TAKE YOUR JACKET OFF!TAKE YOUR JACKET OFF!

Proposal PresentationProposal Presentation

Members:Members: Jayson NakakuraJayson Nakakura: Chassis Design and : Chassis Design and

FabricationFabrication Kellie MurakamiKellie Murakami: Circuitry Design and : Circuitry Design and

FabricationFabrication Scott BonillaScott Bonilla: Algorithm Development: Algorithm Development Kendall KogasakaKendall Kogasaka: Programming and : Programming and

DebuggingDebugging

Overview of ProjectOverview of Project

Micromouse:Micromouse: Autonomous programmable robot designed to Autonomous programmable robot designed to

navigate and solve a 16x16 square mazenavigate and solve a 16x16 square maze Mouse must be less than 25cm x 25cm, but Mouse must be less than 25cm x 25cm, but

there is no height limitationthere is no height limitation

Hardware OverviewHardware Overview

Build and THEN code!Build and THEN code!

HardwareHardware Two sets of side sensors, three on each side Two sets of side sensors, three on each side

(front and back)(front and back) Chassis made out of lightweight plexiglassChassis made out of lightweight plexiglass Bipolar DC motorsBipolar DC motors PCB boardPCB board 10 1.2 V batteries10 1.2 V batteries Rabbit 2000Rabbit 2000

Hardware - ChassisHardware - Chassis

FrontFront

Hardware – ChassisHardware – Chassis

SideSide

Hardware - ChassisHardware - Chassis

Software OverviewSoftware Overview

SoftwareSoftware Flood-fill algorithm starting from destinationFlood-fill algorithm starting from destination No 180 degree turns!No 180 degree turns! Align with rear sensorsAlign with rear sensors S-turns & 45 degree turnsS-turns & 45 degree turns Speed runsSpeed runs

Sensor ReadingsSensor Readings

1

2

2

3

3

3

4

4

4

44

5

5

5

5

5

5

6

6

6

66

6

6

7

7

77

7

7

7

7

8

8

8

8

8

8

8

9

99

9

9

9

1010

10

10

10

11

11

11

1112

12

12

13

13M

0

13

12

1314

14

2

WALLSADDED-IN WALLS

UNSEEN WALLS

SolvingSolving

Potential ProblemsPotential Problems

Double set of sensors might cause…Double set of sensors might cause… Fast battery drainageFast battery drainage Running out of memoryRunning out of memory Length of chassisLength of chassis AlignmentAlignment

Delicate plexiglassDelicate plexiglass Debugging!Debugging! Unforeseen problemsUnforeseen problems

Expectations (Learning)Expectations (Learning)

How to design circuits using etching How to design circuits using etching program & how to etch a PCBprogram & how to etch a PCB

Learn to use side sensorsLearn to use side sensors

Deliverable GoalsDeliverable Goals

Find the center by solving the maze using Find the center by solving the maze using a flood fill algorithma flood fill algorithm

Don’t run into walls or get lost in the mazeDon’t run into walls or get lost in the maze Don’t waste time with dead ends, loops, & Don’t waste time with dead ends, loops, &

spiralsspirals Speed run after initially solving the mazeSpeed run after initially solving the maze Compete in the mini-competition!Compete in the mini-competition!

Proposed ScheduleProposed Schedule

 Feb

17Feb

24Mar

3Mar

10Mar

17Mar

24Apr

1

Gather materials & equipment              

Build chassis              

Complete PCB              

Programming & Debugging              

Compete in Mini-competition!              

KEEP HAWAII GREENKEEP HAWAII GREEN

any questions?