Micromouse 2016-2017
| Although the version Green Giant 5.19V this year looked very similar
to the last year's Green Giant 5.17V, lots of changes were made, such as
extra IR sensors, integrated Bluetooth BLE 4.0 module, new switching
power ICs, and more stable circuit design. |
| Name | Green Giant 5.19V |
| View |
|
| Width | 75mm |
| Length | 105mm |
| height | 37mm |
| weight | 118g w/ battery |
| Nominal suction force | 151g/Watt |
| wheel | 3D printed mount&wheel + mini-z tyres(9mm wide) |
| Processor | STM32F405RG at 168MHz with internal RC |
| 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 | 300mah 45C LiPo 2S1P (7.4V) |
| Internal Power Regulation | LMZ21701(5V) + TPS73633EP(A3.3V1) + LMZ10501(2V) + MCP1700 X 2 (A3.3V2&Bluetooth) |
| Fan Power Supply | buck converter to 3.3V, 3A max (TPS82130) |
| Motor Power Supply | boost converter to 11.88V, 10A Max (TPS61088) |
| Motor Driver | UCC27524 (Driver) X 2 + DMHC3025LSDQ-13 (H-Bridge) X 2 |
| Fan Driver | UCC27524 (Driver) X 1 + RF4E070GN (Low Side N-Mosfet Drive) X 2 |
| PWM frequency | 21K Hz |
| IR Sensor | SFH4545 X 6 + TEFT4300 X 7 |
| MEMS | MPU-6500 X 1 @ 20M Rate for SPI |
| User Interface | HCMS-2903 LED display X 1 + LED x 18 + Button X 2 + Buzzer X 1 + Bluetooth 4.0 (DA14580) |
| max straight speed | 5.3m/s |
| max search speed | turn:0.9m/s unknow straight:1.2-1.9 known straigth: 2m/s |
| diagonal run turn(max) | 1.8m/s(90v) 2.2/s(90L) 2.0m/s(45) 1.9m/s(135&180) |
| acceleration/deceleration | 10-18m/s/s |
| Schematic | Schematic |
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| ____________________________________________________________ Design Phase Same fan suction system was used from last year. Due to the increase of components, the size of bottom half of the PCB was increased. Power supply rails and ground polygons were optimized to achieve best performance when on DC-DC environment. Since the BLE module used up all remaining pins from LQFP64 package MCU, therefore no external Oscillator was used, and 2 of the LED control pins were salvaged as well.  ____________________________________________________________ PCB Assembly  ____________________________________________________________ Competitions Although I only captured 4th place at APEC, I was even closer to the 1st place than last year in terms of the stratege and performance of my micromouse. Unfortunately, I was punished by the penalty of the APEC rules since I made a mistake could've be easily solved. On the other hand, I realise I am good enough to compete for 1st place at all top 3 international Micromouse competitions, so I am really looking forward for what I could accomplish next year. This is also the last year I compete at student competitions 2017 APEC Micromouse Contest, 4rd Place (video below) 2017 IEEE Region 6 Southern Area Micromouse Competition, 1st Place (video below) 2017 California Micromouse Competition, 1st Place (video below) I only demoed at 2017 All America Micromouse Competition since I would like to see other student players to achieve better ranking in student competitions. |