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The Pied Pipers

The Pied Pipers. Joanne Flores Ken Shum Alyssa Visitacion. Project Overview. To create an autonomous robotic mouse that will navigate a maze. Goals. Have each circuit correctly interact with each other. Make mouse move forward Have mouse make turns Complete a wallhugging mouse

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The Pied Pipers

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  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); unsigned turnleft(void); main() { RdPortI WrPortI(SPCR,&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; } else { moveforward; // this function moves the thing forward delaysignal; } } }

  7. 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.

  16. 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

  21. Questions?

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