Making of Micromouse: Amit Raj 2nd Yr ECE SASTRA University

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
LEFT O
MOTOR
C SENSOR
MOTOR O ELECTRONI SESNSO
DRIVER N CS RS
T
RIGHT R
MOTOR O
L
L
E
R
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
Transmitter
frequency greater
IR led
than 1KHz
ADC High pass

of Peak filter , Cut- Receiver
Micro- Detector off freq IR Photodiode
control more than
ler 300Hz
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 www.amitraj.webs.com
Top Down
Side looking sensors :
Initialize ADC
Select ADC
channel
Start ADC
ADC
convers
N0 Yes Read ADC
ion
comple value
te
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
Motors
controller
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 www.amitraj.webs.com
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 .
 Gear’s 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 www.amitraj.webs.com
Drive basics of DC Motor
Red wire Black wire Direction of

rotation
Positive Negative Clock wise
Negative Positive Anti clock wise
Logic Logic Directio

1 0 n
Clock
0 1 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 IC’s 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 5 – Lead stepper
Full Step driving of Stepper Motor
Full step wave drive
4 3 2 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
Full Step driving of Stepper Motor
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
Half Step driving of stepper motor
4 3 2 1
1 0 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
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 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
 L297 & L298
UDN2916
ULN2803
Bi – Polar driving of Stepper Motor
A B C D
1 1 0 0
0 1 1 0
0 0 1 1
1 0 0 1
Sample program
for(p=0;p<=20;p+
+)
{ void delay(unsigned int
PORTD=0xA9; m)
delay(65); {
PORTD=0x65; unsigned int n;
delay(65); while(m--)
PORTD=0x56; for(n=0;n<=100;n++);
delay(65); }
PORTD=0x9A;
delay(65);
}
 With this SW Steppers can’t be controlled individually
SW for steppers :
 Use timers to create delay.
 Use Clear Timer on Compare match

or
Normal Mode
Initialize
Interrupt routine
timer
Give Pulse to
Start Timer stepper
Update Output
Is compare
Stepp register
No
er
target Wait
Reti
reach
ed
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 IC’s 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

 Your mouse is going to need sensors to tell it

These are used to detect the presence or absence

They will also be important in ensuring that the

Commonly used sensors in the field of robotics

 Use IC 555 in Astable mode

 For approximate 50% duty cycle take Ra = 1

ADC High pass

Forward errors begins

Offset errors, which happens

Heading error is known as

If wall is only on leftside

If wall is only on rightside

err_d = err – err_past;

adj = err * kp + err_d * kd ;

 kp is proportional controller constant

 The value of adj is used to either

DC Motors are small, inexpensive and powerful

 These are widely used in robotics for their small size

 A typical DC motor operates at speeds that are far

 Gear reduction is the standard method by which a

 Gear’s reduce the speed of motor and increases the

 DC Motor with Gear

Red wire Black wire Direction of

Negative Positive Anti clock wise

Logic Logic Directio

6 – Lead stepper 8 – Lead stepper

Full step wave drive

Full step 2 phases active

 L297 & L298

6 – Lead stepper 8 – Lead stepper

 Use timers to create delay.

 Use Clear Timer on Compare match

 For better performance of Steppers they should be

 For example a 5 V 500ma motor can be driven at

 Traditional method of using a resistor of

 This method is not recommended as there will be

 Pulse Width Modulation

 Few IC’s that can do the current chopping

Choose the controller that has sufficient

 Amount of FLASH memory to store your program

 Ni-MH & Ni-Cds

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