Team 4

Shane Sunada – Project Leader

Malcolm Menor – Project Manager

Nathan Umeda – Technical Supervisor

Joseph Longhi – Documentation

Final PresentationMay 9, 2008

To design and construct a robotic “mouse” that can successfully navigate to a central point of a randomized maze and return to the starting point with minimal collisions.

Overview

Hardware

Initial Goals- Robot base must be able to rotate

180 degrees in a 16cm x 16cm square- Robot base should be robust- Robot base should be light (no excessive material)- Robot should be easily disassembled - Robot should LOOK GOOD!

Alteration-Chassis and Sensor Layout

-Rear Sensors-Tire size

- Chassis lightening- Circuit element decisions

Problems-Thought our motors were bad when circuit was on Breadboard-Shorted RCM2000-Batteries/Power Drain-PCB-Heat Generated-Finding Right Value of Resistors for Sensors

Software

Initial Goals-Get it moving Straight

-Tracking-Get it to turn

-180-90

-Wall Hugger-Right-Left-Switching-Random

-Flood Fill-Track (x,y) position in maze-Flood Filling Functions

Straight/Tracking-Stop one wheel-Deciding which sensors to use-Use Costates-Reverse Code-Acceleration

Turning-Move both wheels in opposite

directions so turn in place-UTurn is just 2 turns

Wall Hugger-Slow down when no wall-Turn after no wall then wall-Started with just right wall hugging-Mod to left wall-Switching-Random Pulses

Flood Fill-Tried position with step count-Wrote other functions-Not able to get all function to sync

Problems

Straight/Tracking-If tried a smooth correction it didn’t correct fast enough

-Sensors to far apart-Trying to Find the Right speed to move the mouse-Sometimes tracked when we didn’t want to

-(Tracked into Wall)-Changed Sensors Used

Turning-Getting the values for turning-Sometimes one wheels locked

Wall Hugging-Getting Code to compile-Deciding When the mouse should turn

-Instead of using step counts sense when wall disappears and then reappears

-Turned when it shouldn’t or the wrong directions-Change what sensors were used to detect turn

ContinuedSwitching/Random

How to make it switchImplementing a Random FunctionAdded LED

Crashed into wallReset Feature

Flood Fill-How to write a flood fill code and what it is-How to avoid flood overflow

-Just don’t check outer walls-Keeping track of position in the maze

Recap Final Standing-Have Chassis using Stepper Motors and a PCB Motorboard-8 Sensors and 2 LED on a Adjustable Sensor Board-10 1.2 V Rechargeable Batteries-Left, Right, Switching, Random Wall Hugger, Drag Race switchable with 8 Dip Switches

Outstanding ProblemsWhat we would change

Power Drain/ Heat-More Voltage Regulators-Stepper Motors gave problems-Rechargeable Batteries-Add one more Switch

-Sensor Layout-Closer Sensors-More Sensors-PCB Sensor Boards

-Weight Reduction-Position

-Trying to keep track of position in maze

-Moving-S-Turns-Better Tracking

-Solving Algorithms-Getting Flood Fill to work-Find a better algorithm