AsphaltAsphaltFeaturing Fountain Turtle Toaster a.k.a. Featuring Fountain Turtle Toaster a.k.a.

Bastard Child of PuananiBastard Child of Puanani

Brad CentenoBrad Centeno

Kellen KingKellen King

Ikaika RamosIkaika Ramos

Warning:Warning:

The following material is intended for The following material is intended for mature audiences.mature audiences.

PG-13PG-13

Please view with discretion.Please view with discretion.

BradBrad

Future officer of Future officer of the law (high speed the law (high speed chase/traffic chase/traffic division)division)

Proud 2002 Proud 2002 graduate of graduate of Waianae High Waianae High SchoolSchool

Tracking technicianTracking technician

KellenKellen

Future baseball Future baseball great (in the great (in the footsteps of Derek footsteps of Derek Jeter)Jeter)

Alumnus of Saint Alumnus of Saint Louis High School in Louis High School in 20012001

Personal bodyguard Personal bodyguard of FTT (Fountain of FTT (Fountain Turtle Toaster)Turtle Toaster)

KIZZAIKAKIZZAIKA

Future executive Future executive chef of Chateau de chef of Chateau de BunnyBunny

Representing the Representing the Kamehameha Kamehameha Schools Class of Schools Class of 20022002

Styler and ProfilerStyler and Profiler

Honorary MembersHonorary Members

Dr. Thadeus DobryDr. Thadeus Dobry Mr. Kevin ChungMr. Kevin Chung Mr. Alex GomeraMr. Alex Gomera

Mr. Brent HashimotoMr. Brent Hashimoto Mr. David LarsonMr. David Larson Mr. Matt MarkleyMr. Matt Markley Mr. Paul RamirezMr. Paul Ramirez

Mr. Brent UyeharaMr. Brent Uyehara

Much Mahalo for your Assistance!Much Mahalo for your Assistance!

Dr. Tep Dobry – Resident Dr. Tep Dobry – Resident PimpPimp

T-Dawg up in the hizzle

Kevin Chung – Cherry Kevin Chung – Cherry PopperPopper

“Where’s my cherry pepsi?!”

Alex Gomera - ZephyrAlex Gomera - Zephyr

In the words of Tony Montana: “You look like a lizzard!”

Brent Hashimoto – Show me Brent Hashimoto – Show me the moneythe money Wow, I so

bootylicious!

Beyonce, eat your

heart out!

GOT CRACK?

“I WILL STRIP FOR A SHMOKE AND A PANCAKE.”

CENSORED

David LarsonDavid Larson

You may not see me, but I’m here in spirit!

Matt Markley – man behind the Matt Markley – man behind the codecode

main()

{

printf(“Hi Tep!\n”);

printf(“Will you be my friend?\n”);

}

Brent Uyehara – Jedi KnightBrent Uyehara – Jedi Knight

Brent no longer exists. Only the power of the Bendon will be with you. My brass light saber will destroy you all!

Brief HistoryBrief History

Brief History Brief History In 1972, first concepts of Micromouse which were mechanical and spring In 1972, first concepts of Micromouse which were mechanical and spring

powered. 1977, IEEE Spectrum magazine sponsored a contest with the powered. 1977, IEEE Spectrum magazine sponsored a contest with the concept of an autonomous mouse with a processor. Only 15 out of 6000 concept of an autonomous mouse with a processor. Only 15 out of 6000

entries could compete. March 1990, the idea of Micromouse was entries could compete. March 1990, the idea of Micromouse was distributed to schools and junior colleges, in which many started their own distributed to schools and junior colleges, in which many started their own clubs. In, 1995 University of Hawaii first mouse was named Hokule`a. The clubs. In, 1995 University of Hawaii first mouse was named Hokule`a. The

main pioneer of UH Micromouse was Nathan Mariels, and the first two main pioneer of UH Micromouse was Nathan Mariels, and the first two members to do Micromouse for credit was Mike Masaki and Crieighton Lai. members to do Micromouse for credit was Mike Masaki and Crieighton Lai.

And the legacy continues… And the legacy continues…

Why bother?Why bother?

