Transcript Curry Mouse (Micromouse)

Curry Mouse
EE296 Design Review Presentation
Saturday, March 11, 2006
Team
• Amy Maruyama
• Mindy Wong
• Judy Lee
Micromouse
• Design and build an autonomous robotic
“mouse” that can travel to the center of a
maze in the quickest amount of time
• Restrictions apply
Design
Hardware
Software
Algorithm
1st Layer:
Chassis
2nd Layer:
Sensors
and
Circuits
3rd Layer:
Microprocessor
and
Circuits
Programming..
Design
Hardware
Software
Algorithm
1st Layer:
Chassis
2nd Layer:
Sensors
and
Circuits
3rd Layer:
Microprocessor
and
Circuits
Programming..
Chassis
*Already Made*
Material: Aluminum
Already Mounted:
Wheels, motor and
batteries
Batteries: 8 NiCd
Battery Total Voltage
: 10.2V
Future of Chassis:
Cutting Shaft of
Motor: 0.5 cm
Projected diagonal:
15.8cm
Design
Hardware
Software
Algorithm
1st Layer:
Chassis
2nd Layer:
Sensors
and
Circuits
3rd Layer:
Microprocessor
and
Circuits
Programming..
Sensors
• Top down sensors
• AC voltage
• Total number of sensors
– 9 sensors
• Resistor combination
– 150 ohms and 20k ohms
• Total possible distance
– The combination allowed about 7mm between sensor
and object; projected height of sensors 5.6 cm
• Checking the sensors
– Leds above each sensor
Sensors 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, 3, 5
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
• Mouse stop in center of cell (8 cm) after
sensors 8 or 9 detect there is no wall
– Approx 23 phase steps
• To left turn
– Left wheel goes forward right wheel goes
backwards with equal number of phase steps
• To right turn
– Right wheel goes forward left wheel goes
backwards with equal number of phase steps
Design
Hardware
Software
Algorithm
1st Layer:
Chassis
2nd Layer:
Sensors
and
Circuits
3rd Layer:
Microprocessor
and
Circuits
Programming..
Algorithm (right wall hugger)
• Check if in cell
– If in cell
• Check Alignment
– If not aligned adjust
speeds to do so.
• Check for dead end
– If there is a dead end
turn around
• Check for right wall
– If detect no right wall
» Turn right, adjust
speeds properly.
• Check for left wall
– If detect no left wall
» Turn left, adjust
speeds properly.
• Check if in cell
– If not in cell
• Go to next cell
• Check if in cell
Moving to the Next Cell
• To move to the next cell we will use the
rabbit to count the motor phases
– Wheel diameter = 5.5cm
– Circumference of Wheel = 17.28cm
– Phases per turn = 50
– Distance per Phase = 0.346 cm/phase
– Phase till next cell = 46.299 ≈ 46 ¼
Potential problems
•
•
•
•
Manual labor
Sensor placement
Turning corners
Programming and debugging
Gantt Chart
Feb.12
-18
Chassis
Move forward
Turn corners
Circuit and
sensors
Track forward
Track turns
Programming
Feb.19
-25
Feb.26
-Mar.4
Mar.511
Mar.12
-18
Mar.19
-25
Mar.26
-Apr.1
Apr.2-8
Apr.915
Apr.1622
Apr.2329
Apr.30May 6
Tasks
• Completed
– Chassis
– Chassis to move when plugged into circuit board
• Current
–
–
–
–
Moving forward and turning without sensors
Sensor placement and circuits
Algorithm and programming
Figure how to connect programming +
microprocessor with hardware
• Pending
– Buying parts…
Any questions?