MAKING OF MICROMOUSE MAKING OF MICROMOUSE

P.Raghavendra Prasad
Final Yr EEE Final Yr EEE
www.raghu.co.nr
INTRODUCTION
Micromouse is an autonomous robot designed to reach
the center of an unknown maze in shortest possible time p
and distance .
www.raghu.co.nr
M
I
CC
R
O
LEFT
MOTOR
C
O
N
SESNSORS
SENSOR
ELECTRONICS
MOTOR
DRIVER
T
R
O
RIGHT
MOTOR
L
L
E
R
www.raghu.co.nr
Basic components of Micromouse: p
Sensors
Motors Motors
Microcontroller
Batteries
www.raghu.conr
SENSORS
Your mouse is going to need sensors to tell it about itself and 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 an appropriate path without hitting any walls
www.raghu.co.nr
Sensors Sensors
Commonly used sensors in the field of robotics
IR Di i l IR Digital sensors
IR analog sensors IR analog sensors
www.raghu.co.nr
IR Digital sensors
Transmitter
IR led connected to 38KHz oscillator IR led connected to 38KHz oscillator
Receiver Receiver
TSOP1738
Advantages
Detects an obstacle at a distance more than 1meter if tuned
perfectly.
No ambient light effect.
Easy to use.
www.raghu.co.nr
Designing a transmitter :
Use IC 555 in Astable mode
For approximate 50% duty cycle take Ra = 1 k ohm
www.raghu.co.nr
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. Responds to IR rays present in ambient light.
Intensity of reflected rays is non-linear with respect to distance of
obstacle
www.raghu.co.nr
IR Analog sensor
www.raghu.co.nr
Modulate IR rays to avoid Ambient light effect : Modulate IR rays to avoid Ambient light effect :
Astable oscillator at Astable oscillator at
frequency greater than
1KHz
Transmitter
IR led
Receiver
High pass
filt C t ff
Peak
ADC
ece ve
IR Photodiode
filter , Cut-off
freq more
than 300Hz
ea
Detector
ADC
of Micro-
controller
obstacle
www.raghu.co.nr
High-Pass filter : g
www.raghu.co.nr
Peak Detector:
www.raghu.co.nr
Errors involved in mouse movement :
Forward error: Forward error:
Forward errors begins when a
mouse is either too close or too
far from the wall ahead
www.raghu.co.nr
Errors involved in mouse movement :
Offset error : 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
www.raghu.co.nr
Errors involved in mouse movement :
Heading error: Heading error:
Heading error is known as pointing at walls
rather than down the middle of the cell
www.raghu.co.nr
Commonly used Sensor arrangement Commonly used Sensor arrangement :
Top Down
Side Looking
www.raghu.co.nr
SENSORS
Top Down Top Down
www.raghu.co.nr
Side looking sensors : Side looking sensors :
www.raghu.co.nr
Initialize ADC
Select ADC channel
Start ADC
ADC
conversio
n
Read ADC value
Yes N0
n
complete
Stop Stop
www.raghu.co.nr
Side looking
Sample code for ADC conversion in AVR controllers : 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 | 0 40 // t t ADC ADCSRA |= 0x40; //starts ADC
while(conversion_not_over()); //waits till ADC conversion completes
ADCSRA |= 0x10; // clears ADIF flag
return(ADCH) // returns ADC result return(ADCH); // returns ADC result
}
int conversion not over(void) int conversion_not_over(void)
{
unsigned int temp;
temp = ADCSRA; p ;
temp = temp & 0x10; // checks for ADIF flag
return(!temp);
}
www.raghu.co.nr
}
Reducing error using PD controller :
Error
Motors
PD
controller controller
www.raghu.co.nr
Error calculating:
If wall is on both sides
err = left adc right adc 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 If err is +ve
Mouse is near to right wall and as a correction it has to move towards left wall
www.raghu.co.nr
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 .
www.raghu.co.nr
DC Motor
DC Motors are small, inexpensive and powerful motors used widely.
These are widely used in robotics for their small size and high
t energy out.