Reason:Reason:This project was brought to our attention in the fall of 2003 as an This project was brought to our attention in the fall of 2003 as an

"opportunity we couldn't pass up". Micromouse was the premier "opportunity we couldn't pass up". Micromouse was the premier 296project of the College of Engineering. We took the assignment as 296project of the College of Engineering. We took the assignment as

of December 2003 and whence began the crusade to California. of December 2003 and whence began the crusade to California. Through the course of the past 5 months, we have bled, collapsed, Through the course of the past 5 months, we have bled, collapsed,

and nearly underwent psychological reevaluation, but without further and nearly underwent psychological reevaluation, but without further ado, Asphalt presents: FTT - Fountain Turtle Toaster a.k.a. Bastard ado, Asphalt presents: FTT - Fountain Turtle Toaster a.k.a. Bastard

Child of Puanani.Child of Puanani.

BOREDOM

Summary of ProgressSummary of Progress

January - TutorialsJanuary - Tutorials February - Tutorials, proposal presentation, Experiment w/ chassis February - Tutorials, proposal presentation, Experiment w/ chassis

and circuits.and circuits. March - Finalize circuits needed and chassis, design presentationMarch - Finalize circuits needed and chassis, design presentation April - Main code developed, mini competitionApril - Main code developed, mini competition May - Kill lingering bugs (use OFF), Regional competitionMay - Kill lingering bugs (use OFF), Regional competition

Early Decision-makingEarly Decision-making

Top down infrared sensorsTop down infrared sensors Stizzeper motorsStizzeper motors RC cell Nickel batteriesRC cell Nickel batteries Custom plastic battery holstersCustom plastic battery holsters $30 hot wheel wheels$30 hot wheel wheels Rabbit Microprocessor 2000Rabbit Microprocessor 2000 Hex spacer stand offsHex spacer stand offs

Description of HardwareDescription of Hardware

AbstractionAbstraction

Driver Circuit

Bunny

Motors

Wheels

Description of SoftwareDescription of Software

Driver.cDriver.c

main()main() {{ int i;int i; Instruction direction;Instruction direction; int position;int position; int path[CELLSINMAP];int path[CELLSINMAP]; Compass face;Compass face; Cell map[CELLSINMAP];Cell map[CELLSINMAP];

WrPortI(SPCR,&SPCRShadow, 0x84);WrPortI(SPCR,&SPCRShadow, 0x84);

/* driver initial conditions *//* driver initial conditions */ i = 0;i = 0; position = 0;position = 0; path [i++] = 0;path [i++] = 0; face = NORTH;face = NORTH; initializemap(map);initializemap(map); /* get input from sensors *//* get input from sensors */ get_input(map, position, face);get_input(map, position, face); /* update values of cells *//* update values of cells */ update_values(map);update_values(map); /* choose next move *//* choose next move */ direction = decide_best_move(map, position, face);direction = decide_best_move(map, position, face);

while (!IN_CENTER(position))while (!IN_CENTER(position)) {{ make_move(map, &position, &face, direction, path, &i);make_move(map, &position, &face, direction, path, &i);

/* update path *//* update path */ path[i++]=position;path[i++]=position;

/* get input from sensors *//* get input from sensors */ get_input(map, position, face);get_input(map, position, face);

/* update values of cells *//* update values of cells */ update_values(map);update_values(map);

/* choose next move *//* choose next move */ direction = decide_best_move(map, position, face);direction = decide_best_move(map, position, face);

}} }}

THE UNIT CELLTHE UNIT CELL

Typedef struct cell{Typedef struct cell{Int n;Int n;

Int s;Int s;

Int e;Int e;

Int w;Int w;

Int number;Int number;

Int value;Int value;

} Cell;} Cell;

NO MULTIDIMENSIONALNO MULTIDIMENSIONALARRAYS!!!ARRAYS!!!

Cell 0

Cell 1 Cell 17

Cell 16

Adjacent_cell_test()Adjacent_cell_test()

Cell i Cell i+16

Dead_cell_test()Dead_cell_test()

Here it is

Plumbing out the Plumbing out the problems:problems:

CENSORED

Solutions Solutions DevelopedDeveloped

The Finished ProductThe Finished Product

Finally DONE!

Experience GainedExperience Gained

Testing circuits that don't Testing circuits that don't behave correctlybehave correctly

Neatness of designNeatness of design Planning pays offPlanning pays off Camera workCamera work Music heals!Music heals!

ConclusionConclusion

Any Questions???Any Questions???

What would Tep do?What would Tep do?WWTDWWTD