EE396 Project EE396 Project MicromouseMicromouse

Team: OchaTeam: Ocha

Team MembersTeam Members

Kanoa Jou (Programmer)Kanoa Jou (Programmer)

Ryan Sato (Hardware)Ryan Sato (Hardware)

KiWoon Ahn (Recorder)KiWoon Ahn (Recorder)

Alan Do (Programmer)Alan Do (Programmer)

Overview of the ProjectOverview of the Project

To build and design To build and design an autonomous an autonomous robot to find the robot to find the quickest path to the quickest path to the canter of a maze.canter of a maze.

GoalGoal

Implementing distance sensorsImplementing distance sensors Implementing stepper motorsImplementing stepper motors LEGO body chassisLEGO body chassis Smooth TurnsSmooth Turns Find the Center!Find the Center!

Block Diagram Block Diagram

Side Sensors

BatteriesRabbitADC

Motors

Maze SolvingAlgorith

mMoving

Tracking

Code

Sensor ModuleSensor Module

Side sensorsSide sensors Sensor layoutSensor layout Analog to digital converter Analog to digital converter

Sharp GP2D12Sharp GP2D12

Analog IR distance sensor

Range: 10cm – 80cm

High Immunity to ambient light

Self contained sensor

Sensor Design ChangeSensor Design Change

Inputs from the SensorInputs from the Sensor

Final Sensor layout Final Sensor layout

A/D ConverterA/D Converter Max154 or MX7828 -8bit ADC with MUX

-Conversion time: 2.5μs-Onboard Vref: 2.5v-Supply voltage: +5v-No clock needed-4 inputs-8 outputs

ChassisChassis LEGOLEGO

ControlControl

Rabbit 2000 Rabbit 2000 MicroprocessorMicroprocessor

Rabbit PortsRabbit Ports

Ports Connections

Port A Motor Circuit

Port D – Pin 0 Read and Chip Select

Pin 1 Channel Select

Pin 2 Channel Select

Port E ADC Bits

Problems EncounteredProblems Encountered

HardwareHardware Side sensor minimum rangeSide sensor minimum range ADC setupADC setup PCB Circuit designPCB Circuit design Use of old hardwareUse of old hardware

SoftwareSoftware ADC ProgrammingADC Programming Maze solving algorithmMaze solving algorithm Multiple smooth turnsMultiple smooth turns

SuggestionsSuggestions Don’t fry the RabbitDon’t fry the Rabbit Recheck circuit before solderingRecheck circuit before soldering Check circuit before hooking up to power Check circuit before hooking up to power

supplysupply Cover exposed wiresCover exposed wires Finish hardware quicklyFinish hardware quickly Time managementTime management Allow enough time for potential problemsAllow enough time for potential problems

Future ImprovementsFuture Improvements

Complex algorithm utilizing more sensorsComplex algorithm utilizing more sensors Find center fasterFind center faster Better choice of the sensorsBetter choice of the sensors

Easier adjustment of partsEasier adjustment of parts BatteriesBatteries More “plug and play” connectionsMore “plug and play” connections

Set earlier finish dateSet earlier finish date

Incomplete TasksIncomplete Tasks

ProgrammingProgramming Maze solving algorithmMaze solving algorithm Tracking while turningTracking while turning Multiple smooth turnsMultiple smooth turns