Half-Sized Micromouse

Half Sized micromouse is a new catagory other than classic full size micromouse.

The length and width for cell is half size of a full size maze, however, the total size for the maze remains the same, which means instead of 16x16 cells for classic micromouse, a half sized micromouse maze will be have 32x32 cells. This is much harder to build the robot in a smaller size besides the search process takes much longer time.

It's also extremely hard to put all components into such a small PCB

It's finally assembled and be able to run in a full size maze(since I don't have have half size maze yet)

I believe this is the first working half size micromouse ever in United States 

Name	Mini-G V1.1
View
Width	39mm
Length	55mm
height	14mm
weight	18.8g w/ battery
wheel	3D printed mount/wheels + D-Nano tyres(3.5mm wide)
Processor	STM32F405RGT6(168Mhz with internal RC)
Motor/Encoder	MK06-4.5/AS5145B
Gear ratio	9:42
battery	70mah 1s1p
Motor Driver	DRV8836
PWM frequency	21K Hz
Sensor	TEFT4300+SFH4545 X 4
Gyro	LY3100ALH
User Interface	1xbottums+6LEDs
max straight speed	0.85m/s max search for unknown cell, 3m/s max at speed run
max s-turn speed	0.4m/s 90degree curve turn
diagonal run turn(max)	90L ?m/s 90V ?m/s 45degree ?m/s 135degree ?m/s 180degree ?m/s
acceleration	variable acceleration rate up to 8m/s2

front view

side view

comparison with full size micromouse

A video that the mouse running in a classic size maze(since I don't have half-size maze for now)

==================  design stage  ===================

determine the specs

Tried to print about demo parts for motor/encoder mount with makerbot for demo purpose