Software & Intelligence

Code Logic

Code Logic Flowchart

Our software architecture is built on a modular real-time loop. The core logic handles high-level decision making by polling sensor data and updating the state machine. By separating the low-level motor drivers from the high-level pathfinding algorithms, we ensure that the mouse can react to environmental changes in milliseconds while maintaining long-term navigational goals.

System Modules

Hardware Validation

Ensured that our sensors provided accurate readings. Also Tested the motor drivers with PWM signals to verify motors worked as intended

Locomotion

Used the PWM to create PD logic to create more precise turning functions. This allowed the mouse to properly perform 90-degree pivots accurately

Environment

Implemented a simple algorithm to navigate the maze perimeter. This ensured continuous motion from the mouse.

Spatial Awareness

Developed coordinate tracking for real-time position. Verified tracking system by physically checking position

Pathing

Developed coordinate tracking for real-time position. Verified tracking system by physically checking position .

Map Visualization

Maze Map Visualization

The map visualization tool allows us to monitor the mouse's internal "thought process" in real-time. We can see which cells have been explored and the current floodfill values assigned to each wallThis was crucial for debugging edge-case navigational errors during exploration.