2019/2020 Department of Engineering,
Design, and Mathematics University of
the West of England
MICROMOUSE REPORT
Course: UFMFKA-30-2 - Microcontrollers applications
group lab 19sep_1
Module Tutors: Wenhao Zhang
Submission Date
1
, TABLE CONTENTS :
SECTION 1 : PROJECT INTRODUCTION ................................................................. 4
1.1 Introduction: ......................................................................................... 4
1.2 Aims and Objectives: ............................................................................. 4
SECTION 2: PRIMARY INVESTIGATION ................................................................ 6
2.1 Conceptual Design and justification........................................................ 6
2.1.1 Conceptual Design .............................................................................. 6
2.1.2 Justification of Design .......................................................................... 6
2.2 Hardware and/or software design .......................................................... 11
2.2.1 Hardware Design: ...............................................................................11
A) Sensor Board..................................................................................... 11
B) Microcontroller Board ...................................................................... 11
C) Motor Board ..................................................................................... 12
2.2.2 Software Design ............................................................................... 10
A) ADC for Sensing ................................................................................ 11
B)I/O, Timer, PWM,QEI: ........................................................................ 16
C) UART: ................................................................................................ 16
D) Software combining .......................................................................... 18
E) Navigation .......................................................................................... 20
2.3 Component testing and evaluation.......................................................... 21
A) SensorTests ....................................................................................... 21
B) )Summary of Control and Navigation Tests ......................................28
SECTION 3: SECONDARY INVESTIGATION ........................................................... 29
3.1 PID Control ...........................................................................................29
3.1.1 PID tuning and simulation ................................................................. 29
3.2 Serial Communication ........................................................................... 34
3.2.1 Conceptual Design ............................................................................. 34
2
, 3.2.2 Pseudo Code....................................................................................... 36
3.2.3 SPI.................................................................................................... 38
3.3 Motor control .................................................................................... 39
3.3.1 Design of a motor control board ...................................................... 39
3.3.2 Motor velocity control using PWM .................................................. 40
3.4 Maze solving ......................................................................................... 43
3.4.1 Comparison of algorithms and simulation......................................... 43
SECTION 4. SYSTEM INTERATION ....................................................................... 48
4.1 Hardware Design................................................................................ 48
4.2 Software Design ................................................................................... 49
SECTION 5. PROJECT MANAGEMENT ................................................................... 51
5.1 Task Allocation and Description ............................................................ 51
5.2 Gantt chart ........................................................................................... 51
5.3 Budget management ............................................................................. 54
5.4 Problem and solving ............................................................................. 55
SECTION 6. GROUP WORK REFLECTION .............................................................. 56
SECTION 7.CONCLUSION ..................................................................................... 56
SECTION 8.IMPROVEMENT .................................................................................. 57
SECTION 9.REFERENCES....................................................................................... 58
SECTIOPN 10. APPENDIX ...................................................................................... 59
10.1 Schematic and PCB.................................................................................59
3
, SECTION 1 : PROJECT INTRODUCTION
1.1 Introduction :
For students from BEng / MEng Electronic Engineering level 2, the design,
development and testing of a micro-control-based embedded device through the use of a
handheld, compact robot call Micromouse will take place in typical groups of four
students. Students are expected to compete at the end of the course with their
Micromouse robot. Mouse will win the award with the fastest time to go downtown.
This document provides a report on the development, construction and testing of a
smart mobile robot created to compete in a competition for 'Micromouse.' I planned, built
and programmed the robot Micromouse over the two term periods of this academic year.
This paper will describe all the problems I encountered in the design and development of
this robot, the solutions I have found and the reasons I have to select those solutions.
what is Micromouse?
“Micromouse is an occurrence that solves a labyrinth by tiny robot mice. The
labyrinth is composed of an 18-by-18 cell grid with 5 cm walls each 1.2 cm thick.
The mices are completely autonomous robots which need to be able to enter the
central area of the maze with no help from a predetermined starting location. The mouse
will have to track its location, explore the walls, map out the labyrinth and detect when
the target has been achieved. Once you have found the optimal path, the mouse will
start the path as soon as possible..”
