Jan 17, 2016
Final PresentationMicromouse Spring 08
8” Comb.
Group Member Roles
•Chris – Programming/Circuit Construction
•Joon – Circuit Construction/Programming
•Steve – Debugging
• Primary:Build an autonomous robot that can find the center of a maze of set size.• Secondary:Utilize the shortest path to travel to the center.
Objectives
Our Initial Goals
• To find the center of a 16x16 maze and the shortest path to the center
• To apply our acquired engineering knowledge to this project
• To gain experience working as a team• To follow our schedule• To make new friends (on the Mainland)
Overview of Parts
•Side Sensors
•Rabbit
•Two Li-ion Rechargeable Batteries
•Chassis (sheet metal)•MC3479 Stepper Motor Driver•MAX118 A/D Converter•Jameco 237472 Bipolar Stepper Motor 12VDC
Block Diagram (Circuit)
Block Diagram (Software)
Sensors + Wheels
Bottom Layer
Features
• Side sensor design (4)• Two wheeled mouse• Circuit construction by etching rather
than free wires (Printed Circuit Board)
• Sliders on the bottom of our chassis for balance
• 16V source (two batteries)
Initial Design Printed Circuit Board (PCB)
Top Portion
Back Portion
New PCB Design
Problems
• Wiring on PCB was too thin– Could not handle current that ran
through 16V lines and some wiring came loose from the board
• Some chips did not work properly– ADC gave 4 outputs rather than 8
outputs (4 Most Significant Bits)– Soldered in a defective motor driver to
PCB (worked when we tested it)
More Problems
• Rabbit– Wired Rabbit up incorrectly
• Mixed up ports
– Blew out Rabbit
Resulting Changes
• PCB Board– Soldered wires in parallel to wires connected to
16V lines and ground• ADC
– Took the 4 outputs and disregarded the rest (The MSBs became our LSBs)
• Motor Driver– Used our spare PCB– Tested all motor drivers to see which worked
• Rabbit– Wired to correct ports
Future Improvements/Suggestions
• Use chip holders instead of soldering chips straight into the board
• Make thicker wires on PCB• Check to see if all chips get the right
amount of voltages (Be more careful)
Questions?