## Micromouse Sensor Design

Selecting the best micromouse sensor design is a study in electronics, physics, geometry, maths and coding. Here I will look at some of the design considerations for the sensors in the next iteration of my micromouse. Zeetah V and VI use triangulation sensors pioneered by David Otten. These sensors consist…

## An Improved Bit Banding Approach

The commonly published approach to using the bit banding feature of the Cortex Mx family of processors is to use macros – see Bit Banding in the STM32. This post describes an alternate implementation that uses a dedicated RAM section for bit banding.
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## Solver References

The first article that I used as a reference for Zeetah I's solver was published in Byte Magazine back in 1987. Fortunately for me, this article was printed right around the time we were making Zeetah I. Stephen E. Belter, Computer-aided Routing of Printed Circuit Boards: an Examination of Lee's Algorithm…

## Diagonal Solver Pseudo Code

This part of the series on creating a diagonal micromouse maze solver presents the actual pseudo code that was used to implement a diagonal solver and it closely matches the C implementation. You will want to check out some of the data structures in the previous post (Diagonal Solver Data Structures). (more…)

## Diagonal Solver Data Structures

This post describes the data structures used in the diagonal solver.

## Diagonal Solver Flooding

This post provides more details on how the flooding is done.

## Diagonal Solver Introduction And Flooding

If the maze has a region as shown on the left, and the mouse enters the region on the bottom left and exits on the right side, which path will your solver generate for the mouse?

## Maze solver visualisation in your browser

Came across this visualization for a maze solver.

## Pinion interfering with the tire

When I applied power to the motors on Zeetah VI (ZVI) for the first time, the motors seemed to struggle and the PWM value to get the wheels to rotate seemed higher than usual. Since this was my first four wheel mouse of this configuration (ZIV is a four wheel drive, four wheel steer mouse), I wasn’t sure if the higher load was normal or not.

## Finishing the new maze floor

The walls and posts arrived and so it was time to finish the maze floor.