Contents:
Section 1 – Competition Rules
Section 2 – Introduction
Section 3 – Buggy Changes
Section 4 – Research
Section 5 – Tuning
Section 6 – Evaluation
Section 7 –
Section 8 –
Section 9 –
Section 10 –
Section 11 –
Section 12 –
Brief:
I was briefed to come up with a program which is compatible with a Pic
One buggy that has the capability of reaching the 2x2 section in the middle of a
16x16 maze. The Pic One buggy was originally designed in 2007 to compete in
the micromouse maze-solving competition and went on to win the best
engineered mouse in the UK.
Micromouse?
Micromouse is a competition where small robots, “mice,” compete
against one another in a race to solve a maze. This maze consists of 18cm
square cells with walls 5cm high, spread out across a 16x16 grid. The mice
must find their way from the starting cell into the finish (2x2 area), navigating
through the combinations of walls build to confuse your buggy. As the mice go
through the maze they are simultaneously plotting the walls that they see in
the maze solving chips electronically erasable programmable read only
memory (EEPROM). It does this because the buggy does the maze twice, the
first time to check every route plotting the walls it sees, the second to execute
the fastest possible route.
Television remote – The biggest change that’s been made to the buggy is the
addition of a TV remote, this has been useful in many ways, the first being that
using it’s arrow keys I am able to force the buggy to go in that direction
without having to construct a maze that consists of each move/turn. Instead I
can sit there with a TV remote and check the turn value from where I program,
this makes the whole process of programming far more quick and efficient.
Batteries – Personally I’ve found that the second best improvement that’s
been made is the additional lines of programming which state whether or not
the buggy will be able to run at maximum capacity with the battery that it’s
currently got in it. These lines of code have been put in at the top of the
program so that as soon as you turn it on it checks for “bad battery.”
Another change that has been made to the battery is that a new set of
batteries have been bought as the old set weren’t providing a constant rate of
power. Therefore the tuning values were never the same, I checked the
voltage of the batteries every time but it always said they were good. However
the buggy’s values were still differing, but I tested values without the motors
running. With the motors running the output voltage of the battery was only
6v. The reason for this difference was based upon the internal resistance, with
a higher internal resistance; the output voltage while motors are running is
lower. Before I found this out I continued to change the values, so I never
stopped tuning.
LED Changes – In the program many lines of code have been added to allow
the LED’s to show the user if the values of the sensors are close/near to the
walls. They also tell you if the battery that’s currently in the buggy has an
active voltage (Internal resistance) that will be able to allow the buggy to run
at its maximum capacity. If the active voltage isn’t met then the LED’s flash in
sequence to show that the battery is bad.
Pic Chip Changes – The buggies 18x chip has been changed to a 18M2 to
increase its processing speed. Obviously in doing this, many lines of code had
to have been changed to make it compatible with the 18M2 chip. However the
outcome is that it now the buggies overall speed has increased.
Aesthetics - A few minor aesthetic changes have been made, like the addition
of bumpers on the front. These are one of the most vital additions to the buggy
as before the bumpers were implemented, during testing the buggy may hit
the front of the wall, then all the careful calibration of the sensors would’ve
needed to be changed.
Start Button – The buggies start button coding has been changed so that now
not only does pressing the start button begin the program, different
combinations of presses can be done so that the buggy runs different sets of
programs before the main program.
If before you run the main program, you press the start button twice
then the buggies current sensor values get changed to the values that are
currently being read by the buggy. The main reason we added this was
because in the competition the walls may have a different level of reflectivity,
meaning that the value that would be read by the sensors would be far off as
there would be light going back into the receiver.
The completion of this task would’ve been impossible without vast
amounts of research on the topic. The buggies motors and sensors was the
biggest focus when researching. Designer’s manuals had to be constantly
referred to as it was in here that the test programs were found. From these
test programs I was told to deduce the way the buggy controls the sensors and
motors as I was previously unfamiliar with the 28x1 chip. Once I found all this
information out I created a program that got the buggy to move and sense the
walls. From there I continuously expanded on the program until it was able to
complete the maze.
In doing all this research I’ve acquired many new programming abilities,
such as the knowledge of what EEPROM (Electronically Erasable Programmable
Read Only Memory) is and how to take what it stores and see it as a series of
dashes that show the direction it decided to take. Using this you are able to get
a map of every possible route the buggy took. This is what it uses to do the
second run as fast as possible (finding the most direct route).
Some of the research that’s been done has been on the buggies chips
and how they are programmed and the difference between an 18x chip and an
18M2 and how you can use the same code by changing only a few lines.
Tuning – Tuning has been the most time consuming process that I’ve ever
done, however it is arguably the most important stage of the whole project.
The main reason why I spent so much time tuning the buggy is; for the buggy
to make precise turns, careful calibration must be done to the buggies values.
Every aspect of tuning is crucial to the functionality of the buggy, everything
from the angle at which it turns, to the distance it goes forwards before
turning. During tuning you must always be aware of the consiquences of you
actions, you must also be aware of the effect this has on the whole program.
E.g.
If you change the distance it goes forwards before turn then you have to
change the distance you go forward during the turn, if you change the distance
you go forward during the turn then you have to change the distance it goes
forward after the turn, if you change the distance it goes forwards after the
turn then you have to change the distance it goes forwards before you begin
sensing for the next turn, if you change the distance it goes before you begin
sensing for the next turn then you have to change......
I’ve completed the brief as the buggy can complete the maze both ways,
the route where it checks everything and the most direct route. It does so in no
winning speed however it carefully plots every turn in its EEPROM.
battery feed to motors, wheel size (less accurate),
Improvements:
A possible improvement that is still to be made is to change the 28x1
chip to a 28x2 chip; in the end the aim would’ve been to put all of the lines of
code on one chip. This would dramatically increase the speed of decision
making of the buggy. It would change it so that instead of stopping and
checking, it would be near seamless going through the corridor. In some cases
it would be possible for the buggy to realise the circumstance that it’s in and
move accordingly.
Another improvement
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