Micromouse Meeting #2PROGRAM DETAILS, APPLYING FOR FUNDING, OVERALL SYSTEMS

First thing’s First:Teams!There were a lot of you this year.

This Year’s Program

$75 deposit $250 in funding from IEEE

Must traverse 16 maze cells, which must include right turns, left turns, and dead ends.

$150 deposit $500 in funding from IEEE

Solve the maze! Easy, right?

Almost all the teams that signed up went for the basic budget

In the Past…

Get together with team

Create details BOM (Bill of

Materials)/Parts List

Submit Parts List for funding

approval

Meet MilestonesBuild Mouse, Compete

Pros• Flexible• Provides freedom to teams• Simple and EfficientCons• Provides little

accountability• Teams unlikely to finish• Funding can be wasted

New System

Get together with team

Plan out approach for Micromouse

Create a BOM/Parts List

Submit Hardware/Software Preliminary Design

IEEE will review designs for validity

and correctnessFunding ApprovedBuild Mouse,

Compete!

New System

Pros Ensures teams have completed preliminary design, not just parts,

before proceeding

Allows motivated teams to receive more feedback from IEEE

Teams are actively engaged with officers about design requirements

Emulates a “real work” environment, the key being design reviews

They won’t be too crazy in depth, but we are doing this to ensure that teams are serious about creating a working mouse.

Cons We do a lot of work

Can be a little micro-management-y

We will try to avoid this as much as possible. We are here to help you and give overall guidance, not to micromanage.

Things You Need

When applying for funding, we will request three documents Parts List/BOM with datasheets for active IC’s and parts

List of all the parts, part number, cost, and link

Datasheets for all active parts

Preliminary Hardware Design

Schematic Outline of hardware I/O systems

Preliminary Software Design

Quick, high-level drawing of software plan

Sample Parts List

Sample Hardware Design

This is a very crude hardware I/O layout

Probably about 80-90% of what we will be looking for in your design

Things missing from this design

Labels on pin headers

Details of the encoders

Where are the motors?

Sample Software Design

High-level drawing of software systems of the mouse

Feedback control (PID?)

Left/Right/U-turn decision making

Maze-solving logic overview

Algorithms

Floodfill

http://web.cecs.pdx.edu/~edam/Reports/2001/DWillardson.pdf

For each cell:

  Get sensor data

  Determine where walls are

  Decide movement:

    Push move forward if not visited

Push move left if not visited

    Push move right if not visited

Pop stack

  Move mouse according to top of stack

Approval

We will review your 3 documents as soon as possible and get back to you on whether or not your design was approved If it was not approved, we will give you advice on things to change and

revise. If necessary, the process will be significantly guided

Otherwise, once you receive approval, turn in your deposits. Once we receive the deposits, your funding will be cleared and you can start ordering parts

Depending on time constraints, we may set up an online submission portal. If this doesn’t happen, then we will do it through regular e-mail.

Time between submission and approval/revision should be < 3 days. If it takes longer than 3 days, please e-mail us and we will get on it right

away.

Micromouse from a High Level

We are trying to build a small robot. Parts that are essential to all mice are the following: Microcontroller

5V Regulators

H-Bridges

IR Sensors (or maybe a different technology?)

Motors

Encoders

Batteries

Gyroscope (not necessary, but useful)

Microcontrollers

Small, low-power computers

Runs custom code that you compile and upload to the controllers

Almost all run C/C++ code

Provides multiple inputs and outputs

Things to consider in your microcontroller choice Clock Speed

RAM/Flash memory

I/O (Analog or Digital)

Size

Power consumption/requirements

Logic Level (Voltage range)

Arduino Software

Common platform for microcontrollers

C/C++

Simple to use

Standard Arduino software used for: All Arduinos

Teensy (2.0, ++, 3.0, etc.) with Teensy Loader

Modified Arduino software used for: LeafLabs (Maple Mini)

Arduino Nano

16 MHz, 32KB Flash, 2KB RAM

$10

Teensy 2.0

Common choice, built-in USB

Arduino IDE

16 MHz, 32KB Flash, 2KB RAM

25 I/O

$16

Teensy 3.0

Built-in USB

Arduino IDE

48 MHz

34 I/O

3.3 V logic level

$19

mBed

Web-based compiler

96 MHz, 512KB Flash, 32KB RAM

25 I/O

$60

Maple

Maple Mini

72 MHz

Runs Arduino code

$45 (Mini is $35)

Microcontrollers

Find more information online! Useful links here:

Arduino http://arduino.cc

Teensy http://pjrc.com

mbed http://mbed.org

LeafLabs (Maple Mini) http://leaflabs.com

What’s next?

E-mail us at micromouse@ieee.ucla.edu with your preliminary choice of microcontroller by next Wednesday, October 30th! Include a short blurb including your reasoning/theory behind why you

chose the one you did

Meet with your team! This is only a little bit important, except for the fact that it’s really important.

We will be designing and planning out our future lectures. A schedule will be sent out by e-mail.

Next Week

Next week’s lecture: Motors and Encoders What are motors and encoders?

How are motors controlled?

Powering your mouse Attaching an AC 120V to your mouse is not ideal

Batteries will probably work better

Power consumption, voltage, current, etc.