ONU Micromouse Spencer Cupp and Kiel Wood Dr. Khalid Al-Olimat – Advisor 1
Feb 22, 2016
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ONU Micromouse
Spencer Cupp and Kiel WoodDr. Khalid Al-Olimat – Advisor
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OutlinePrototypeSystem OverviewSensorsMotor Control SystemDrift CorrectionYaw CorrectionAlgorithmPerformanceConclusionQuestions
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Prototype
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Prototype
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System Overview
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Sensors
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Motor Control
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Motor Control
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Drift Correction
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Yaw Correction
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Drift and Yaw Correction
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Arduino Uno LimitationsHas only 2 digital interrupt pins SRAM
◦2 kB◦Stores the stack (restricts recursive
calls)◦Stores local and global variables
Flash Memory◦32kB◦Stores program memory◦Stores constant variables
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Arduino Mega 2560Has 8 kB of SRAM Has 256 kB of Flash MemoryHas 6 digital interrupt pins
available
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Prototype in action
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AlgorithmFlood Fill Algorithm
◦Pros Provided great performance Not very computationally intensive Does not use up a lot of precious memory Does not require mapping of the entire
maze◦Cons
Success is dependent on hardware performance
Once the Micro-mouse gets “lost” there is no recovery.
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ConclusionFunctional prototype developedAlgorithm tested and verified in
software and hardwareVarious movement control
systems implementedAlgorithm and movement control
function in tandemThird place in the 2013 SAC IEEE
R2 Micro-mouse competition.
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Questions