Loop
The Current Curry
Problems!!!
• Overall, Curry is a temperamental mouse
• Bad connections
– Many wires
– Solder blobs
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•
•
•
•
Shorting
Some of the ports in the rabbit died
Programming and debugging
Tools
Time
Solutions
• Too many solder blobs and wires
– Tape everything down with electric tape
• Shorting
– Debug where it was caused by
• Less ports to use
– Make use of others
• Tools
– Get our own
• Programming and debugging
– Keep on trying!
Future improvements?
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•
•
•
Etch boards
Seats and connectors on everything
Better design and programming
Treat the rabbit better
What we learned this semester…
• Soldering
• Circuits and design
– THINK FIRST!
• Programming
– Dynamic C
• Debugging
– circuit and code
Any questions?