Micromouse Meeting #2 - UCLA IEEE Micromouse

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Transcript Micromouse Meeting #2 - UCLA IEEE Micromouse

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
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Must traverse 16 maze cells, which must include right turns, left turns,
and dead ends.
$150 deposit

$500 in funding from IEEE
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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

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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
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Can be a little micro-management-y
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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
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When applying for funding, we will request three documents
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Parts List/BOM with datasheets for active IC’s and parts
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List of all the parts, part number, cost, and link
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Datasheets for all active parts
Preliminary Hardware Design
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Schematic Outline of hardware I/O systems
Preliminary Software Design
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Quick, high-level drawing of software plan
Sample Parts List
Sample Hardware Design
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This is a very crude hardware I/O
layout

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Probably about 80-90% of what we
will be looking for in your design
Things missing from this design
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Labels on pin headers
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Details of the encoders
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Where are the motors?
Sample Software Design
For each cell:
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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
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High-level drawing of software
systems of the mouse
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Feedback control (PID?)
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Left/Right/U-turn decision making
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Maze-solving logic overview
Algorithms
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Floodfill
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http://web.cecs.pdx.edu/~edam/
Reports/2001/DWillardson.pdf
Approval
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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
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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
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We are trying to build a small robot. Parts that are
essential to all mice are the following:
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Microcontroller
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5V Regulators
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H-Bridges
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IR Sensors (or maybe a different technology?)
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Motors
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Encoders
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Batteries
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Gyroscope (not necessary, but useful)
Microcontrollers
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Small, low-power computers
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Runs custom code that you compile and upload to the controllers
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Almost all run C/C++ code
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Provides multiple inputs and outputs
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Things to consider in your microcontroller choice
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Clock Speed
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RAM/Flash memory
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I/O (Analog or Digital)
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Size
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Power consumption/requirements
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Logic Level (Voltage range)
Arduino Software
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Common platform for microcontrollers
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C/C++
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Simple to use
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Standard Arduino software used for:
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All Arduinos
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Teensy (2.0, ++, 3.0, etc.) with Teensy Loader
Modified Arduino software used for:
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LeafLabs (Maple Mini)
Arduino Nano
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16 MHz, 32KB Flash, 2KB RAM
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$10
Teensy 2.0
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Common choice, built-in USB
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Arduino IDE
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16 MHz, 32KB Flash, 2KB RAM
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25 I/O
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$16
Teensy 3.0
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Built-in USB
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Arduino IDE
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48 MHz
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34 I/O
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3.3 V logic level
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$19
mBed
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Web-based compiler
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96 MHz, 512KB Flash, 32KB RAM
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25 I/O
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$60
Maple
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72 MHz
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Runs Arduino code
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$45 (Mini is $35)
Maple Mini
Microcontrollers
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Find more information online! Useful links here:
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Arduino
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Teensy
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http://pjrc.com
mbed
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http://arduino.cc
http://mbed.org
LeafLabs (Maple Mini)
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http://leaflabs.com
What’s next?
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E-mail us at [email protected] with your preliminary
choice of microcontroller by next Wednesday, October 30th!
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Include a short blurb including your reasoning/theory behind why you
chose the one you did
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Meet with your team! This is only a little bit important, except for the
fact that it’s really important.
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We will be designing and planning out our future lectures. A
schedule will be sent out by e-mail.
Next Week
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Next week’s lecture: Motors and Encoders
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What are motors and encoders?
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How are motors controlled?
Powering your mouse
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Attaching an AC 120V to your mouse is not ideal
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Batteries will probably work better
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Power consumption, voltage, current, etc.