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CheezStix!CheezStix!
EE 396 MicromouseEE 396 Micromouse
Spring 2007Spring 2007
Final PresentationFinal Presentation
MembersMembers
Toy Lim – Project ManagerToy Lim – Project Manager Kyle Montpas – Software LeaderKyle Montpas – Software Leader Tyson Kikugawa – Hardware LeaderTyson Kikugawa – Hardware Leader
OverviewOverview
Design and build an autonomous robotic mouse Design and build an autonomous robotic mouse to find its way to the center of a maze as fast as to find its way to the center of a maze as fast as possiblepossible
System Block DiagramSystem Block Diagram
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
DriveDrive
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
DriveDrive
Opted for $250 budget over kitOpted for $250 budget over kit Design to be compact and lightDesign to be compact and light
Smaller stepper motor – 25.4mm x 38mm sq. Smaller stepper motor – 25.4mm x 38mm sq. (versus kit – 39mm x 42.3mm sq.)(versus kit – 39mm x 42.3mm sq.)
H-Bridge chip (SN754410)H-Bridge chip (SN754410)
DriveDrive
SensorSensor
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
SensorsSensors
Sharp Distance Sensor (GP2Y0A21YK)Sharp Distance Sensor (GP2Y0A21YK)
SensorSensor
Placement (Sides)Placement (Sides) Placed facing Placed facing
outward to shorten outward to shorten distance for more distance for more accurate readingaccurate reading
Angle to see into the Angle to see into the next cellnext cell
Adjusts to keep side Adjusts to keep side values equalvalues equal
30º 30º
SensorsSensors A/D Converter – MAX118A/D Converter – MAX118 Sensor output – analog (voltage), Sensor output – analog (voltage),
depending on distancedepending on distance Rabbit reads in digitalRabbit reads in digital Sensor --/--> RabbitSensor --/--> Rabbit
SensorsSensors
0
0.5
1
1.5
2
2.5
3
3.5
0 5 10 15 20 25 30
Distance (cm)
Vo
ltag
e
Voltage Reference chip – MAX6029Voltage Reference chip – MAX6029 Using 3.3V VREF+ for ADC since the max Using 3.3V VREF+ for ADC since the max
sensor output was found to be 3.12Vsensor output was found to be 3.12V
SensorSensor
PowerPower
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
PowerPower
Li-Ion BatteriesLi-Ion Batteries 3.7 Volt, 2 Amp-hour rating3.7 Volt, 2 Amp-hour rating
DC Converter – MAX1709DC Converter – MAX1709 Step up to 5 VoltsStep up to 5 Volts Can handle up to 4 A currentCan handle up to 4 A current
PowerPower
Added Design Feature - USBAdded Design Feature - USB
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
Added Design Feature - USBAdded Design Feature - USB
USB interfacingUSB interfacing Used in both power and control Used in both power and control
subsystemssubsystems Programming – FT232RProgramming – FT232R Battery Charging – MAX1811Battery Charging – MAX1811
Charge Current/Voltage SelectCharge Current/Voltage Select
Added Design Feature - USBAdded Design Feature - USB
Added Design Feature - USBAdded Design Feature - USB
PowerPower
ControlControl Rabbit 2000 microprocessorRabbit 2000 microprocessor
The PCBThe PCB
PCB over self wiringPCB over self wiring Cost moreCost more CleanerCleaner Less errorLess error
KiCADKiCAD Open-Source/FreeOpen-Source/Free 3D View3D View
The PCB - LayoutThe PCB - LayoutSilkScreeSilkScree
nn
The PCB - LayoutThe PCB - Layout
Top-ViewTop-View
The PCB - LayoutThe PCB - Layout
Bottom-ViewBottom-View
Physical LayoutPhysical Layout
FRONTFRONTSIDESIDE
Current IssuesCurrent Issues
Charger voltage source and current are Charger voltage source and current are manually selectedmanually selected Use 3-pin jumper between source connectorsUse 3-pin jumper between source connectors Use a charge current selection switchUse a charge current selection switch Maximum charger current is 500mAMaximum charger current is 500mA
PCBPCB LateLate Soldering small componentsSoldering small components
Future ImprovementsFuture Improvements
Add addition logic (transistors and diodes) Add addition logic (transistors and diodes) to the charger circuit to make it automatic, to the charger circuit to make it automatic, and increase charging currentand increase charging current
Improving the program…Improving the program… Store map of mazeStore map of maze Solve shortest pathSolve shortest path Etc.Etc.
Questions?Questions?
http://cheezstix.homeip.net
The PCB - LayoutThe PCB - Layout