MicroMouse

Chris TuasonPeter Kral

Sam Rokni Tian-Hwa Yang

Abstract The micro mouse project is a robot that is programmed to solve a

maze that consists of 16 x 16 unit squares with each unit square being 18 cm x 18 cm. The robotic mouse cannot be larger either in length or in width, than 25 centimeters, but there are no restrictions on the height. The mouse is made up of a micro-processor, sensors, stepper motor, chassis, and batteries. The Basic Stamp processor is programmed with PBasic language. The sensors detect at both short and long distances. A pair of short range sensors will help correct the direction of the mouse, while another pair of long range sensor will help the mouse turn at the right time. The Basic Stamp program will be written to help the mouse navigate through the maze. Also, the program will determine if the mouse should stop, go forward or backward, or turn left or right. This will be based on the data that are sent from the sensors to the processor.

Competition

Sponsored by IEEE Worldwide competitions Regional Competitions

CSUF located in region 6 UCLA-March 2003

16 x 16 block maze Self contained robot 18 cm2 block size $500 limit

Parts Lists

Quantity Description Price ($) Total Bought from: (part #)

1 Basic stamp 2 49.00 49.00 Parallax: (BS2-IC)

1 Board of Education 65.00 65.00 Parallax: (28150)

2 Servo Motors 12.00 24.00 Parallax: (900-00005)

3 Sharp IR sensors-short range(GP2D120) 10.50 31.50Hobby engineering:

(1060)

2 Sharp IR sensors – Long range GP2D12 10.50 21.00Hobby engineering:

(1061)

5 JST 3-pin connectors 2.00 10.00Hobby engineering:

(1182)

Parts Lists

2 Analog to Digital converter (ADC0831) 8.00 16.00 Parallax: (ADC0831)

4 2.75” Girder .75 3.00Hobby engineering:

(1439)

4 2.7” Frame (2 tab) 2.00 8.00Hobby engineering:

(1451)

4 1.15” Frame (1 tab) 1.00 4.00Hobby engineering:

(1444)

2 1.5” X .9” U-Bar 1.00 2.00Hobby engineering:

(1448)

25 Nuts and Bolts Free N/A Ask Jimmy

Not including shipping costs and local taxes

Total $233.50

System Diagram

Motor

Motor

Stepper Electronic

Stepper Electronic

Micro ComputerSensor

Electronics

SensorsRightLeftFront

A/DConverter

Over Flow Algorithm

Overflow algorithm Assign cells with values Represents a certain distance to the center of the

maze

? ?

Over Flow Algorithm

Flow chart inserted here

Backup Program

Memory limitation to 32 bytes of variable space

Optimization or/and room for improvement 2k of EEPROM

Proximity

Forward errors begins when a mouse is either too close or too far from the wall ahead

Offset errors, which happens often, is caused by being too far to the left or to the right as you pass through a cell

Heading error is known as pointing at walls rather than

down the middle of the cell

Forward Error Offset Error Heading Error

Proximity

Flow Chart

Sensors

Sensors GP2D120 Range 4-15 cm Initial use of potentiometer, then A2D interface

Analog to Digital Converter

ADC0831 8 bit, 5 volt, with I/O Control Low Chip Select to initiate clock pulse Reads output from most significant to least

significant High chip select to stop Done through PBasic program

Stepper Motors

Non-linear characteristics Internal drivers controlled through basic

stamp 3 pin out: ground, high, pulse

Example, 1.4 kHz is the command frequency for PBasic program input for stop command, i.e. 750

Integrated Schematic with A2D sensor and microcontroller

Problems and Solutions

Analog sensors and reverse logic Adjustment of straight path and turns PBasic programming logic

Inadequate programming language If statements

Battery life Distance motor reaction change Characteristics change

Conclusion

Team project ABET Requirements Interdisciplinary project ECS exposure Artificial Intelligence Valuable learning experiences

Thank you!

Questions?