TAKE YOUR JACKET OFF

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TAKE YOUR JACKET OFF!
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Proposal Presentation

• Members
• Jayson Nakakura Chassis Design and Fabrication
• Kellie Murakami Circuitry Design and Fabrication
• Scott Bonilla Algorithm Development
• Kendall Kogasaka Programming and Debugging

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Overview of Project

• Micromouse
• Autonomous programmable robot designed to
  navigate and solve a 16x16 square maze
• Mouse must be less than 25cm x 25cm, but there is
  no height limitation

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Hardware Overview

• Build and THEN code!
• Hardware
• Two sets of side sensors, three on each side
  (front and back)
• Chassis made out of lightweight plexiglass
• Bipolar DC motors
• PCB board
• 10 1.2 V batteries
• Rabbit 2000

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Hardware - Chassis

• Front

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Hardware Chassis

• Side

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Hardware - Chassis
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Software Overview

• Software
• Flood-fill algorithm starting from destination
• No 180 degree turns!
• Align with rear sensors
• S-turns 45 degree turns
• Speed runs

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Sensor Readings
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Solving
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WALLS
ADDED-IN WALLS
UNSEEN WALLS
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Potential Problems

• Double set of sensors might cause
• Fast battery drainage
• Running out of memory
• Length of chassis
• Alignment
• Delicate plexiglass
• Debugging!
• Unforeseen problems

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Expectations (Learning)

• How to design circuits using etching program
  how to etch a PCB
• Learn to use side sensors

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Deliverable Goals

• Find the center by solving the maze using a flood
  fill algorithm
• Dont run into walls or get lost in the maze
• Dont waste time with dead ends, loops, spirals
• Speed run after initially solving the maze
• Compete in the mini-competition!

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Proposed Schedule
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KEEP HAWAII GREEN
any questions?