4
Design, and Mathematics University of
the West of England
MICROMOUSE REPORT
Course: UFMFKA-30-2 - Microcontrollers applications
group lab 19sep_1
Module Tutors: Wenhao Zhang
Submission Date
1
, TABLE CONTENTS :
SECTION 1 : PROJECT INTRODUCTION ................................................................. 4
1.1 Introduction: ......................................................................................... 4
1.2 Aims and Objectives: ............................................................................. 4
SECTION 2: PRIMARY INVESTIGATION ................................................................ 6
2.1 Conceptual Design and justification........................................................ 6
2.1.1 Conceptual Design .............................................................................. 6
2.1.2 Justification of Design .......................................................................... 6
2.2 Hardware and/or software design .......................................................... 11
2.2.1 Hardware Design: ...............................................................................11
A) Sensor Board..................................................................................... 11
B) Microcontroller Board ...................................................................... 11
C) Motor Board ..................................................................................... 12
2.2.2 Software Design ............................................................................... 10
A) ADC for Sensing ................................................................................ 11
B)I/O, Timer, PWM,QEI: ........................................................................ 16
C) UART: ................................................................................................ 16
D) Software combining .......................................................................... 18
E) Navigation .......................................................................................... 20
2.3 Component testing and evaluation.......................................................... 21
A) SensorTests ....................................................................................... 21
B) )Summary of Control and Navigation Tests ......................................28
SECTION 3: SECONDARY INVESTIGATION ........................................................... 29
3.1 PID Control ...........................................................................................29
3.1.1 PID tuning and simulation ................................................................. 29
3.2 Serial Communication ........................................................................... 34
3.2.1 Conceptual Design ............................................................................. 34
2
, 3.2.2 Pseudo Code....................................................................................... 36
3.2.3 SPI.................................................................................................... 38
3.3 Motor control .................................................................................... 39
3.3.1 Design of a motor control board ...................................................... 39
3.3.2 Motor velocity control using PWM .................................................. 40
3.4 Maze solving ......................................................................................... 43
3.4.1 Comparison of algorithms and simulation......................................... 43
SECTION 4. SYSTEM INTERATION ....................................................................... 48
4.1 Hardware Design................................................................................ 48
4.2 Software Design ................................................................................... 49
SECTION 5. PROJECT MANAGEMENT ................................................................... 51
5.1 Task Allocation and Description ............................................................ 51
5.2 Gantt chart ........................................................................................... 51
5.3 Budget management ............................................................................. 54
5.4 Problem and solving ............................................................................. 55
SECTION 6. GROUP WORK REFLECTION .............................................................. 56
SECTION 7.CONCLUSION ..................................................................................... 56
SECTION 8.IMPROVEMENT .................................................................................. 57
SECTION 9.REFERENCES....................................................................................... 58
SECTIOPN 10. APPENDIX ...................................................................................... 59
10.1 Schematic and PCB.................................................................................59
3
, SECTION 1 : PROJECT INTRODUCTION
1.1 Introduction :
For students from BEng / MEng Electronic Engineering level 2, the design,
development and testing of a micro-control-based embedded device through the use of a
handheld, compact robot call Micromouse will take place in typical groups of four
students. Students are expected to compete at the end of the course with their
Micromouse robot. Mouse will win the award with the fastest time to go downtown.
This document provides a report on the development, construction and testing of a
smart mobile robot created to compete in a competition for 'Micromouse.' I planned, built
and programmed the robot Micromouse over the two term periods of this academic year.
This paper will describe all the problems I encountered in the design and development of
this robot, the solutions I have found and the reasons I have to select those solutions.
what is Micromouse?
“Micromouse is an occurrence that solves a labyrinth by tiny robot mice. The
labyrinth is composed of an 18-by-18 cell grid with 5 cm walls each 1.2 cm thick.
The mices are completely autonomous robots which need to be able to enter the
central area of the maze with no help from a predetermined starting location. The mouse
will have to track its location, explore the walls, map out the labyrinth and detect when
the target has been achieved. Once you have found the optimal path, the mouse will
start the path as soon as possible..”
4
