Designing the motor controller

At the heart of a micromouse is usually a pair of position controllers. These maintain the mouse position for one of two kinds of movement – forward and rotation. Each can be configured independently. Like any position controller, the idea is to get a fast, stable response to changes in the demanded position…


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Characterising the drive system on the micromouse

Designing the micromouse motor control is a key task which will go a long way to determining the performance of the mouse in the maze.  Before that can be done, you will need to know the physical characteristis of the motors and the drive system. All that can be calculated as part of the design process but it is easier to measure it if you already have the mouse built…


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Measuring Moment of Inertia

The moment of inertia of a micromouse is a useful number to know. It tells you how easy or hard your mouse will be to turn and lets you calculate an appropriate value for the angular acceleration during the lead-in and lead-out of the turn. Indeed, you may find out the upper limits or what your mouse can achieve. the race is, after all, won in the turns they say. So, how can you find out what the moment of inertia is for your mouse?


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