MAKING OF MICROMOUSE

P.Raghavendra Prasad Final Yr EEE

www.raghu.co.nr

INTRODUCTION

Micromouse is an autonomous robot designed to reach p the center of an unknown maze in shortest possible time and distance .

www.raghu.co.nr

LEFT MOTOR MOTOR DRIVER RIGHT MOTOR

M I C R O C O N T R O L L E R
SENSOR ELECTRONICS

SESNSORS

www.raghu.co.nr

Basic components of Micromouse: p

Sensors Motors Microcontroller Batteries

www.raghu.conr

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

www.raghu.co.nr

Sensors
Commonly used sensors in the field of robotics IR Di i l sensors Digital IR analog sensors

www.raghu.co.nr

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.

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. 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 :

Astable oscillator at frequency greater than 1KHz Transmitter IR led

ADC of Microcontroller

Peak ea Detector

High pass filter Cut-off filt , C t ff freq more than 300Hz

Receiver ece ve IR Photodiode

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 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 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 is known as pointing at walls rather than down the middle of the cell

www.raghu.co.nr

Commonly used Sensor arrangement :

Top Down Side Looking

SENSORS

www.raghu.co.nr

Top Down

www.raghu.co.nr

Side looking sensors :

www.raghu.co.nr

Initialize ADC

Select ADC channel

Start ADC

N0

ADC conversio n complete

Yes

Read ADC value

Stop

www.raghu.co.nr

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; | 0 40 //starts ADC // t t while(conversion_not_over()); //waits till ADC conversion completes ADCSRA |= 0x10; // clears ADIF flag return(ADCH); return(ADCH) // returns ADC result } int conversion not over(void) 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

PD controller

Motors

www.raghu.co.nr

Error calculating:
If wall is on both sides err = left adc right adc 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

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 energy out. t 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 with G Motor ith Gear head h d 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

www.raghu.co.nr

Drive basics of DC Motor

Red wire Positive Negative Black wire Negative Positive Direction of rotation Clock wise Anti clock wise

Logic 1 0

Logic 0 1

Direction Clock Anti clock

www.raghu.co.nr

Bi-Direction Bi Di i control of DC M l f Motor

H-Bridge H Bridge Ckt using transistors for bidirectional driving of DC motor Direction Clock wise Anti Clock wise Pulse to A and C B and D

www.raghu.co.nr

H-Bridges IC s H Bridges in ICs to reduce the drive circuit complexity The most commonly used H-Bridges are L293D and 9 L298 L293D has maximum current rating of 600ma g L298 has maximum current rating of 2A Both has 2 H-Bridges in them g These are designed to drive inductive loads such as relays, solenoids pp Can be used to drive 2 DC motors or 1 stepper motor

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 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 1 0 0 0

3 0 1 0 0

2 0 0 1 0

1 0 0 0 1

www.raghu.co.in

Full Step driving of Stepper Motor p g pp

Full step 2 phases active

4 1 0 0 1

3 1 1 0 0

2 0 1 1 0

1 0 0 1 1

www.raghu.co.in

Half Step driving of stepper motor

4 1 1 0 0 0 0 0 1

3 0 1 1 1 0 0 0 0

2 0 0 0 1 1 1 0 0

1 0 0 0 0 0 1 1 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 Size and shape depends on application p In most of the robotics cube shaped motors are preferred with frame size of 3.9 to 4 cm

www.raghu.co.nr

Commonly used ICs for driving Stepper motor IC s 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

www.raghu.co.nr

ULN2803

www.raghu.co.nr

Bi Polar driving of Stepper Motor g pp

A 1 0 0 1

B 1 1 0 0

C 0 1 1 0

D 0 0 1 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); PORTD=0x65; delay(65); PORTD=0x56; PORTD 0 56 delay(65); PORTD 0x9A; PORTD=0x9A; delay(65); }

void delay(unsigned int m) { unsigned int n; while(m--) for(n=0;n<=100;n++); f }

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 Normal Mode

www.raghu.co.nr

Initialize timer

Interrupt routine Give Pulse to stepper

Start Timer

Is Stepper target g reached Yes Stop timer

No Wait

Update Output compare register Reti R ti

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 .

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 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 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 Should have current capacity more th 700 mah Sh ld h t it than h

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 Should be charged using CCCV charger .

www.raghu.co.nr

You can download this presentation at www.raghu.co.nr www raghu co nr

www.raghu.co.nr