Micromouse WiSe2021

Project members:

• Philipp Hagenlocher
• Hendrik Möller
• Matteo Nardini
• Congnan "Jonas" Wang

Goal and milestone:

The goal of this project is to build a micromouse from scatch and solve the maze challenge offerred by TUM.

• 22. Febuary: board design review
• 1. March: board design fixed
• 10.March: board ready
• 31.March: project finshed

Maze definition:

The micromouse maze shall comprise 16 x 16 multiples of an 18cm x 18cm unit square. The walls constituting the micromouse maze shall be 5cm high and 1.2cm thick.

According to UK Micromouse Maze Solver Rules: https://www.cs.york.ac.uk/micromouse/Rules/Maze_Solver_Rules.pdf

Project functionalities

• PCB Design
• Hardware Design
• HAL
• Closed Loop Control
• Maze-solver
• Communication and UI

TODOs

PCB design:

• Understand voltage regulator thermal details and pick the one that are actually needed

Hardware design:

• Pick the distance sensors
• Pick the HBridges

HAL:

• To be filled

Closed Loop Control:

• Classify controll scenarios
  • Straight: 3 scenarios
    • corridor
    • one side opening
    • both sides opening
  • Turn: switch off distance sensors
  • Spin: switch off distance sensors
• Determine controller types
  • PI controller
• Determine motionControl APIs
  • move (rawVelocity)
  • turn (rawVelocity)
  • spin (rawVelocity)
  • update (xxx)
• Coding controllers in c#
  • connect controller to HAL
  • build PI controller
  • impliment control logic
    • distance controller
    • velocity controller
    • Lookup table for pwm
    • update()
    • upper limit for accumulated error of controllers
    • Error notification in error.h
  • wire motionControl.h API with controllers
• Theory for tuning controller parameters
• Debug controller on board

Maze-solver

• Classic Flood Fill

Communication and UI

• To be filled

Code Notation/Styling:

* Name Formatting:
	- functions: camelCase - getSomething()
	- `#define: CAPSLOCK_WITH_UNDERSCORE - CONFIG_H`
	- Variables: camelCase - timerInterruptFrequency
* Use "init" instead of "setup" (if there is no difference)
* Use in-line brackets only for "} else {" or similiar lines
* Code-Comments in-line for single important statements (or declarations)
* Code-Comments before function headers in c-file
* One empty line between sections of code, ordered as follows:
	- Header file: 
		Guard condition, 
		includes, 
		`#defines (namespace)`
		extern variable declarations
		function headers
	- C file: 
		includes,
		`#define (for constants)`
		member variables
		function implementations