Curry MouseEE296 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

• 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

2nd Layer:Sensors Circuits,Rabbit

1st Layer:Chassis

3rd Layer:Motor

Circuits

Algorithm

Programming..

Design

Hardware Software

2nd Layer:Sensors CircuitsRabbit

1st Layer:Chassis

3rd Layer:Motor

Circuits

Algorithm

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

2nd Layer:Sensorcircuits,Rabbit

1st Layer:Chassis

3rd Layer:Motor Circuits

Algorithm

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

8

1 2 3 5 6 7

4

9

Sensor Purpose

•Sensor 2, 6, 8, 9 detect walls constantly

4.5cm2.5 cm

Sensor Placement

8

1 2 3 5 6 7

4

9

4.5cm2.5 cm

Sensor Purpose

•Sensor 2, 6, 8, 9 detect walls constantly

•Sensors 1, 3, 5, 7 detect

misalignment

Sensor Placement

8

1 2 3 5 6 7

4

9

4.5cm2.5 cm

Sensor Purpose

•Sensor 2, 6, 8, 9 detect walls constantly

•Sensors 1, 3, 5, 7 detect

misalignment

• Sensors 4 detect dead ends

Sensor Placement

8

1 2 3 5 6 7

4

9

4.5cm2.5 cm

Sensor Purpose

•Sensor 2, 6, 8, 9 detect walls constantly

•Sensors 1, 3, 5, 7 detect

misalignment

• Sensors 4 detect dead ends

•Sensor 8 & 9 makes sure walls are cleared when

turning

Pivot Turning

8

1 2 3 5 6 74

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

2nd Layer:SensorsCircuits, Rabbit

1st Layer:Chassis

3rd Layer:Motor

Circuits

Algorithm

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

• 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?

• 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?