FINAL PRESENTATIONFINAL PRESENTATION

Lost Café 66

EE 296

5/6/2004

Introduction of TeamIntroduction of Team

Team Leader: Arthur PhanphengdyMembers: Quincy Quach Kang Lu Jackson Ng

Brief Overview of ProjectBrief Overview of Project

Build an autonomous mouse that traverses through and solves a 16x16 maze

Compete against other teams to see which mouse finds the center the fastest or who traveled the most cells.

Follow the rules of micromouseHave fun!

Overall DesignOverall Design

Chassis built from L BarsTop-down SensorsStepper MotorsRabbitDynamic C8 AA BatteriesMinimize work

Initial GoalsInitial GoalsFind the center and map out maze

– Know where it is

Minimize work– Simplify design as much as we can => less work

Attempt to have a bi-directional mouseTraverse the maze without any problems

– Turn 90 deg into and out of turns and corners– Align mouse throughout maze

Initial GoalsInitial GoalsOriginal Sensor Layout

In RealityIn Reality

Created a right-wall hugger– Adjusted code to align itself

Does not map out or solve mazeNo correction90 degree Blind TurnsReally minimized number of sensors usedLeast top-down sensor UH ever seen

In RealityIn RealityBuilt a 5 sensor mouse!BUT ONLY USING 3 SENSORS!!!

WE GOT TO THE B square!WE GOT TO THE B square!New record: 3 sensors used, moved w/o

crashing total of 30 squares

Final StatusFinal StatusRight-wall hugger3 wall sensors, 2 alignment sensors not usedNo alignment code.

– Code adjusted to help align mouse a littleDoes not know where it is in the maze

– No mapping or solving3 forward speeds

– 1st speed for turns and moving forward one cell– 2nd speed used to accelerate to next speed– 3rd speed for long corridors

Final StatusFinal StatusProgram– Actual code (only main() function) is about 150

lines, – Mainly consists of: nested if, while, and for

statements– Reads which walls present, then decides where

to move (not go).– Count steps for 90 deg. turns (sometimes)– Corrects itself with present code (no alignment

code)– 3 speeds (just for fun)

PROBLEMS!!!PROBLEMS!!! Motor circuit & PC Boards, soldering bad == junk

connection– Sensors does not work properly at times– Not enough current going to motors; don’t move– One of the motors does not work properly at times

Sensor placement is not precise– Didn’t really measure, just placed it– Bad soldering

Programming– Getting used to Dynamic C Syntax

Miscommunication among the team Time constraints and time conflicts among team members

MORE PROBLEMS!!!MORE PROBLEMS!!!No planning

– Basically built and soldered everything w/o having a planned layout

Lots of time spent on those 5 sensorsThis project is very time consuming

(Saturday’s spent in school)Cost of material is highRabbit died. Needed to borrow another

rabbit from someone extremely nice.

Our Little MouseOur Little Mouse

Clip 1 - Right-wall hugger; turning

Clip 2 - Correction

-Accelerates to 2nd speed at the end of each run

If our mouse doesn’t work today, we have proof that it works!

ConclusionConclusion Gained experience A lot of things we would have done differently

– Maybe more than 5 sensors We enjoyed ourselves We learned a lot Made a lot of new friends Had fun Probably try again next year (w/ side sensors, 45’s, and S

turns) Redo our 3 sensor mouse w/o a rabbit. Maybe for 396

project.

AND WE’RE DONE….AND WE’RE DONE….

Questions???

Hawai’i Lion Dance Hawai’i Lion Dance Competition Aug 28, 29 2004Competition Aug 28, 29 2004

Blaisdell Center $15 and up Teams from China,

Hong Kong, Taiwan, Singapore, and Hawai’i would be competing for $10,000

I’ll be competing

That’s me ======