![Page 1: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/1.jpg)
CheezStix!CheezStix!
EE 396 MicromouseEE 396 Micromouse
Spring 2007Spring 2007
Final PresentationFinal Presentation
![Page 2: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/2.jpg)
MembersMembers
Toy Lim – Project ManagerToy Lim – Project Manager Kyle Montpas – Software LeaderKyle Montpas – Software Leader Tyson Kikugawa – Hardware LeaderTyson Kikugawa – Hardware Leader
![Page 3: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/3.jpg)
OverviewOverview
Design and build an autonomous robotic mouse Design and build an autonomous robotic mouse to find its way to the center of a maze as fast as to find its way to the center of a maze as fast as possiblepossible
![Page 4: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/4.jpg)
System Block DiagramSystem Block Diagram
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
![Page 5: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/5.jpg)
DriveDrive
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
![Page 6: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/6.jpg)
DriveDrive
Opted for $250 budget over kitOpted for $250 budget over kit Design to be compact and lightDesign to be compact and light
Smaller stepper motor – 25.4mm x 38mm sq. Smaller stepper motor – 25.4mm x 38mm sq. (versus kit – 39mm x 42.3mm sq.)(versus kit – 39mm x 42.3mm sq.)
H-Bridge chip (SN754410)H-Bridge chip (SN754410)
![Page 7: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/7.jpg)
DriveDrive
![Page 8: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/8.jpg)
SensorSensor
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
![Page 9: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/9.jpg)
SensorsSensors
Sharp Distance Sensor (GP2Y0A21YK)Sharp Distance Sensor (GP2Y0A21YK)
![Page 10: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/10.jpg)
SensorSensor
Placement (Sides)Placement (Sides) Placed facing Placed facing
outward to shorten outward to shorten distance for more distance for more accurate readingaccurate reading
Angle to see into the Angle to see into the next cellnext cell
Adjusts to keep side Adjusts to keep side values equalvalues equal
30º 30º
![Page 11: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/11.jpg)
SensorsSensors A/D Converter – MAX118A/D Converter – MAX118 Sensor output – analog (voltage), Sensor output – analog (voltage),
depending on distancedepending on distance Rabbit reads in digitalRabbit reads in digital Sensor --/--> RabbitSensor --/--> Rabbit
![Page 12: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/12.jpg)
SensorsSensors
0
0.5
1
1.5
2
2.5
3
3.5
0 5 10 15 20 25 30
Distance (cm)
Vo
ltag
e
Voltage Reference chip – MAX6029Voltage Reference chip – MAX6029 Using 3.3V VREF+ for ADC since the max Using 3.3V VREF+ for ADC since the max
sensor output was found to be 3.12Vsensor output was found to be 3.12V
![Page 13: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/13.jpg)
SensorSensor
![Page 14: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/14.jpg)
PowerPower
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
![Page 15: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/15.jpg)
PowerPower
Li-Ion BatteriesLi-Ion Batteries 3.7 Volt, 2 Amp-hour rating3.7 Volt, 2 Amp-hour rating
DC Converter – MAX1709DC Converter – MAX1709 Step up to 5 VoltsStep up to 5 Volts Can handle up to 4 A currentCan handle up to 4 A current
![Page 16: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/16.jpg)
PowerPower
![Page 17: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/17.jpg)
Added Design Feature - USBAdded Design Feature - USB
Rabbit Rabbit µµPPRCM 2020RCM 2020
DriveDrive
H-BridgeH-BridgeDriver ICDriver IC
BipolarBipolarMotorsMotors
FT232RLFT232RL
PCPC
USBUSBRS232RS232 RS232RS232EmulatorEmulatorDynamic CDynamic C
ProgrammingProgrammingCableCable
ACACAdapterAdapter
PowerPower
LiPoLiPoBatteriesBatteries
5V DC-DC5V DC-DCConverterConverter
Li+Li+ChargerCharger
SenseSense
SideSideSensorsSensors ADCADC
3.3V V3.3V VREFREF
CheezStix! CheezStix! µµMouseMouse
![Page 18: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/18.jpg)
Added Design Feature - USBAdded Design Feature - USB
USB interfacingUSB interfacing Used in both power and control Used in both power and control
subsystemssubsystems Programming – FT232RProgramming – FT232R Battery Charging – MAX1811Battery Charging – MAX1811
Charge Current/Voltage SelectCharge Current/Voltage Select
![Page 19: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/19.jpg)
Added Design Feature - USBAdded Design Feature - USB
![Page 20: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/20.jpg)
Added Design Feature - USBAdded Design Feature - USB
![Page 21: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/21.jpg)
PowerPower
![Page 22: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/22.jpg)
ControlControl Rabbit 2000 microprocessorRabbit 2000 microprocessor
![Page 23: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/23.jpg)
The PCBThe PCB
PCB over self wiringPCB over self wiring Cost moreCost more CleanerCleaner Less errorLess error
KiCADKiCAD Open-Source/FreeOpen-Source/Free 3D View3D View
![Page 24: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/24.jpg)
The PCB - LayoutThe PCB - LayoutSilkScreeSilkScree
nn
![Page 25: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/25.jpg)
The PCB - LayoutThe PCB - Layout
Top-ViewTop-View
![Page 26: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/26.jpg)
The PCB - LayoutThe PCB - Layout
Bottom-ViewBottom-View
![Page 27: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/27.jpg)
Physical LayoutPhysical Layout
FRONTFRONTSIDESIDE
![Page 28: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/28.jpg)
Current IssuesCurrent Issues
Charger voltage source and current are Charger voltage source and current are manually selectedmanually selected Use 3-pin jumper between source connectorsUse 3-pin jumper between source connectors Use a charge current selection switchUse a charge current selection switch Maximum charger current is 500mAMaximum charger current is 500mA
PCBPCB LateLate Soldering small componentsSoldering small components
![Page 29: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/29.jpg)
Future ImprovementsFuture Improvements
Add addition logic (transistors and diodes) Add addition logic (transistors and diodes) to the charger circuit to make it automatic, to the charger circuit to make it automatic, and increase charging currentand increase charging current
Improving the program…Improving the program… Store map of mazeStore map of maze Solve shortest pathSolve shortest path Etc.Etc.
![Page 30: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/30.jpg)
Questions?Questions?
http://cheezstix.homeip.net
![Page 31: CheezStix! EE 396 Micromouse Spring 2007 Final Presentation](https://reader035.vdocuments.mx/reader035/viewer/2022062516/56649d6d5503460f94a4d526/html5/thumbnails/31.jpg)
The PCB - LayoutThe PCB - Layout