The Pied Pipers

1
The Pied Pipers

• Joanne Flores
• Ken Shum
• Alyssa Visitacion

2
Project Overview

• To create an autonomous robotic mouse that will
  navigate a maze.

3
Goals

• Have each circuit correctly interact with each
  other.
• Make mouse move forward
• Have mouse make turns
• Complete a wallhugging mouse
• Find center of maze

4
System Diagram
Program Module
Mechanical Module
5
Program Module

• Tracking Algorithm
• Sense walls
• If offset sensors turn on, you are no longer
  centered. Increase speed on side of offset
  sensors until centered.
• Wall Hugger Algorithm
• Move forward as long as there is a wall on the
  left.
• If there is a wall in the front, turn right.
• If there is no wall on the left, turn left.

6
Excerpt from Tracking and Wallhugger Code
int delaysignal(void) unsigned
moveforward(void) unsigned turnright(void) unsig
ned turnleft(void) main() RdPortI WrPortI(SP
CR,SPCRShadow,0X84) // declares all A ports
as output ports while (1) // basic
wallhugger if (SENF1 SENF2) turnright()
// this function moves mouse
right delaysignal() else if (!SENL1
!SENL2 !SENL3) turnleft() // this
function moves mouse left delaysignal el
se moveforward // this function moves the
thing forward delaysignal
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Mechanical Module

• Chassis
• Battery Packs
• Tires
• Motors
• Standoffs
• Electrical Circuitry
• Sensors Circuit
• Motor Drivers Circuit
• Rabbit

8
Design Decisions

• To make it as compact and light as possible
• To keep the wiring neat
• To minimize the amount of sensors used
• To organize circuits by placing each part on
  three different layers.

9
Design Structure

• Consists of three layers of circuitry
• Chassis contains standoffs, which holds up the
  three layers
• Sensors Circuit Bottom Layer
• Motor Drivers Circuit Middle Layer
• Rabbit and Switch Top Layer

10
Overall Design
11
Overall Design
12
Overall Design
13
Overall Design
14
Sensors Layer

• Two sensors in front of mouse
• Three sensors each on left/right side of mouse
• Has a hole in the middle to lead motor wires to
  middle layer

15
Motor Drivers Layer

• Contains motor drivers circuit
• Also holds the voltage inverters that connect to
  each sensor panel.

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Top Layer

• Contains rabbit and switch.
• Neatly covers the motor drivers layer

17
Final Status

• Sensors Circuit and Motor Drivers Circuit works
• Used Circuitwriter to make connections in circuit
• Sensors are attached to body using velcro

18
Problems That Occurred

• Altering Design
• Scheduling conflicts
• Too much time spent on debugging
• Bad Connections
• Broken Parts
• Switch incorrectly connected

19
Outstanding Problems

• Unable to move due to a broken rabbit

20
Future Improvements

• Time management
• Etching
• More visually appealing
• Coding

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Questions?