WEEK 14

This is important week as this week is FYP 2 presentation day. It being held at Gemilang Hall and start at 9.00 a.m until 12.00 p.m. The students is being advise to attend early at 8.30 a.m  for registration and set up the booth. The poster and the project is been set up. The assessor for the FYP 2 are Prof. Dr. Air Abas and Madam Azliza Arshad. The presentation is finished at 11.20 a.m.     

Figure 1: Poster Design

Figure 2: FYP Presentation Day

Figure 1: Micromouse

WEEK 13

There is a problem occured when all the circuit, microcontroller and motor is connected together. The motors is not moving accordingly. After the troubleshooting, the problem is still arise again. The supply voltage is been checked on motor driver`out of fear lacking voltage. However, there is no problem on the lack of voltage. When using only one motor, there is no problem arise but when the two motor is been installed together there is no movement of motor. Even the motor driver is not working even though the voltage is enough to operate them.

Figure 1: View of the micromouse

Figure 2: Trouble shooting on the motor driver

Figure 3: Complete construct of micromouse

Figure 4: Front view

Figure 5: Side view

WEEK 12

After changing the coding and using 7.4V lithium ion battery, the improvement of motor speed rotation is very impressive. The low speed of motor before probably because of low input voltage. However the speed is a bit slow than expected even though the stepper motor is slower than other 2 types of motor that are servo motor and DC motor.

Coding:

WEEK 11

Now its time to test the stepper motor. Stepper motor is connected to the motor driver ULN2003 as figure below.

Then the motor driver is connected to the microcontroller. From the testing result, the speed of rotation motor is very slow.

 

WEEK 10

The sensor circuit is tested for distance measurement. The IR sensor can detect the obstacle from a range 2cm to 30cm. To get the result the output voltage of sensor is measured.

Result:

Table 1

As shown on the table above, the voltage increase as the distance is increase. However at some point of the distance it will decrease again.

WEEK 9

This week, the continuity test for the sensor circuit have been conduct. The connection of the soldering component was check to ensure that there is no short circuit or open circuit follow by the design of this project circuit.

WEEK 8

For continuation of the hardware development, the circuit for the sensor have been designed. The sensor that I used is infrared (IR) sensor. I used 2 sensor which is on the front right and front left. The sensor will be cover the front view and the side view. There is also variable resistor to control the length of distance between the sensor and obstacle or wall. The sensor provide the detection range between 5cm to 20cm. 

It is the same principle in all Infra-Red proximity sensors. The basic idea is to send infra red light through IR-LEDs, which is then reflected by any object in front of the sensor. Then all it have to do is to pick-up the reflected IR light. For detecting the reflected IR light another IR-LED is going to be use to detect the IR light that was emitted from another led of the exact same type. This is an electrical property of Light Emitting Diodes (LEDs) which is the fact that a LED produce a voltage difference across its leads when it is subjected to light.

Circuit of IR sensor

WEEK 7

There is workshop for the FYP 2 student that is called Final Report Writing Workshop that being held at TTL1. This workshop will teach student how to make a good report by understanding the writing task of the project, formulate the project statement and examine the contraction of your project.

The final report should have:

1. Introduction
2. Objective
3. Methodology
4. Result
5. Recomendation
6. Coclusion

WEEK 6

For chassis of robot, there are many design and different type of chassis which include the bigger one to the small one. The design of chassis is up to your creativity to implement the design you one and for me the scale of robot is on medium size. The chassis of my robot is a round shape with only 2 wheel tires and 2 small tires for the movement. Figure below is my chassis robot that I used to make a micromouse.

Figure 1: View from the top

Figure 2: view of the bottom base

WEEK 5

FYP 2 briefing is being held on Wednesday at TTL1 on 3.00 p.m to 5.00 p.m. The lecture explain about the format for the FYP poster. The poster must contain:

• Objective
• Project description
• Methodology
• Flow chart
• Result
• Conclusion
• References

WEEK 4

The continuation of simulation of stepper motor with different coding. For the first one is the full drive simulation. Full drive simulation is 90° step movement.

