This is the third year for me to do Micromouse.Last year I had my first taste on STM32 and Fauhalber 1717T motor with IE2-512 encoder, which made me much more confident for new design.
Micromouse 2012-2013
|
This is the third year for me to do Micromouse.Last year I had my first taste on STM32 and Fauhalber 1717T motor with IE2-512 encoder, which made me much more confident for new design. |
| Name | Green Giant V2.2 |
| View |
|
| Width | 75mm |
| Length | 100mm |
| height | 24.5mm |
| weight | 90.7g(w/o battery) |
| wheel | 3D printed wheel + mini-z tyres |
| Processor | STM32F103RET6(64Mhz) |
| Motor/Encoder | Fauhalber 1717R(6V)+IE2 512 |
| Gear ratio | 12:40 |
| battery | 120mah 2s1p |
| Motor Driver | Zetex ZXMHC3A01T8+Max4427 |
| PWM frequency | 21K Hz |
| Sensor | TEFT4300+SFH4545 X 6 |
| Gyro | LY3200ALH |
| User Interface | 3xbutton+4LEDs+HCMS2903LED Display |
| max straight speed | 2m/s max search, 4.5m/s max at speed run |
| max s-turn speed | 0.9m/s 90degree curve turn |
| diagonal run turn(max) | 90L 1.4m/s 90V 1.1m/s 45degree 1.3m/s 135degree 1.1m/s 180degree 1.1m/s |
| acceleration | 13.5m/s/s acc max with variable acceleration |
I participated APEC micromouse contest held at Long Beach March 18th 2013, and successfully achieved center with the speed as described above.
here is the video for my mouse's run
I also Participated 2013 California Micromouse Competition at UCSD and won the first place amount all 20 contestants.
Winning Run at 2013 California Micromouse Competition(CAMM)
I Won the first place at 2013 All America Micromouse Competition as well
Winning Run at 2013 All America Micromouse Competition(AAMC)
side view
front view
Design Phase
I planned to have 3 different mouse designs this year need to fabricate during winter break, however, due to budget limit, I was only be able to make one of them.
Mouse 1: Green Giant V2.2
A 4 wheel 6 sensor fauhalber 1717 motor micromouse with external OSC, EEPROM, flash detector
I also added auto ISP code download circuit this year by utilizing DTR and RTS
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Mouse 2: Green Giant V3.0 Lite
Similar with Mouse 1, I got rid of external OSC, EEPROM, flash detector and use STM32F405 as MCU instead of STM32F103RE
The area to the front got milled off to reduce weight and turning moment for mouse
I fabricated PCB but didn't make it since I had better design after
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Mouse 3: Green Pro Mini V2.1
I've started the research for how to mount AS5040 to half size micromouse long times ago and finalized the design this year.
All of the motor mounts, gears, wheels, sensor mounts will be designed by AUTOCAD and use high precision 3D printer to print, gear ratio will be 8:23 with M0.5 gear
It will have 4 sensor and 4 wheel
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Some 3D printing parts
motor mount (full size)
sensor mount(full size)
wheel(full size)