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Transcript 
CheezStix!
EE 396 Micromouse
Spring 2007
Final Presentation
Members
 Toy Lim – Project Manager
 Kyle Montpas – Software Leader
 Tyson Kikugawa – Hardware Leader
Overview
 Design and build an autonomous robotic mouse
to find its way to the center of a maze as fast as
possible
System Block Diagram
PC
RS232
Dynamic C
RS232
Emulator
AC
Adapter
USB
Programming
Cable
FT232RL
Li+
Charger
3.3V VREF
Side
Sensors
Rabbit µP
RCM 2020
5V DC-DC
Converter
ADC
LiPo
Batteries
Sense
H-Bridge
Driver IC
Bipolar
Motors
CheezStix! µMouse
Drive
Power
Drive
PC
RS232
Dynamic C
RS232
Emulator
AC
Adapter
USB
Programming
Cable
FT232RL
Li+
Charger
3.3V VREF
Side
Sensors
Rabbit µP
RCM 2020
5V DC-DC
Converter
ADC
LiPo
Batteries
Sense
H-Bridge
Driver IC
Bipolar
Motors
CheezStix! µMouse
Drive
Power
Drive
 Opted for $250 budget over kit
 Design to be compact and light
 Smaller stepper motor – 25.4mm x 38mm sq.
(versus kit – 39mm x 42.3mm sq.)
 H-Bridge chip (SN754410)
Drive
Sensor
PC
RS232
Dynamic C
RS232
Emulator
AC
Adapter
USB
Programming
Cable
FT232RL
Li+
Charger
3.3V VREF
Side
Sensors
Rabbit µP
RCM 2020
5V DC-DC
Converter
ADC
LiPo
Batteries
Sense
H-Bridge
Driver IC
Bipolar
Motors
CheezStix! µMouse
Drive
Power
Sensors
 Sharp Distance Sensor (GP2Y0A21YK)
Sensor
 Placement (Sides)
 Placed facing
outward to shorten
distance for more
accurate reading
 Angle to see into the
next cell
 Adjusts to keep side
values equal
30º
30º
Sensors
 A/D Converter – MAX118
 Sensor output – analog (voltage),
depending on distance
 Rabbit reads in digital
 Sensor --/--> Rabbit
Sensors
 Voltage Reference chip – MAX6029
 Using 3.3V VREF+ for ADC since the max
sensor output was found to be 3.12V
3.5
3
Voltage
2.5
2
1.5
1
0.5
0
0
5
10
15
Distance (cm)
20
25
30
Sensor
Power
PC
RS232
Dynamic C
RS232
Emulator
AC
Adapter
USB
Programming
Cable
FT232RL
Li+
Charger
3.3V VREF
Side
Sensors
Rabbit µP
RCM 2020
5V DC-DC
Converter
ADC
LiPo
Batteries
Sense
H-Bridge
Driver IC
Bipolar
Motors
CheezStix! µMouse
Drive
Power
Power
 Li-Ion Batteries
 3.7 Volt, 2 Amp-hour rating
 DC Converter – MAX1709
 Step up to 5 Volts
 Can handle up to 4 A current
Power
Added Design Feature - USB
PC
RS232
Dynamic C
RS232
Emulator
AC
Adapter
USB
Programming
Cable
FT232RL
Li+
Charger
3.3V VREF
Side
Sensors
Rabbit µP
RCM 2020
5V DC-DC
Converter
ADC
LiPo
Batteries
Sense
H-Bridge
Driver IC
Bipolar
Motors
CheezStix! µMouse
Drive
Power
Added Design Feature - USB
 USB interfacing
 Used in both power and control
subsystems
 Programming – FT232R
 Battery Charging – MAX1811
 Charge Current/Voltage Select
Added Design Feature - USB
Added Design Feature - USB
Power
Control
 Rabbit 2000 microprocessor
The PCB
 PCB over self wiring
 Cost more
 Cleaner
 Less error
 KiCAD
 Open-Source/Free
 3D View
The PCB - Layout
SilkScree
n
The PCB - Layout
Top-View
The PCB - Layout
Bottom-View
Physical Layout
SIDE
FRONT
Current Issues
 Charger voltage source and current are
manually selected
 Use 3-pin jumper between source connectors
 Use a charge current selection switch
 Maximum charger current is 500mA
 PCB
 Late
 Soldering small components
Future Improvements
 Add addition logic (transistors and diodes)
to the charger circuit to make it automatic,
and increase charging current
 Improving the program…
 Store map of maze
 Solve shortest path
 Etc.
Questions?
http://cheezstix.homeip.net
The PCB - Layout
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