The coding

The other one is wave drive simulation

Coding for wave drive

WEEK 3

This week, the unipolar stepper motor will be test by design a circuit diagram and simulate the motor with coding that been made. The testing is made with half drive coding which mean the motor is moving on step by step of 45°.

The video of simulation

the coding for the half drive

WEEK 2

There some changes on component and equipment especially on the motor driver and motor. For the motor driver I will used ULN2003 Stepper Motor than the original that I have planned. Also for the stepper motor I’m going to used unipolar stepper motor rather than bipolar stepper motor. The unipolar motor is 5VDC gear stepper motor.

ULN2003 STEPPER MOTOR AND 5VDC STEPPER MOTOR

Pin Definition of ULN2003

Circuit diagram

WEEK 1

For the first week, I am going to verify the progress of FYP 1 to FYP 2 by checking all the component and equipment that going to be used for FYP 2. There are some component circuit that need to be changed in order to progress the FYP 2. By this week, the schedule of FYP 2 is being checked so the planner that been made before is on schedule.

FYP 1 Gant chart

FYP 2 Gant chart

WEEK 14

Recheck the proposal before submitting to the supervisor. Send the softcopy of proposal to the supervisor to check for correction.


FYP Proposal

WEEK 13

As for this week, the preparation of FYP proposal is being proceed. for the proposal there are 5 chapter that need to includes:

1. Chapter 1 - Introduction
2. Chapter 2 - Literature review
3. Chapter 3 - Methodology
4. Chapter 4 - Conclusion
5. Chapter 5 - References

For the Chapter 1 there must includes:

• Introduction
• Background Project
• Problem statement
• Objective of project
• Scope of project

For the Chapter 2 there must includes:

• Introduction
• Type of algorithm
• Example of existing micromouse

For the Chapter 3 there must includes:

• Block diagram
• Flow chart
• Hardware and components
• Software

For the Chapter 4 there must includes:

• Conclusion

For the Chapter 5 there must includes:

• References

There a format for the FYP proposal that need to follow. Every chapter must be briefly explain.

WEEK 12

This week on Wednesday is the presentation day. The presentation will being held at Dewan gemilang at 3.00 p.m. All the FYP1 students have to arrive 15 minutes early for the registration. I already arrive at BMI at 2.50 p.m for the registration and to set up my place. As for my seating position is at number 36. While waiting for my assessor to arrive I set up my place with laptop and hardcopy of slide for the assessor. My first assessor is Sir Kamalulfaizin and the second one is Sir Abdul halim. Even though the assessor is late and me being nervous, everything is going smoothly.

the presentation is finished at 4.30 p.m early than been expected which at 5.00 p.m.

WEEK 11

Preparation of presentation slide

For the preparation slide, all requirement need to be include and all information based on the project need to be compact and easy to understand for assessor. There are 2 assessor for each FYP student. As for me the assessor I get is Sir Kamalulfaizin and Sir Abdul Halim. These 2 lectures are from electronic section. The presentation slide is then being check for any mistake and error by my supervisor.



FYP1 PRESENTATION

WEEK 10

FYP 1 briefing for Presentation:

This is a third briefing conducted by Madam Nulida Bt Ab.Aziz for the fyp student about the format of the slide, preparation for presentation and the name of the accessor for the presentation day. So for the format and content of slide include:

• Introduction
• Problem statement
• Objective
• Methodology
• Flow chart
• Gant chart
• conclusion

 During the briefing, student is being inform about the date and time of the presentation day will be held. Furthermore, student is also been inform about their seating position for presentation which being held in Dewan Gemilang on 2 Dicember 2015 at 3.00-5.00 p.m. This briefing is to help student to prepare themselves for the presentation day.  

WEEk 9

Methodology

Micromouse component parts:

1.  High Torque Bipolar Stepper Motor

High torque Bipolar Hybrid Stepper Motor capable of giving whooping 1.86Kg/cm of stall torque at 1.5Amp current (0.75A per winding) at 1.8 degree stepping angle. It is a most ideal stepper motor for your competition winning micromouse.

