final presentation micromouse spring 08 8” comb

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Page 1: Final Presentation Micromouse Spring 08 8” Comb
Page 2: Final Presentation Micromouse Spring 08 8” Comb

Final PresentationMicromouse Spring 08

Page 3: Final Presentation Micromouse Spring 08 8” Comb

8” Comb.

Page 4: Final Presentation Micromouse Spring 08 8” Comb

Group Member Roles

•Chris – Programming/Circuit Construction

•Joon – Circuit Construction/Programming

•Steve – Debugging

Page 5: Final Presentation Micromouse Spring 08 8” Comb

• Primary:Build an autonomous robot that can find the center of a maze of set size.• Secondary:Utilize the shortest path to travel to the center.

Objectives

Page 6: Final Presentation Micromouse Spring 08 8” Comb

Our Initial Goals

• To find the center of a 16x16 maze and the shortest path to the center

• To apply our acquired engineering knowledge to this project

• To gain experience working as a team• To follow our schedule• To make new friends (on the Mainland)

Page 7: Final Presentation Micromouse Spring 08 8” Comb

Overview of Parts

•Side Sensors

•Rabbit

•Two Li-ion Rechargeable Batteries

•Chassis (sheet metal)•MC3479 Stepper Motor Driver•MAX118 A/D Converter•Jameco 237472 Bipolar Stepper Motor 12VDC

Page 8: Final Presentation Micromouse Spring 08 8” Comb

Block Diagram (Circuit)

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Block Diagram (Software)

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Sensors + Wheels

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Bottom Layer

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Features

• Side sensor design (4)• Two wheeled mouse• Circuit construction by etching rather

than free wires (Printed Circuit Board)

• Sliders on the bottom of our chassis for balance

• 16V source (two batteries)

Page 13: Final Presentation Micromouse Spring 08 8” Comb

Initial Design Printed Circuit Board (PCB)

Top Portion

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Back Portion

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New PCB Design

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Problems

• Wiring on PCB was too thin– Could not handle current that ran

through 16V lines and some wiring came loose from the board

• Some chips did not work properly– ADC gave 4 outputs rather than 8

outputs (4 Most Significant Bits)– Soldered in a defective motor driver to

PCB (worked when we tested it)

Page 17: Final Presentation Micromouse Spring 08 8” Comb

More Problems

• Rabbit– Wired Rabbit up incorrectly

• Mixed up ports

– Blew out Rabbit

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Resulting Changes

• PCB Board– Soldered wires in parallel to wires connected to

16V lines and ground• ADC

– Took the 4 outputs and disregarded the rest (The MSBs became our LSBs)

• Motor Driver– Used our spare PCB– Tested all motor drivers to see which worked

• Rabbit– Wired to correct ports

Page 19: Final Presentation Micromouse Spring 08 8” Comb

Future Improvements/Suggestions

• Use chip holders instead of soldering chips straight into the board

• Make thicker wires on PCB• Check to see if all chips get the right

amount of voltages (Be more careful)

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Questions?