Fast D.A.D.I

Team Members

• Dale Balsis

• Aaron Tsutsumi

• Dennis How

• Ikaika Ramos

Overall Design

• Side Sensing

• PCB etching interconnection

• Flood-Filled Algorithm

• Motor Driver IC

• Power Switch and LIGHT

• Debugging Lights

Initial Goals Met

• WE HAD FUN AND LEARNED A LOT!

• Tracks & Finds Center

• Aesthetically pleasing (rims, light, UH LOGO, paint)

• Working mouse prior mini-comp.

• Made it to Regional Competition

Structure of Design

• PCB etching– Used Pad2Pad to design etch.– Ended up with two different boards due to

circuit redesign.

• Side Sensors– Used Sharp infrared analog sensors.– Used a Maxim 114 IC to do the analog-to-

digital conversion of the sensor signal.

Structure of Design (cont.)

• Motor Driver IC– Allegro 5804 IC, external circuitry only 4

diodes for each chip– Didn’t use half-step, one-phase inputs, only

used direction and step inputs

• Power Circuit– 5V linear regulator to power ICs and LEDs.– 3.3V switching regulator to power motors.

Structure of Design (cont.)

• Debugging Lights– Lights to tell whether a front, left or right wall

has been sensed.– Light to indicate when the step count for the

cell has been reached.

• Flood-fill algorithm– This algorithm is a way to try to reach the

center of the maze quickly.– Once center is found, the maze can be

flooded to find the shortest path.

Design Decisions

Hardware• Unipolar vs. Bipolar

stepper motors• Motor Driver ICs vs.

MOSFETs• How to implement

side sensors• Switching vs. linear

voltage regulators

Software• How many of the output

bits from the A/D converter to use

• How to implement movement and alignment

• How to store the maze cell variables

• How to implement the flood-fill algorithm

Final Status

• 8th Place Regional Competition

• Non competition Center-finder

Problems

• Tracking Issues– Sensor readings

• Sensor Placement

• Numerous programming– Limited time allotted

• Voltage regulator overheating– SOLVED! (Switching Regulator)

• Initial PCB Designs

Outstanding Problems

• Lack of torque

• Minor Tracking issues

• Faulty dip-switch

• Continuous software testing

DEMO!

???QUESTIONS???

?Preguntas?