Micro-Mouse By Mohamad Samhat Narciso Lumbreras Hasan Almatrouk.
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Transcript of Micro-Mouse By Mohamad Samhat Narciso Lumbreras Hasan Almatrouk.
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Micro-MouseBy
Mohamad SamhatNarciso LumbrerasHasan Almatrouk
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What is a Micro-Mouse ?
•A micro-mouse is a small battery operated mobile robot that moves randomly to solve a maze
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History• In 1977, IEEE Spectrum Magazine, came up with the
concept of a Micro-Mouse• In May 1977, Spectrum announced the first US Amazing
Micro-Mouse Maze Contest to be held in June 1979, New York
• In 1980, the European version of the contest was launched at the Euromice '80 in London
• In March 1990 the Micro-Mouse was introduced to schools and universities.
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Why a Micro-Mouse?
• It consists of multiple parts : software & hardware
• Design efficiency • Excellent introduction for robotics field
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Design Method
•Google is our friend
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Major Components• Micro Controller PIC18F452• Sensors GP2D120• Drive Control System MC3479• Hybrid Stepper Motors• Crystal Oscillator• Voltage Regulator
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"Peripheral Interface Controller”• Low Cost• Wide Availability• Large User Base• Extensive Collection of Application Notes• Availability of Low Cost or Free Development Tools
• Serial Programming (and Re-Programming With Flash Memory) Capability.
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Microcontroller
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Crystal Oscillator •Creates an electrical signal with a very precise frequency
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Sensory Array
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MC3479 Stepper Motors
DRIVE CONTROL SYSTEM
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Hybrid Stepper Motor• Operates based on programmed instructions
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VOLTAGE REGULATOR
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Block Diagram
MicrocontrollerPIC18F452
Sensory Array
RightSensor
Center
Sensor
Left Sensor
Motor DriverMC3479
Motor DriverMC3479
MOTOR #2 MOTOR #1
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Micro-mouse Schematics
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Trouble Shooting Testing each component of circuit• Sensors with Oscilloscope• Voltage Regulator• Stepper Motor Drivers with Hybrid Stepper Motors
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Trouble Shooting Cont. MPLAB programming and configuration bits• New Software• Including a C file• Different Configuration Bits For Every Program
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Trouble Shooting Cont. Programming• Setting I/O Pins• Converting Signals From Analog to Digital• Including Delay Functions
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Trouble Shooting Cont. Universal Programmer• Used for Verifying Code/Erasing/Burning Program on PIC
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Trouble Shooting Cont. Crystal Oscillator• Changed Clk from 40MHz to 20MHz• Added Two 22pF Capacitors
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Trouble Shooting Cont. DC Motor VS Hybrid Stepper Motor• No DC Power Supply• Wiring Configuration
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Trouble Shooting Cont. Battery Lifetime• Drains Fast• Parallel Connection• Lithium for 30% Weight Reduction
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Trouble Shooting Cont.
MC3479 Hybrid Steppers Heat Reduction• Heat sinks for MC3479
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Trouble Shooting Cont.
Final Design• Access to Batteries• Stabilization• Dimensions
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Trouble-Shooting Videos
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Trouble-Shooting Videos Cont.
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Maze•Dimensions•Construction•Materials
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MILESTONE
•Arduino•Custom Chassis•Rechargeable Batteries•Modify Program
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What we Learned?
•Discipline•Team Work •Patience•Complex Design of Hardware/Software