A typical DC motor operates at speeds that are far too high speed 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
www.raghu.co.nr
Choosing a DC Motor g
DC M t ith G h d DC Motor with Gear head
Operating voltage 12V
Speed Speed
Depends on our application
Some available speeds in market
30 RPM
60 RPM
100 RPM 100 RPM
150 RPM
350 RPM 350 RPM
1000 RPM
www.raghu.co.nr
Drive basics of DC Motor Drive basics of DC Motor
Red wire Black wire Direction of rotation
Positive Negative Clock wise
Negative Positive Anti clock wise
Logic Logic Direction Logic Logic Direction
1 0 Clock
0 1 Anti clock
www.raghu.co.nr
Bi Di i l f DC M Bi-Direction control of DC Motor
H Bridge Ckt using transistors for 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 Anti Clock wise B and D
www.raghu.co.nr
H Bridges in ICs to reduce the drive circuit complexity H-Bridges in IC s to reduce the drive circuit complexity
The most commonly used H-Bridges are L293D and
L298 9
L293D has maximum current rating of 600ma
L298 has maximum current rating of 2A g
Both has 2 H-Bridges in them
These are designed to drive inductive loads such as g
relays, solenoids
Can be used to drive 2 DC motors or 1 stepper motor pp
www.raghu.co.nr
PWM
STEPPER MOTOR
STEPPER MOTOR is a brushless DC motor whose rotor rotates
in discrete angular increments when its stator windings are g g
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 magnetized poles.
www.raghu.co.nr
4 Lead stepper
5 Lead stepper
6 Lead stepper 8 Lead stepper
www.raghu.co.nr
Full Step driving of Stepper Motor p g pp
Full step wave drive
4 3 2 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
www.raghu.co.in
Full Step driving of Stepper Motor p g pp
Full step 2 phases active
4 3 2 1
1 1 0 0
0 1 1 0
0 0 1 1
1 0 0 1 1 0 0 1
www.raghu.co.in
Half Step driving of stepper motor
4 3 2 1
1 0 0 0
1 1 0 0 1 1 0 0
0 1 0 0
0 1 1 0
0 0 1 0
0 0 1 1
0 0 0 1
1 0 0 1
www.raghu.co.nr
Choosing a Stepper motor
12 V or 5 V operating voltage p g g
1.8 degree step
6 Lead
250 to 500 ma of current
or
Coil resistance of 20 ohms to 40 ohms Coil resistance of 20 ohms to 40 ohms
Size and shape depends on application
In most of the robotics cube shaped motors are p
preferred with frame size of 3.9 to 4 cm
www.raghu.co.nr
Commonly used ICs for driving Stepper motor Commonly used IC s 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 L293d
L297 & L298
UDN2916
www.raghu.co.nr
ULN2803 ULN2803
www.raghu.co.nr
Bi Polar driving of Stepper Motor g pp
A B C D
1 1 0 0
0 1 1 0
0 0 1 1
1 0 0 1
www.raghu.co.nr
4 Lead stepper
5 Lead stepper
6 Lead stepper 8 Lead stepper
www.raghu.co.nr
Sample program
for(p=0;p<=20;p++)
{{
PORTD=0xA9;
delay(65);
void delay(unsigned int m)
{
PORTD=0x65;
delay(65);
PORTD 0 56
{
unsigned int n;
while(m--)
f
PORTD=0x56;
delay(65);
PORTD=0x9A;
for(n=0;n<=100;n++);
}
PORTD 0x9A;
delay(65);
}
With this SW Steppers cant be controlled individually
www.raghu.co.nr
SW for steppers :
Use timers to create delay.
Use Clear Timer on Compare match
or or
Normal Mode
www.raghu.co.nr
Initialize timer Interrupt routine
Start Timer
Give Pulse to stepper
Update Output
Is
Stepper
target
Wait
compare register
R ti
No
g
reached
Reti
Stop timer
Yes
www.raghu.co.nr
Chopper Driving:
For better performance of Steppers they should be over driven p pp y
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 500ma .
www.raghu.co.nr
Methods of current limiting :
Traditional method of using a resistor of appropriate power in g pp p p
series with common terminal.
This method is not recommended as there will be huge power
wasted in the series resistor wasted in the series resistor.
www.raghu.co.nr
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
www.raghu.co.nr
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 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
www.raghu.co.nr
Batteries:
Choose batteries that can provide high voltage and high power with low weight
Sh ld h t it th 700 h Should have current capacity more than 700 mah
Ni MH & Ni Cds 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 Can provide high current at 3.6v
Should be charged using CCCV charger .
www.raghu.co.nr
You can download this presentation at
wwwraghu co nr www.raghu.co.nr
www.raghu.co.nr