micromouse final presentation jill kobashigawa min mo jon shindo christy kaneshiro
Post on 21-Dec-2015
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TRANSCRIPT
Introduction• Jill
– Leader
– Programming
• Christy
– Sensor boards
– Programming
• Jon
– Chassis
– Motor Circuit
• Min
– Sensor layout design
– Webpage
Overview• Micromouse
– Autonomous robot that navigates and finds the center of the maze
– Project will apply programming concepts as well
as circuit design
– Maze (16x16 cells)
Initial Goals
• Build a mouse that is functional
• Learn how to apply skills learned in class
• Learn how to work in a group
Design- Chassis
• Initial chassis– Rubber wheel
attachments– Ni-MH Batteries– Height for boards– Old car deck holder
• Problems with chassis– Wheels unstable– Batteries hard to access– Too heavy
Design – Chassis cont.
• Final chassis• Emphasis on less
weight– Aluminum wheel
attachments– More space for
batteries, Velcro attachments
– Aluminum chassis– Aluminum standoffs
Design- Sensors• Sensors (Initial)
– 12 total top down– Main purpose
• Alignment, keep straight, know when crooked
• Sensors (Final)– 10 sensors – (inner 2 too close to
wheels)
Design- Motor Circuit
• Our initial circuit• Built exactly how it was built on the protoboard• Did not work
– Checked connections!!!– Checked inverters!!!– Checked MOSFETs!!!– Checked rabbit!!!– We do not know why!?!?!?
• Eventually the board was stripped and salvaged and a new motor circuit was designed and built
Design- Motor Circuit cont.• Second motor circuit
worked much better– No inverters– Diodes were considered
but were not used because we feared they may not work correctly
– Lower resistance to prevent feedback current to rabbit
– Reduced amount of wires and neater layout
– More power efficient
Outstanding Problems & Suggestions for the Future
• Mapping code conflicts with tracking
• Better way to connect everything
• Get an earlier, better understanding of each components role in the entire process