Team P.A.C.K men EE 296 Project. Chris Mcleod Hardware specialist.

Team P.A.C.K menEE 296 Project

Chris McleodHardware specialist

Kyle TanabeLogic and programming specialist

Paul LindenSystems specialist

Aaron LakePower specialist

P.A.C.K. Rat our hard working mouse.

February 1

Breadboard Stage

March 1~Connection of the driver circuit.

~Portability in power sources.

~Many tedious connections.

~sodering , clipping wires for connections.

Goals

• Design and Build a robot capable of finding the center of a maze

• Have the mouse be able to return back to the center without looking for a new path.

By the end of March

• Complete fabrication of the sensor layout.

• Basic tracking and alignment code for traveling down a corridor.

By April 5

• Have all the code up and running.

• Begin trouble shooting.

Breakdown of project

Rabbit 2000 processor

Drive system

Sensory input

Input/Output logic

Maze solving

System power management

Power management

• AA Duracell NiMH rechargable batteries.

• 2.05 A/hr, 1.2V

• Processor = 5V

• Motors = 9.6V

• Sensors = 5V

• 16 total batteries

Drive system

• Motors: NEMA 17 stepper motors 9.6 VDC

1.8o step uni-polar

• Chassi: single piece of 1/8” aluminum custom fit to specifications.

• Wheels: custom aluminum alloy rims with rubber treads radius = 2.35cm

Driver Circuit

Underneath view

Sensory system

• 20 infrared sensors, 4 on each corner.

• 4 middle sensors .

• Top down design.

• Symmetrically placed along board with enhanced peeking abilities.

Top right corner sensor layout

Sensory Layout

Middle sensors

Outer sensors

Traveling down a corridor the inner four sensors remain on telling the mouse that it is centered.

These sensors correct and adjust alignment and also scout out walls in theory.

When the mouse reaches a possible turning point the four outer sensors will go off.

When all 4 middle sensors all activated the mouse knows to turn.

Logic and processing

• Rabbit 2000 microprocessor.

• Dynamic C

• Tracking based on sensory input.

• Maze flooding concept to solve maze.

7,7 7,6 7,5 7,4 7,3 7,2 7,1 7,0

6,7 6,6 6,5 6,4 6,3 6,2 6,1 6,0

5,7 5,6 5,5 5,4 5,3 5,2 5,1 5,0

4,7 4,6 4,5 4,4 4,3 4,2 4,1 4,0

3,7 3,6 3,5 3,4 3,3 3,2 3,1 3,0

2,7 2,6 2,5 2,4 2,3 2,2 2,1 2,0

1,7 1,6 1,5 1,4 1,3 1,2 1,1 1,0

0,7 0,6 0,5 0,4 0,3 0,2 0,1 0,0

Maze Flooding

Logic Modules

• Driver– Search Mode

• Sensors• Decision• Movement (Left,Right,Forward,U-Turn)• Direction• Alignment

– Found Mode

Sample Algorithm

• Forward Movement– Initialize sensor readings– Do following until moved 1 square

• Move forward 12 steps• After each step check sensors

– If sensors detect turn, set sensor reading as such

• Check Alignment and fix if alignment no good

– Check Alignment– Alter array

Additional thoughts

• Potential problems:

design issues

logic problems

power issues

• What we will Learn: Teamwork

Engineering Applications

C C and more C

Any questions?

Tanks for coming out!