Making of Micromouse

MAKING OF
MICROMOUSE
Amit Raj
2nd Yr ECE
SASTRA University
www.amitraj.webs.com
INTRODUCTION
Micromouse is an autonomous robot

designed to reach the center of an unknown
maze in shortest possible time and distance
.
M
I
C
R
O
LEFT
MOTOR
MOTOR
DRIVER
RIGHT
MOTOR
C
O
N
T
R
O
L
L
E
R
SENSOR
ELECTRONI
CS
SESNSO
RS
Basic components of Micromouse:

Sensors
Motors
Microcontroller
Batteries
SENSORS
Your mouse is going to need sensors to tell it
about itself and its environment.
These are used to detect the presence or absence
of walls and to verify your position in the maze.
They will also be important in ensuring that the
mouse maintains an appropriate path without
hitting any walls
Sensors
Commonly used sensors in the field of robotics
IR Digital sensors
IR analog sensors
IR Digital sensors
Transmitter
IR led connected to 38KHz oscillator
Receiver
TSOP1738
Advantages
Detects an obstacle at a distance more than
1meter if tuned perfectly.
No ambient light effect.
Easy to use.
Designing a transmitter :
Use IC 555 in Astable mode
For approximate 50% duty cycle take Ra = 1

k ohm
Receiver :
IR Analog sensors
Transmitter
IR LED
Receiver
IR Photodiode
Advantages:
Can measure distance up to 15 cm.
Disadvantages:
Responds to IR rays present in ambient light.
Intensity of reflected rays is non-linear with respect to
distance of obstacle
IR Analog sensor
Modulate IR rays to avoid Ambient light effect :

Astable oscillator at
frequency greater
than 1KHz
ADC
of
Microcontrol
ler
Peak
Detector
Transmitter
IR led
High pass
filter , Cutoff freq
more than
300Hz
Receiver
IR Photodiode
obstacle
High-Pass filter :
Peak Detector:
Errors involved in mouse movement :

Forward error:
Forward errors begins

when a mouse is either
too close or too far from
the wall ahead

Offset error :
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:
Heading error is known as

pointing at walls rather than down
the middle of the cell
Commonly used Sensor arrangement :
Top Down
Side Looking
SENSORS
Top Down
Side looking sensors :
Initialize ADC
Select ADC
channel
Start ADC
N0
ADC
convers
ion
comple
te
Yes
Read ADC
value
Stop
Side looking
Sample code for ADC conversion in AVR controllers :
Unsigned int left_adc;
left_adc = adc(0xE0);
unsigned int adc(unsigned int temp)
{
ADMUX = temp;
//selects ADC channel
ADCSRA |= 0x40;
//starts ADC
while(conversion_not_over()); //waits till ADC conversion
completes
ADCSRA |= 0x10;
// clears ADIF flag
return(ADCH);
// returns ADC result
}
int conversion_not_over(void)
{
unsigned int temp;
temp = ADCSRA;
temp = temp & 0x10; // checks for ADIF
flag
return(!temp);
}
Reducing error using PD controller :
Error
PD
controller
Motors
Error calculating:
If wall is on both sides
err = left_adc right_adc;
If err is +ve
Mouse is near to left wall and as a correction it has to move
towards right wall
If wall is only on leftside
err = left_adc reff_value;
If err is +ve
Mouse is near to left wall and as a correction it has to move
towards right wall
If wall is only on rightside
err = right_adc reff_value;
If err is +ve
Mouse is near to right wall and as a correction it has to move
towards left wall
Implementing PD controller:
err_d = err err_past;

adj = err * kp + err_d * kd ;
kp is proportional controller constant
kd is derivative controller constant
The value of adj is used to either
speed up or speed down one of the
wheel .
DC Motor
DC Motors are small, inexpensive and powerful
motors used widely.
These are widely used in robotics for their small size

and high energy out.
A typical DC motor operates at speeds that are far
too high speed to be useful, and torque that are far too
low.
Gear reduction is the standard method by which a
motor is made useful .
Gears reduce the speed of motor and increases the
torque
Choosing a DC Motor
DC Motor with Gear
head
Operating voltage 12V
Speed
Depends on our
application
Some available speeds in
market
30 RPM
60 RPM
100 RPM
150 RPM
350 RPM
1000 RPM
Drive basics of DC Motor

Red wire
Black wire
Positive
Negative
Negative
Logic
1
0
Positive
Logic
0
1
Direction of
rotation
Clock wise
Anti clock wise
Directio
n
Clock
Anti
clock
Bi-Direction control of DC Motor

