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Fast D.A.D.I Team Members • Dale Balsis • Aaron Tsutsumi • Dennis How • Ikaika Ramos Overall Design • • • • • • Side Sensing PCB etching interconnection Flood-Filled Algorithm Motor Driver IC Power Switch and LIGHT Debugging Lights Initial Goals Met • • • • • WE HAD FUN AND LEARNED A LOT! Tracks & Finds Center Aesthetically pleasing (rims, light, UH LOGO, paint) Working mouse prior mini-comp. Made it to Regional Competition Structure of Design • PCB etching – Used Pad2Pad to design etch. – Ended up with two different boards due to circuit redesign. • Side Sensors – Used Sharp infrared analog sensors. – Used a Maxim 114 IC to do the analog-todigital conversion of the sensor signal. Structure of Design (cont.) • Motor Driver IC – Allegro 5804 IC, external circuitry only 4 diodes for each chip – Didn’t use half-step, one-phase inputs, only used direction and step inputs • Power Circuit – 5V linear regulator to power ICs and LEDs. – 3.3V switching regulator to power motors. Structure of Design (cont.) • Debugging Lights – Lights to tell whether a front, left or right wall has been sensed. – Light to indicate when the step count for the cell has been reached. • Flood-fill algorithm – This algorithm is a way to try to reach the center of the maze quickly. – Once center is found, the maze can be flooded to find the shortest path. Design Decisions • • • • Hardware Unipolar vs. Bipolar stepper motors Motor Driver ICs vs. MOSFETs How to implement side sensors Switching vs. linear voltage regulators • • • • Software How many of the output bits from the A/D converter to use How to implement movement and alignment How to store the maze cell variables How to implement the flood-fill algorithm Final Status • 8th Place Regional Competition • Non competition Center-finder Problems • Tracking Issues – Sensor readings • Sensor Placement • Numerous programming – Limited time allotted • Voltage regulator overheating – SOLVED! (Switching Regulator) • Initial PCB Designs Outstanding Problems • • • • Lack of torque Minor Tracking issues Faulty dip-switch Continuous software testing DEMO! ???QUESTIONS??? ?Preguntas?
