MicroMouse.pptVIP

MicroMouse Abstract The micro mouse project is a robot that is programmed to solve a maze that consists of 16 x 16 unit squares with each unit square being 18 cm x 18 cm. The robotic mouse cannot be larger either in length or in width, than 25 centimeters, but there are no restrictions on the height. The mouse is made up of a micro-processor, sensors, stepper motor, chassis, and batteries. The Basic Stamp processor is programmed with PBasic language. The sensors detect at both short and long distances. A pair of short range sensors will help correct the direction of the mouse, while another pair of long range sensor will help the mouse turn at the right time. The Basic Stamp program will be written to help the mouse navigate through the maze. Also, the program will determine if the mouse should stop, go forward or backward, or turn left or right. This will be based on the data that are sent from the sensors to the processor. Competition Sponsored by IEEE Worldwide competitions Regional Competitions CSUF located in region 6 UCLA-March 2003 16 x 16 block maze Self contained robot 18 cm2 block size $500 limit Parts Lists Parts Lists System Diagram Over Flow Algorithm Overflow algorithm Assign cells with values Represents a certain distance to the center of the maze Over Flow Algorithm Flow chart inserted here Backup Program Memory limitation to 32 bytes of variable space Optimization or/and room for improvement 2k of EEPROM Proximity Forward errors begins when a mouse is either too close or too far from the wall ahead Offset errors, which happens often, is caused by being too far to the left or to the right as you pass through a cell Heading error is known as pointing at walls rather than down the middle of the cell Proximity Flow Chart Sensors Sensors GP2D120 Range 4-15 cm Initial use of potentiometer, then A2D interface Analog to Digital Converter ADC0831 8 bit, 5 volt, with I/O Control Low Chip Select to initiate clock pulse Reads output from