H-Bridge Ckt using transistors for
bidirectional driving of DC motor
Direction
Pulse to
Clock wise
A and C
Anti Clock wise
B and D
H-Bridges in ICs to reduce the drive circuit

complexity
The most commonly used H-Bridges are
L293D and
L298
L293D has maximum current rating of
600ma
L298 has maximum current rating of 2A
Both has 2 H-Bridges in them
These are designed to drive inductive loads
such as
relays, solenoids
Can be used to drive 2 DC
motors or 1
stepper motor
PWM
STEPPER
MOTOR
STEPPER MOTOR is a brushless DC motor whose

rotor rotates in discrete angular increments when
its stator windings are energized in a programmed
manner.
Rotation occurs because of magnetic interaction
between rotor poles and poles of sequentially
energized stator windings.
The rotor has no electrical windings, but has
salient and/or magnetized poles.
4 Lead stepper
6 Lead stepper
5 Lead stepper
8 Lead stepper
Full Step driving of Stepper Motor

Full step wave drive
Full Step driving of Stepper Motor

Full step 2 phases active
Half Step driving of stepper motor
Choosing a Stepper motor

12 V or 5 V operating voltage
1.8 degree step
6 Lead
250 to 500 ma of current
or
Coil resistance of 20 ohms to 40 ohms
Size and shape depends on application
In most of the robotics cube shaped
motors are preferred with frame size of 3.9
to 4 cm
Commonly used ICs for driving Stepper motor

ULN2803
It has 8 channels
It channel has maximum current rating of
500ma
can be used to drive 2 unipolar stepper motors
L293d
L297 & L298
UDN2916
ULN2803
Bi Polar driving of Stepper Motor
4 Lead stepper
6 Lead stepper
5 Lead stepper
8 Lead stepper
Sample program
for(p=0;p<=20;p+
+)
{
PORTD=0xA9;
delay(65);
PORTD=0x65;
delay(65);
PORTD=0x56;
delay(65);
PORTD=0x9A;
delay(65);
}
With this
SW Steppers cant
void delay(unsigned int

m)
{
unsigned int n;
while(m--)
for(n=0;n<=100;n++);
}
be controlled individually
SW for steppers :
Use timers to create delay.
Use Clear Timer on Compare match
or
Normal Mode
Initialize
timer
Interrupt routine
Give Pulse to
stepper
Start Timer
Is
Stepp
er
target
reach
ed
Update Output
compare
register
No
Wait
Reti
Yes
Stop
timer
Chopper Driving:
For better performance of Steppers they should be
over driven and current should be limited .
For example a 5 V 500ma motor can be driven at
more than 15V but current in the coil should be
limited to approximately 500ma .
Methods of current limiting :

Traditional method of using a resistor of
appropriate power in series with common terminal.
This method is not recommended as there will be
huge power wasted in the series resistor.
Best method of current limiting :

Pulse Width Modulation
Motors should be driven at 3 to 4 times the rated
voltage.
Measure the current in the coil if it raises to 10%
more than the limit switch off the supply to motors .
If it falls to 10% below the limit switch on the
supply to motors .
Few ICs that can do the current chopping
1. L297 & L298
2. UDN 2916
3. UCN 5804
Microcontroller:
Choose the controller that has sufficient
Amount of FLASH memory to store your program
Amount of RAM memory for variables
Number of Timers
Min of TWO 16 bit timers or ONE 16 bit timer with
TWO output compare channels
and ONE 8 bit
timer
Number of ADC channels
Good operating speed
ATMEGA32 of Amtel made is one that is suitable
Batteries:
Choose batteries that can provide high voltage and high power with
low weight
Should have current capacity more than 700 mah
Ni-MH & Ni-Cds
Can provides high current at 1.2 V
Can be charged by Constant Current or Constant Voltage chargers
Li Ion
Can provide high current at 3.6v
Should be charged using CCCV charger .
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MAKING OF

Micromouse is an autonomous robot

Basic components of Micromouse:

For approximate 50% duty cycle take Ra = 1

Modulate IR rays to avoid Ambient light effect :

Errors involved in mouse movement :

Forward errors begins

Errors involved in mouse movement :

Offset errors, which happens

Errors involved in mouse movement :

Heading error is known as

Commonly used Sensor arrangement :

Side looking sensors :

Reducing error using PD controller :

err_d = err err_past;

These are widely used in robotics for their small size

Drive basics of DC Motor

Bi-Direction control of DC Motor

Anti Clock wise

H-Bridges in ICs to reduce the drive circuit

STEPPER MOTOR is a brushless DC motor whose

Full Step driving of Stepper Motor

Full Step driving of Stepper Motor

Half Step driving of stepper motor

Choosing a Stepper motor

Commonly used ICs for driving Stepper motor

Bi Polar driving of Stepper Motor

void delay(unsigned int

Methods of current limiting :

Best method of current limiting :

You can download this

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