Specifications:

• Stall Torque: 1.86Kg/cm at 1.5Amp (0.75A per winding), 6V
• Stepping angle: 1.8 degrees / step
• Compatible Motor Driver: A3982 35V, 2A Stepper Motor Driver for Micromouse
• Compatible Wheel: Micromouse wheel 4mm Shaft
• Shaft: Diameter: 3mm, Length: 16mm
• Dimensions: Length and Width: 42mm, Thickness: 23mm
• Mounting: Four 3mm (M3) bolts 31mm apart on the corners
• Winding type: Bipolar
• Winding Resistance: 11Ohms
• Motor weight: 156gms

2.  LSM303DLHC e-Compass 3 axis Accelerometer and 3 axis Magnetometer Module

The LSM303DLHC is a digital 3 axis accelerometer and 3 axis magnetometer with I2C interface. It has full-scale acceleration range of ±2g to ±16g and full scale magnetic field range of ±1.3 to ±8.1 gauss. All the full scale ranges are user selectable. Module has on board low drop voltage regulator which takes input supply in the range of 3.6V to 6V DC. Board has two mounting holes. All 9 pins of the module are arranged in single line. LSM303DLHC’s I2C serial bus interface supports standard (100 KHz) and fast mode (400 kHz). It is most suitable for tilt compensated compass, quadrotor and robotics application. For LSM303DLHC application interface example available based on LPC2148 ARM7 microcontroller. LSM303DLHC has application example based on LPC2148 ARM7 microcontroller.

3.  L3G4200D 3 Axis Digital Gyroscope with Voltage Regulator

L3G4200D is a 3 Axis ultra stable digital gyroscope. It gives unprecedented stability of zero rate level and very good sensitivity over temperature and time. L3G4200D module features an on board low drop out voltage regulator which takes input supply in the range of 3.6V to 6V DC. Board has two mounting holes. All 9 pins of the module are arranged in single line. This gyroscope can be interfaced with the microcontroller over I2C or SPI interface. The L3G4200D has user selectable full scale of ±250, ±500, ±2000 degrees per second and is capable of measuring rates with a user-selectable bandwidth.

4.  A3982 35V, 2A Stepper Motor Driver for Micromouse

A3982 35V 2A Stepper Motor Driver is the most ideal driver for the Micromouse. It can drive bipolar stepper motor with full and half stepping. It has built-in logic translator which allows you to drive stepper motor by just setting direction, step mode and give clock to drive stepper motor. A3082 motor driver has 4 output LEDs connected at the output. These LEDs prove very useful for quick debugging. It is made from high grade double sided PTH PCB to give added strength to the connectors. A3982 motor driver has presetable chopper based current controller which maintains constant current even when step rate is increased. This improves motor torque at the higher step rate significantly.

Specifications

• Rating: 35V, 2Amp.
• Step type: Full step, Half step
• Control inputs: Step clock, direction, step mode, reset, enable
• Indication: Steepper motor output indication by 4 LEDs
• High grade double sided PTH PCB to give added strength to the connectors
• Chopper based current control for improved torque at high step rates

5.  Ball Caster Wheel Compact

Ball caster wheel is an omni directional wheel. This wheel can be used as neutral wheel for the robot.

Specifications

• Base plate diameter - 27.5mm
• Caster wheel diameter - 13.5mm
• Wheel height - 18mm
• Mounting hole - Three, 120° apart, 3mm or 1/8 inch diameter

6.  IR Transmitter and Receiver pair

This is the IR Transmitter and Receiver pair matched pair used in our IR proximity, White Line or Micromouse sensor. It consists of 5mm 940 nanometer wave length high power IR LED and photodiode having peak sensitivity at 940 nanometer wavelength.

Specifications

• IR TX RX size: 5mm diameter package
• IR LED current rating: 30mA nominal, 600mA pulse loading at 1% duty cycle
• IR LED wavelength: 940nM
• Photodiode peak response wavelength: 940nM