TEAM MECHAZAWA Jeong Bang Riley Ceria Grant Higa.
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Transcript of TEAM MECHAZAWA Jeong Bang Riley Ceria Grant Higa.
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TEAM MECHAZAWA
Jeong Bang
Riley Ceria
Grant Higa
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Job Duties
Chassis Design and Fabrication
Program Algorithms
Head Programmer
Jeong RileyChassis
Circuit design
Assistant programmer
Grant
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Micromouse
“Autonomouse” robot that solves a maze in the fastest time possible.
International
Many different types of mice.
Great Fun!!
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Our Mouse
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Our Mouse
Side Sensors (Distance Sensors)
Stepper Motors
Rabbit Processor
Nice Wheels
Cool Chips… a lot of SMD.
SUPER SMALL!!
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Side Sensors
Analog signalA/D converter5 bit accuracyRequires calibrationMore distance information
Smoother tracking
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Analog to Digital Mux
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Sensor Placement
4 sensors-total2 front-facing2 side-facing
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Chassis Considerations
Placement of componentsSensorsMotorsPC boardsBatteries
HeatSymmetryWeight
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Limited Tools
Bandsaw was missing teeth
Used clamps to bend brackets
Dremel was the main tool usedParts mysteriously disappeared
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Resulting Chassis
Buddy-esque shape
One piece design
Brackets hold sensors
Standoffs hold Circuit Boards
Furniture slider support
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Chassis Problems/Solutions
Motor axle to longChoose different motors
Sensor anglesFind a better way to mount sensors
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Circuit Design (power)
8 AA NiMH batteries2100 mAh
Power12V DC-DC step up converter
MAX1771Possibly unnecessary
5V linear regulatorLM340Runs hot
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Circuit design (driver)
Driver BoardPanasonic 2SK2211 n-MOSFET
Runs fairly coolSmall size
Gate storing too much chargeAdded resistor to increase response
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Circuit design
Main board5V regulatorRabbit RCM2000MAX118 A/D converter
SHARP GP2D120 distance sensors
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PCBoards
Design done in CIRCAD
Double and single sided
Iron-on resist paperDifficult to iron on well
Ran out of etchant
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Programming
Tracking Staying in Center Mapping Walls
Solving Find Center Fastest Path Speed Run
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Centering
Reading Analog Signals
Delays
Blind Tracking
Front Wall
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Mapping
Setting Values
Pointers or no pointers?
Wall There?
When to check?
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Finding Center
Flood fill
Simple
void flood(int floodx, int floody, int notbegin)
{
int x, y; // state position variables for flooding
int hd_value; // highest defined value while flooding maze
int stopflood;
int mox, moy;
int decided; // states whether a new direction has been decided
int turn; // states which way tpo turn
decided = FALSE; // no new direction decided in begining
turn = STRAIGHT; // want to go straight first mox = mx;
moy = my;
// initially floods maze giving all values high
for(x=1; x<17; x++)
{
for(y=1; y<17; y++)
maze_map[x][y].value=256;
}
//gives a starting point to flood from
maze_map[floodx][floody].value=0;
/********************************************************************/
/**********************---MAIN FLOOD AREA---*************************/
/********************************************************************/
stopflood = FALSE;
hd_value = 0;
while(1)
{
/* increment x and the next value to search for after each round until flood is done */
/* floods until either the whole maze is flooded or until the mouse position is reached */
for(x=1; x<17; x++)
{
for(y=1; y<17; y++)
{
//printf("x: %d y: %d", x, y);
/*****Only look at the current cells that have the current highest defined value*****/
if(maze_map[x][y].value == hd_value)
{ //printf("in the if\n");
if(maze_map[x][y].south==FALSE && maze_map[x][y-1].value>hd_value) maze_map[x][y-1].value=hd_value+1;
if(maze_map[x][y].north==FALSE && maze_map[x][y+1].value>hd_value) maze_map[x][y+1].value=hd_value+1;
if(maze_map[x][y].east==FALSE && maze_map[x+1][y].value>hd_value) maze_map[x+1][y].value=hd_value+1;
if(maze_map[x][y].west==FALSE && maze_map[x-1][y].value>hd_value) maze_map[x-1][y].value=hd_value+1;
if(notbegin == TRUE && hd_value >= (maze_map[1][1].value)) return;
/************* IMPORTANT PART!! EVERY DEAD END GETS HIGH VALUE SO WON'T GO FOR SURE *************/
} // end if
} // end for
} // end for
hd_value++;
if(notbegin == FALSE && hd_value >= (maze_map[mox][moy].value+3)) return;
} // end while
} // end solving
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Fastest Path
Searches of finding Center
Floods from Center to Beginning
Goes to unsearched Cells
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Speed Run
The Grant Delay
Acceleration
Faster
No mapping, or solving
followpath[x] array
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Tracking Problems
Sensors
A to D conversion
Motor limits
Tracking of an “imaginary” wall
Jittery
Step Counts
False Wall Readings
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Tracking Solutions
Play with wires
Use 5 bit accuracy
Created new type of Delay
Limited distance for walls
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Solving Problems
POINTERS!!!!!
Arrays
Loops…going on and on
Stopping at each cell
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Solving Solutions
Make sure the “*” are everywhere…fixed almost everything
Only Solve at Junctions
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Problems
Board FabricationPoor PCBoard designLack of sufficient etchant
ChassisLack of toolsSensor attachmentBattery placement
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Problems
Connectors
Motors torquewidth
Programming
Time
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Initial Goals
Build a working mouse and win regions
Do 45’s
Be able to compete on the international level at some point in the future
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Results
Mouse can find the center and take the shortest explored path
Too wide for 45’s
Too slow to compete internationally
Mouse is “ghetto”
Sensor connecters may fail