Micromouse Meeting #2 PROGRAM DETAILS, APPLYING FOR FUNDING, OVERALL SYSTEMS First thing’s First: Teams! There were a lot of you this year. This Year’s Program $75 deposit $250 in funding from IEEE Must traverse 16 maze cells, which must include right turns, left turns, and dead ends. $150 deposit $500 in funding from IEEE Solve the maze! Easy, right? Almost all the teams that signed up went for the basic budget In the Past… Get together with team Pros • Flexible • Provides freedom to teams • Simple and Efficient Cons • Provides little accountability • Teams unlikely to finish • Funding can be wasted Create details BOM (Bill of Materials)/Parts List Submit Parts List for funding approval Build Mouse, Compete Meet Milestones New System Get together with team Plan out approach for Micromouse Build Mouse, Compete! Create a BOM/Parts List Submit Hardware/Software Preliminary Design Funding Approved IEEE will review designs for validity and correctness New System Pros Ensures teams have completed preliminary design, not just parts, before proceeding Allows motivated teams to receive more feedback from IEEE Teams are actively engaged with officers about design requirements Emulates a “real work” environment, the key being design reviews They won’t be too crazy in depth, but we are doing this to ensure that teams are serious about creating a working mouse. Cons We do a lot of work Can be a little micro-management-y We will try to avoid this as much as possible. We are here to help you and give overall guidance, not to micromanage. Things You Need When applying for funding, we will request three documents Parts List/BOM with datasheets for active IC’s and parts List of all the parts, part number, cost, and link Datasheets for all active parts Preliminary Hardware Design Schematic Outline of hardware I/O systems Preliminary Software Design Quick, high-level drawing of software plan Sample Parts List Sample Hardware Design This is a very crude hardware I/O layout Probably about 80-90% of what we will be looking for in your design Things missing from this design Labels on pin headers Details of the encoders Where are the motors? Sample Software Design For each cell: Get sensor data Determine where walls are Decide movement: Push move forward if not visited Push move left if not visited Push move right if not visited Pop stack Move mouse according to top of stack High-level drawing of software systems of the mouse Feedback control (PID?) Left/Right/U-turn decision making Maze-solving logic overview Algorithms Floodfill http://web.cecs.pdx.edu/~edam/ Reports/2001/DWillardson.pdf Approval We will review your 3 documents as soon as possible and get back to you on whether or not your design was approved If it was not approved, we will give you advice on things to change and revise. If necessary, the process will be significantly guided Otherwise, once you receive approval, turn in your deposits. Once we receive the deposits, your funding will be cleared and you can start ordering parts Depending on time constraints, we may set up an online submission portal. If this doesn’t happen, then we will do it through regular email. Time between submission and approval/revision should be < 3 days. If it takes longer than 3 days, please e-mail us and we will get on it right away. Micromouse from a High Level We are trying to build a small robot. Parts that are essential to all mice are the following: Microcontroller 5V Regulators H-Bridges IR Sensors (or maybe a different technology?) Motors Encoders Batteries Gyroscope (not necessary, but useful) Microcontrollers Small, low-power computers Runs custom code that you compile and upload to the controllers Almost all run C/C++ code Provides multiple inputs and outputs Things to consider in your microcontroller choice Clock Speed RAM/Flash memory I/O (Analog or Digital) Size Power consumption/requirements Logic Level (Voltage range) Arduino Software Common platform for microcontrollers C/C++ Simple to use Standard Arduino software used for: All Arduinos Teensy (2.0, ++, 3.0, etc.) with Teensy Loader Modified Arduino software used for: LeafLabs (Maple Mini) Arduino Nano 16 MHz, 32KB Flash, 2KB RAM $10 Teensy 2.0 Common choice, built-in USB Arduino IDE 16 MHz, 32KB Flash, 2KB RAM 25 I/O $16 Teensy 3.0 Built-in USB Arduino IDE 48 MHz 34 I/O 3.3 V logic level $19 mBed Web-based compiler 96 MHz, 512KB Flash, 32KB RAM 25 I/O $60 Maple 72 MHz Runs Arduino code $45 (Mini is $35) Maple Mini Microcontrollers Find more information online! Useful links here: Arduino Teensy http://pjrc.com mbed http://arduino.cc http://mbed.org LeafLabs (Maple Mini) http://leaflabs.com What’s next? E-mail us at [email protected] with your preliminary choice of microcontroller by next Wednesday, October 30th! Include a short blurb including your reasoning/theory behind why you chose the one you did Meet with your team! This is only a little bit important, except for the fact that it’s really important. We will be designing and planning out our future lectures. A schedule will be sent out by e-mail. Next Week Next week’s lecture: Motors and Encoders What are motors and encoders? How are motors controlled? Powering your mouse Attaching an AC 120V to your mouse is not ideal Batteries will probably work better Power consumption, voltage, current, etc.