Final Presentation Team Amaze Me

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Final PresentationTeam Amaze Me

• May 8, 2008

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Content

• Members
• Overview of Project
• Goals
• Structure of Design
• Design Decisions
• Problems Improvements
• Status
• Discussion Demo!

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Members

• John Miyajima
• Brandon Gibu
• Chad Higa
• Justin Ogata

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Overview

• Construct an autonomous mouse
• Traverse a 16 x 16 maze
• Implementing better components
• Efficient solving algorithm

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Goals

• Find the center!
• Applying our experience
• Approach project with short goals
• Using the Gantt Chart

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Structure of Design
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Structure of Mouse
Power Unit
Driving Unit
Pulse motor
Rotations
5 V supply
Rabbit µProcess 2000
Control Movement
Charge batteries
Sensor conditions
Sensing Unit
Step Down Voltage
Sensor byte values
8-bit Reading
5 V supply
Sensor Running Sequence
Analogue Value
12 V supply
Figure 1 Block Diagram of Mouse
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Hardware Design
Rabbit Microprocessor
PCB
Side Sensors
Wheels
Chassis
Figure 2 Front View of Mouse
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Hardware Design
Rabbit Microprocessor
PCB
Battery Pack
Chassis
Wheels
Figure 3 Side View of Mouse
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Hardware Design
Rabbit
PCB
Battery Pack
Figure 4 Top View of Mouse
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Software Design
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Software Design

• Algorithm
• Seeking Right Wall Hugger
• Tracking ? K-Controller ??
• Costates for loops
• Global functions
• If statements ? Navigation

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Example of Costates K Controller

• KvalueLsensor/Rsensor
• costate
• waitfor(DelayMs(3))
• //Counter mouse to the Right
• if(Kvalue gt 0.10 Kvalue lt 1.00) // Kvalue
  less than 1
• PORTA4OFF // Control the rotation of
  right motor
• PORTA6OFF // Control the rotation of
  left motor
• costate
• PORTA5ON // Pulse the clock
• PORTA7ON
• PORTA5OFF
• waitfor(DelayMs(5)) // Delay
  one motor first
• PORTA7OFF // Delay the other
  motor shortly after
• waitfor(DelayMs(10))

Figure 5 Top view
Figure 6 Code of Tracking Using Costates
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Example of for Loop

• void straight(void) // Go straight!
• int z, i
• for( z0 z lt 50 z) // Repeat the Sequence
• PORTA4OFF // Control rotation of right
  motor clockwise
• PORTA6ON // Control rotation of left
  motor counter clockwise
• for(i0 iltforspeed i) //
  Hold the values
• PORTA5ON // Clock pulse for right
  motor
• PORTA7ON // Clock pulse for
  left motor
• PORTA7OFF // Switch clock
  pulse
• PORTA5OFF

Figure 7 Straight Global Function
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Example of Global Function

• void rightturn(void) // Turn right !
  This works!
• int m,n
• for(m0 m lt 90 m) // 90 is a perfect value
  for perfect 90 degree turns!!
• PORTA4OFF // Control rotation of right
  motor counter clockwise
• PORTA6OFF // Control rotation of left motor
  counter clockwise
• for(n0 nlt forspeed n) // forspeed
  clock speed
• // Hold the values
• PORTA5ON // Clock pulse for
  right motor
• PORTA7ON // Clock pulse
  for left motor
• PORTA7OFF // Switch clock
  pulse
• PORTA5OFF

Figure 8 Right Turn Global Function
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If Navigation

• if(Lsensor gt 55 Msensor gt 80 Rsensor gt 45)
  // 111Pattern
• reverse()
• stop()
• oneeighty()
• stop()
• step()
• read()

Figure 10 Dead End Case
Figure 9 Dead End Code
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Interesting Features

• Packing Contest (3rd Place) ? Changes
• Alkaline ? Lithium
• Bread board ? PCB
• K Controller

Video 1 Tracking
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Design Decisions

• Components that we didnt use
• Switcher
• Used Voltage regulator
• Ball caster
• Sliders
• LiFePO4 battery
• AA

Figure 11 Sliders cushions
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Problems Solutions

• AA battery pack
• Leaked fluid damage
• Due to contact to chassis
• Handle with care
• Difficulty assembling PCB
• Brute force!
• Staying on task
• Work harder!

Figure 12 Fluid on battery pack
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Outstanding Problems

• Coding!

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Future Improvements

• Implement desired components
• Switcher
• Ball caster
• LiFePO4 battery
• PCB Rabbit
• Better Wheels
• Use Dip Switch ? Multiple Algorithms
• Apply Floodfill

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Current Status

• Gantt Chart
• Coding
• Hugger

Table 1 Final Gantt Chart
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Acknowledgements

• People
• Dr. Dobry
• Alex Zamora
• Tyson Seto-Mook
• Toy Lim
• Quang
• Joanne Flores
• Monalisa Cabahug
• Team
• Raiton-No Desuku

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Questions Discussion

• Stand by for demo