micro-mouse by mohamad samhat narciso lumbreras hasan almatrouk
TRANSCRIPT
Micro-MouseBy
Mohamad SamhatNarciso LumbrerasHasan Almatrouk
What is a Micro-Mouse ?
•A micro-mouse is a small battery operated mobile robot that moves randomly to solve a maze
History• In 1977, IEEE Spectrum Magazine, came up with the
concept of a Micro-Mouse• In May 1977, Spectrum announced the first US Amazing
Micro-Mouse Maze Contest to be held in June 1979, New York
• In 1980, the European version of the contest was launched at the Euromice '80 in London
• In March 1990 the Micro-Mouse was introduced to schools and universities.
Why a Micro-Mouse?
• It consists of multiple parts : software & hardware
• Design efficiency • Excellent introduction for robotics field
Design Method
•Google is our friend
Major Components• Micro Controller PIC18F452• Sensors GP2D120• Drive Control System MC3479• Hybrid Stepper Motors• Crystal Oscillator• Voltage Regulator
"Peripheral Interface Controller”• Low Cost• Wide Availability• Large User Base• Extensive Collection of Application Notes• Availability of Low Cost or Free Development Tools
• Serial Programming (and Re-Programming With Flash Memory) Capability.
Microcontroller
Crystal Oscillator •Creates an electrical signal with a very precise frequency
Sensory Array
MC3479 Stepper Motors
DRIVE CONTROL SYSTEM
Hybrid Stepper Motor• Operates based on programmed instructions
VOLTAGE REGULATOR
Block Diagram
MicrocontrollerPIC18F452
Sensory Array
RightSensor
Center
Sensor
Left Sensor
Motor DriverMC3479
Motor DriverMC3479
MOTOR #2 MOTOR #1
Micro-mouse Schematics
Trouble Shooting Testing each component of circuit• Sensors with Oscilloscope• Voltage Regulator• Stepper Motor Drivers with Hybrid Stepper Motors
Trouble Shooting Cont. MPLAB programming and configuration bits• New Software• Including a C file• Different Configuration Bits For Every Program
Trouble Shooting Cont. Programming• Setting I/O Pins• Converting Signals From Analog to Digital• Including Delay Functions
Trouble Shooting Cont. Universal Programmer• Used for Verifying Code/Erasing/Burning Program on PIC
Trouble Shooting Cont. Crystal Oscillator• Changed Clk from 40MHz to 20MHz• Added Two 22pF Capacitors
Trouble Shooting Cont. DC Motor VS Hybrid Stepper Motor• No DC Power Supply• Wiring Configuration
Trouble Shooting Cont. Battery Lifetime• Drains Fast• Parallel Connection• Lithium for 30% Weight Reduction
Trouble Shooting Cont.
MC3479 Hybrid Steppers Heat Reduction• Heat sinks for MC3479
Trouble Shooting Cont.
Final Design• Access to Batteries• Stabilization• Dimensions
Trouble-Shooting Videos
Trouble-Shooting Videos Cont.
Maze•Dimensions•Construction•Materials
MILESTONE
•Arduino•Custom Chassis•Rechargeable Batteries•Modify Program
What we Learned?
•Discipline•Team Work •Patience•Complex Design of Hardware/Software