Meat and PotatoesMeat and Potatoes

Micromouse 2006Micromouse 2006

Team IntroductionTeam Introduction

►Aaron FujimotoAaron Fujimoto►Alex DeAngelisAlex DeAngelis►Alex ZamoraAlex Zamora►Mike ManzanoMike Manzano►Tyson Seto-MookTyson Seto-Mook

Brief OverviewBrief Overview

►MicromouseMicromouse►DesignDesign►Problems and SolutionsProblems and Solutions►Outstanding Problems and SolutionsOutstanding Problems and Solutions►A Brief DemoA Brief Demo

Original Overall DesignOriginal Overall Design

►Designed for flexibilityDesigned for flexibility►Adjustable Sensor ArrayAdjustable Sensor Array

Horizontal AlignmentHorizontal Alignment Vertical alignmentVertical alignment

►Top-down SensorsTop-down Sensors►1.8 Stepper Motor1.8 Stepper Motor►Lightweight, as little metal as possibleLightweight, as little metal as possible

Balsa WoodBalsa Wood►Breadboard / Perfboard ApproachBreadboard / Perfboard Approach

Initial GoalsInitial Goals

►Create a moving mouseCreate a moving mouse No sensors involvementNo sensors involvement

►Create a mouse with alignmentCreate a mouse with alignment Center in-between wallsCenter in-between walls

►Create a Wall Hugging mouseCreate a Wall Hugging mouse Left and Right HuggerLeft and Right Hugger

►Create a Center-Seeking MouseCreate a Center-Seeking Mouse►Go to CaliforniaGo to California

Structure of Designs and Structure of Designs and DecisionsDecisions

►A compact mouseA compact mouse Smaller moment of inertia for better turningSmaller moment of inertia for better turning

►Keep center of gravity close to turning Keep center of gravity close to turning axisaxis

►Keep motors close together to minimize Keep motors close together to minimize getting ‘hung up’ on wallsgetting ‘hung up’ on walls

►Sensor PlacementSensor Placement From 10 sensors to 12 sensorsFrom 10 sensors to 12 sensors

Final StatusFinal Status

►We’ve come a long wayWe’ve come a long way

Final StatusFinal Status

►Center-Seeking MouseCenter-Seeking Mouse►Made it to California, 9Made it to California, 9thth place place►Etched EverythingEtched Everything►Two Additional Top-down sensorsTwo Additional Top-down sensors►Many, many small adjustments Many, many small adjustments

discussed in the next sectiondiscussed in the next section

Problems and SolutionsProblems and Solutions

► Setting up Group MeetingsSetting up Group Meetings Conflicting ScheduleConflicting Schedule Lack of OrganizationLack of Organization

► Usage of wrong perfboardUsage of wrong perfboard Non-metal coatingNon-metal coating

►Solder didn’t stick to boardSolder didn’t stick to board

► Switch in parallel to circuit, instead of in Switch in parallel to circuit, instead of in seriesseries Short Circuit instead of Open CircuitShort Circuit instead of Open Circuit Melted Battery PackMelted Battery Pack

Problems and SolutionsProblems and Solutions

►Original Hardware OrganizationOriginal Hardware Organization Disorganized, Wires everywhere!Disorganized, Wires everywhere!

►No LEDS for troubleshootingNo LEDS for troubleshooting Mosfets broken? Motor broken? Sensor?Mosfets broken? Motor broken? Sensor?

► Screwing/Mounting in a proper mannerScrewing/Mounting in a proper manner Motors not screwed in tight enough, etcMotors not screwed in tight enough, etc

►No Acceleration/DecelerationNo Acceleration/Deceleration Stopping/Frantic SteppingStopping/Frantic Stepping

► Sensor SpacingSensor Spacing► Back up code constantlyBack up code constantly

Outstanding Problems & Outstanding Problems & SuggestionsSuggestions

►HardwareHardware EtchingEtching LEDSLEDS Sensor Placement, and Double checking circuitrySensor Placement, and Double checking circuitry

► SoftwareSoftware AccelerationAcceleration AlignmentAlignment Program to check all sensorsProgram to check all sensors Make lots of BackupsMake lots of Backups

DemoDemo

►Watch our mouse in action!Watch our mouse in action!►Look at the Pretty movement!Look at the Pretty movement!►See the pretty UH Logo!See the pretty UH Logo!►Dance little Alex dance!Dance little Alex dance!

QuestionsQuestions

►Anyone?Anyone?

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