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 
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.


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)