FrankenMouse is a MicroMouse robot that was designed, built, and programmed from scratch by members of the University at Buffalo's IEEE Student Branch.
Some might say that our robot resembles one of Dr. Victor Frankenstein's creations - smaller and more agile, yet equally terrifying. Thus, the name FrankenMouse was born.
The objective of a MicroMouse robot is to autonomously nativate and solve a 16x16 maze as fast as possible. To learn more about the MicroMouse competition, check out the excellent Veritasium Video on the topic.
- Peter Lilley
- PCB designs, V2+3 mechanical designs, soldering, 3D printing, assembly, software
- Eric Butcher
- Solver algorithms
- Dylan Taton
- V1 mechanical design
- Sam Chen
- FloodFill algorithm desktop simulation (MicroMouseSimulator)
| Name | FrankenMouse V2+3 |
|---|---|
| Length/Width/Height | 10cm/7cm/3.5cm |
| Weight | 69 g (w/o batt), 92 g (w/ batt) |
| MCU | STM32WB55CGU6 |
| Motors | 6V Micro Metal Gearmotor (20:1) |
| Encoders | Micro Metal Motor Encoder (6 pole magnetic discs) |
| Motor Driver | DRV8835 |
| IR Sensors | SFH4545 (Emitter) + TEFT4300 (Receiver) |
| IMU | ICM-42670-P |
| Tire Diameter | 2.5 cm |
| Buzzer | PS1240P02BT |
| Battery | 2S 450 mAh Li-Po |
| Voltage Regulator | TPS564208DDCR |
| Connectivity | SWD, BLE, USB-C (V2 only) |
- Version 1
- Custom PCB was designed and manufactured. Assembly problems led to the decision to redesign the robot
- Version 2 (Green PCB)
- Conceptually different PCB design from V1. Smaller, more compact robot, and better cohesion between PCB and mechanical design
- Fully assembled and functional robot
- Version 3 (Blue PCB)
- Minor revisions to V2 PCB including:
- Fixed the incorrect motor driver wiring to MCU (enable proper hardware PWM control instead of software PWM)
- Adjusted IR sensor angles for better wall detection
- Got rid of annoying JST motor/encoder connectors on PCB in favor of simple pin headers
- Moved SWD connector to not interfere with buttons
- Removed USB-C connector (not necessary)
- Added an LED
- Minor revisions to V2 PCB including:
firmware/- Software running on the robothardware/- PCB designs and mechanical CAD filessimulation/- Godot-based desktop 3D simulation of the robotapp/- iOS/macOS app for controlling the robot over BLEcli/- Custom interactive shell with command-line tools for controlling the robot over BLEti84_controller- (Silly) TI-84 Plus CE program that communicates with the CLI over a serial connection, used to control the robot
Version 3:
