Curry Mouse

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Curry Mouse

• EE296 Design Review Presentation
• Saturday, March 11, 2006

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Team

• Amy Maruyama
• Mindy Wong
• Judy Lee

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Micromouse

• Design and build an autonomous robotic mouse
  that can travel to the center of a maze in the
  quickest amount of time
• Restrictions apply

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Design
Hardware
Software
Algorithm
2nd Layer Sensors and Circuits
1st Layer Chassis
3rd Layer Microprocessor and Circuits
Programming..
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Design
Hardware
Software
Algorithm
2nd Layer Sensors and Circuits
1st Layer Chassis
3rd Layer Microprocessor and Circuits
Programming..
6
Chassis
Already Made Material Aluminum Already
Mounted Wheels, motor and batteries Batteries 8
NiCd Battery Total Voltage 10.2V Future of
Chassis Cutting Shaft of Motor 0.5 cm
Projected diagonal 15.8cm
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Design
Hardware
Software
Algorithm
2nd Layer Sensors and Circuits
1st Layer Chassis
3rd Layer Microprocessor and Circuits
Programming..
8
Sensors

• Top down sensors
• AC voltage
• Total number of sensors
• 9 sensors
• Resistor combination
• 150 ohms and 20k ohms
• Total possible distance
• The combination allowed about 7mm between sensor
  and object projected height of sensors 5.6 cm
• Checking the sensors
• Leds above each sensor

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Sensors Placement

• Sensor Purpose
• Sensor 2, 6, 8, 9 detect walls constantly
• Sensors 1, 3, 5, 7 detect misalignment
• Sensors 4, 3, 5 detect dead ends
• Sensor 8 9 makes sure walls are cleared when
  turning

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2.5 cm
4.5cm
1
2
3
5
6
7
8
9
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Pivot Turning
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1
2
3
5
6
7
8
9
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Turning Corners

• Mouse stop in center of cell (8 cm) after sensors
  8 or 9 detect there is no wall
• Approx 23 phase steps
• To left turn
• Left wheel goes forward right wheel goes
  backwards with equal number of phase steps
• To right turn
• Right wheel goes forward left wheel goes
  backwards with equal number of phase steps

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Design
Hardware
Software
Algorithm
2nd Layer Sensors and Circuits
1st Layer Chassis
3rd Layer Microprocessor and Circuits
Programming..
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Algorithm (right wall hugger)

• Check if in cell
• If in cell
• Check Alignment
• If not aligned adjust speeds to do so.
• Check for dead end
• If there is a dead end turn around
• Check for right wall
• If detect no right wall
• Turn right, adjust speeds properly.

• Check for left wall
• If detect no left wall
• Turn left, adjust speeds properly.
• Check if in cell
• If not in cell
• Go to next cell
• Check if in cell

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Moving to the Next Cell

• To move to the next cell we will use the rabbit
  to count the motor phases
• Wheel diameter 5.5cm
• Circumference of Wheel 17.28cm
• Phases per turn 50
• Distance per Phase 0.346 cm/phase
• Phase till next cell 46.299 46 ¼

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Potential problems

• Manual labor
• Sensor placement
• Turning corners
• Programming and debugging

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Gantt Chart
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Tasks

• Completed
• Chassis
• Chassis to move when plugged into circuit board
• Current
• Moving forward and turning without sensors
• Sensor placement and circuits
• Algorithm and programming
• Figure how to connect programming
  microprocessor with hardware
• Pending
• Buying parts

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Any questions?