Micromouse 2015-2016 

I had two versions of design assembled this year, which were Green Giant 5.10V and Green Giant 5.17V 

Name	Green Giant 5.10V	Green Giant 5.17V
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Width	75mm
Length	105mm
height	35.2mm
weight	112g w/ battery	108g w/ battery
Nominal suction force	98.9g/Watt
wheel	3D printed mount&wheel + mini-z tyres(9mm wide)
Processor	STM32F405RG at 168MHz with 8MHz OSC
Memory	MCU built-in 192KB ram and 1MB ROM
Motor/Encoder	Fauhalber 1717R(6V)+IE2 512
Fan Motor	CL-0820-17 X 1
Gear ratio	60:16 M0.3 / wheel D:22mm W:9mm
battery	180mah 45C LiPo 3S1P (11.1V)
Internal Power Regulation	LMZ21701(5V) + LMZ10501(3.3V) + LMZ10501(2V) + TLV713P (A3.3V)
Fan Power Supply	buck converter to 3.1V, 3A max (TPS62130)
Motor Power Supply	boost converter to 13V, 7.8A Max (TPS43061)
Motor Driver	A4950 X 2	UCC27524 (Driver) X 2 + DMHC3025LSDQ-13 (H-Bridge) X 2
Fan Driver	Same Driver ICs but on the daughter board instead	UCC27524 (Driver) X 1 + RF4E070GN (Low Side N-Mosfet Drive) X 2
PWM frequency	21K Hz
IR Sensor	SFH4545 X 4 + TEFT4300 X 6
MEMS	MPU-6500 X 1 @ 20M Rate for SPI
User Interface	HCMS-2903 LED display X 1 + LED x 9 + Button X 2 + Buzzer X 1
max straight speed	5m/s
max s-turn speed	0.9m/s
diagonal run turn(max)	1.7m/s(90v) 2.1/s(90L) 1.9m/s(45) 1.8m/s(135&180)
acceleration/deceleration	10-18m/s/s
Schematic	Schematic	Schematic

____________________________________________________________ Design Phase It was the first time I design a micromouse with suction fan, with so much unexplored areas. Once I've decided the outline of the the PCB, I made design of the suction fan and its mount in Autocad, then assembled and simulated in Solidworks. ____________________________________________________________ PCB Assembly Since there were way more components were integrated, the difficulties for both design and assembly were increased significantly. Due to the massive usage of DC-DC supply, lots of Oscilliscope noise behavior performance tests were made to ensure the stability of the digital and analog power supplies. ____________________________________________________________ Competitions In this year's APEC contest(one of the top 3 international micromouse competitions), I was able to achieve 3rd place, which is my best record in international competitions. 2016 APEC Micromouse Contest, 3rd Place (video below) 2016 IEEE Region 6 Southern Area Micromouse Competition, 1st Place (video below) 2016 All America Micromouse Competition, 1st Place (video below) 2016 California Micromouse Competition, 1st Place (video below)