EE 296 Team Da KineEE 296 Team Da Kine

James Cuaresma – SoftwareJames Cuaresma – Software

Wesley Mina - HardwareWesley Mina - HardwareRegi Morales - HardwareRegi Morales - Hardware

Henry Do - SoftwareHenry Do - Software

OverviewOverview

To create a moving To create a moving object which can object which can traverse through the traverse through the maze and find the maze and find the center of the maze center of the maze without any human without any human intervention.intervention.

GoalsGoals

Get the mouse to Get the mouse to movemove

Find the centerFind the center

Achieve Record TimeAchieve Record Time

Win the competitionWin the competition

Save the worldSave the world

Initial DesignInitial Design

8 Sensors8 Sensors

Tremaux solving Tremaux solving algorithmalgorithm

Two wheelsTwo wheels

Symmetric ChassisSymmetric Chassis

AA Ni-MH BatteriesAA Ni-MH Batteries

Semi-Blind MovementSemi-Blind Movement

Dark Alley FunctionDark Alley Function

ProblemsProblems

Sensors too high from Sensors too high from the wallthe wallSensors intermittentSensors intermittentStuck in cracksStuck in cracksPower DistributionPower DistributionMosfets Heating UpMosfets Heating UpHardware/Software Hardware/Software InterfaceInterfaceAlignmentAlignmentDebris in the MazeDebris in the Maze

SolutionsSolutions

Chassis Balance (Spaced sliders further apart)Chassis Balance (Spaced sliders further apart)

Sensor Orientation (1 – [F/B], 3 – [L/R] Triangle Design)Sensor Orientation (1 – [F/B], 3 – [L/R] Triangle Design)

Wiggle Function (Detect left and right wall)Wiggle Function (Detect left and right wall)

Step Function (to detect front wall)Step Function (to detect front wall)

Heat sinks (Mosfets are heating up)Heat sinks (Mosfets are heating up)

Connectors (Motors and power supply)Connectors (Motors and power supply)

Added Panels (Lower Sensor Placement)Added Panels (Lower Sensor Placement)

Added LEDs (Debug Sensors)Added LEDs (Debug Sensors)

Port Changes (Blown Ports)Port Changes (Blown Ports)

StatusStatus

Temperamental Temperamental MovementMovementAlignment Correction Alignment Correction adjustmentadjustmentMovement Movement TroubleshootingTroubleshootingTracking TroubleshootingTracking TroubleshootingDark Alley adjustmentsDark Alley adjustmentsTurning adjustmentsTurning adjustmentsWiggle Function Wiggle Function adjustmentsadjustments

Weeks 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Software (Henry, James) 100% i. Tracking Code 100%

ii. Mapping Code 100%

iii. Guidance 100% Hardware (Regi, Wes) 100% i. Chassis/Motor Assembly

100%

ii. Sensors/Rabbit Placement 100%

iii. Power Panel 100% Interface (Henry, James, Regi, Wes) 80% i. Troubleshoot

(Software/Hardware) 80%

ii. Maze Testing 80%

Reports (Henry, James, Regi, Wes) 75% i. Presentations 100% 100% 100%

Web Design In Progress

Future ImprovementsFuture Improvements

Increase amount of sensors (Prevent wiggling function)Increase amount of sensors (Prevent wiggling function)

Etching (Simplifies our wiring)Etching (Simplifies our wiring)

Rabbit Placement (Accessibility for loading code)Rabbit Placement (Accessibility for loading code)

Balance (Reduce the amount of rocking)Balance (Reduce the amount of rocking)

Lighter BatteriesLighter Batteries

Adjustable Sensor HeightAdjustable Sensor Height

Add more connectorsAdd more connectors

Pseudo Mouse (Better software testing)Pseudo Mouse (Better software testing)

Brighter LEDs (Debug)Brighter LEDs (Debug)