🐭 Autonomous Maze-Solving MicroMouse Robot

🤖 ATmega328P Embedded C Project with Dual Feedback Control

Complete Robotics Design & Implementation
Left-Hand Rule Algorithm • PID Wall Following • Encoder Fusion Control

🎯 Project Overview

An autonomous maze-solving robot built from scratch using an ATmega328P microcontroller (Arduino Nano). This MicroMouse navigates through unknown mazes using the left-hand rule algorithm, combining ultrasonic sensor feedback with motor encoder data for precise movement control.

The robot features a dual feedback control system that fuses:

PID-based wall following using 3 HC-SR04 ultrasonic sensors
Encoder-based dead reckoning for accurate turns and straight-line tracking

Goal: Design and build a fully autonomous robot capable of navigating and solving standard maze configurations without human intervention.

🎬 Final assembled MicroMouse robot ready for maze navigation

🎬 Demo Video

▶️ Watch on YouTube

Click the image above or watch the MicroMouse autonomously navigate through a maze using the left-hand rule algorithm

🚀 Getting Started

Quick Start Guide

Follow these steps to build and run your own MicroMouse:

flowchart LR
    A[1️⃣ Clone Repo] --> B[2️⃣ Assemble Hardware]
    B --> C[3️⃣ Print Chassis]
    C --> D[4️⃣ Wire Components]
    D --> E[5️⃣ Flash Code]
    E --> F[6️⃣ Calibrate]
    F --> G[🎉 Run!]

Step 1: Clone the Repository

git clone https://github.com/Ravinx001/MicroMouse.git
cd MicroMouse

Step 2: Gather Components

Ensure you have all components from the Bill of Materials:

Arduino Nano (ATmega328P)
TB6612FNG motor driver
2× N20 gear motors with encoders
3× HC-SR04 ultrasonic sensors
7.4V LiPo battery
Wheels and caster

Step 3: Print the Chassis

Download body_3D_design/micromouse_body_3d_design.stl
Print with PLA/PETG, 0.2mm layer height, 25% infill
Allow 4+ hours for printing

Step 4: Wire the Electronics

Connect components according to the Pin Configuration table:

Connection	Arduino Pin
Left Motor PWM	D5
Right Motor PWM	D3
Motor Driver STBY	D8
Left Ultrasonic TRIG/ECHO	A4/A5
Front Ultrasonic TRIG/ECHO	D9/D10
Right Ultrasonic TRIG/ECHO	D11/D12
Left Encoder A/B	A0/A1
Right Encoder A/B	A2/A3

Step 5: Install Toolchain & Flash

Windows:

# Install WinAVR or AVR Toolchain
# Download from: https://www.microchip.com/mplab/avr-support/avr-and-arm-toolchains-c-compilers

# Update COM port in Makefile
notepad Makefile  # Change PORT = COM3 to your port

# Build and flash
make build
make flash

Linux/macOS:

# Install AVR toolchain
sudo apt install gcc-avr avr-libc avrdude  # Debian/Ubuntu
brew install avr-gcc avrdude               # macOS

# Update port and flash
# Linux: PORT = /dev/ttyUSB0
# macOS: PORT = /dev/cu.usbserial-*
make build
make flash

Step 6: Calibrate Encoders

# Flash calibration program
make calibrate

# Open Serial Monitor at 9600 baud
# Manually rotate each wheel one full revolution
# Note the tick count displayed
# Update TICKS_PER_REVOLUTION in include/config.h

Step 7: Test & Run!

Place robot at maze entrance
Power on - wait for 3-second countdown
Watch it solve the maze autonomously!

🔧 First-Time Tuning Checklist

Check	Action
☐ Motors spin correctly	Both wheels forward when expected
☐ Sensors read distances	Open Serial Monitor, verify L/F/R readings
☐ 90° turns are accurate	Adjust `TURN_90_COMPENSATION` if needed
☐ Wall following is smooth	Tune PID gains if oscillating

💡 Tip: Start with the robot in a simple straight corridor before testing in a full maze!

✨ Key Features & Capabilities

🧭 Left-Hand Rule Maze Solving

Implements the classic wall-following algorithm with priority-based decision making:

Priority 1: Turn LEFT if left wall is absent
Priority 2: Go FORWARD if path is clear
Priority 3: Turn RIGHT if right wall is absent
Priority 4: Turn AROUND (180°) at dead ends

🎛️ Dual Feedback Control System

Advanced sensor fusion combining two independent control mechanisms:

Encoder Feedback (40%): Quadrature encoders for precise positioning
Wall PID Control (60%): Real-time distance regulation from walls

📡 Triple Ultrasonic Sensing

Three HC-SR04 sensors provide 180° environmental awareness:

Left, Front, and Right wall detection
Range: 2cm to 400cm with ±3mm accuracy
100ms update rate with exponential smoothing filter

⚡ High-Performance Motor Control

TB6612FNG dual H-bridge driver with PWM speed control:

Independent speed control for differential steering
Active braking capability for precise stops
Hardware timer-based PWM generation

🛠️ Hardware Architecture

Component	Part Number	Function
Microcontroller	ATmega328P (Arduino Nano)	Main processing unit @ 16MHz
Motor Driver	TB6612FNG	Dual H-bridge motor control
Motors	N20 DC Gear Motors (x2)	Differential drive propulsion
Ultrasonic Sensors	HC-SR04 (x3)	Wall distance measurement
Encoders	Quadrature Encoders (x2)	Wheel position feedback
Power	7.4V LiPo Battery	Portable power source
Voltage Regulator	AMS1117-5V	5V logic level regulation

📊 System Block Diagram

flowchart TB
    subgraph POWER["⚡ Power Supply"]
        BAT[🔋 7.4V LiPo Battery]
        REG[AMS1117 5V Regulator]
        BAT --> REG
    end
    
    subgraph SENSING["📡 Sensor Array"]
        LEFT[HC-SR04 Left]
        FRONT[HC-SR04 Front]
        RIGHT[HC-SR04 Right]
        ENCL[Left Encoder]
        ENCR[Right Encoder]
    end
    
    subgraph PROCESSING["🧠 Processing Unit"]
        MCU[ATmega328P<br/>16MHz]
        PID[PID Controller]
        MAZE[Maze Solver<br/>Left-Hand Rule]
        FUSION[Sensor Fusion<br/>40% Enc + 60% Wall]
    end
    
    subgraph ACTUATION["⚙️ Motor Control"]
        DRIVER[TB6612FNG<br/>Motor Driver]
        MOTORL[Left Motor]
        MOTORR[Right Motor]
    end
    
    REG -->|5V| MCU
    LEFT --> MCU
    FRONT --> MCU
    RIGHT --> MCU
    ENCL --> MCU
    ENCR --> MCU
    
    MCU --> PID
    MCU --> MAZE
    PID --> FUSION
    FUSION --> DRIVER
    MAZE --> DRIVER
    
    DRIVER --> MOTORL
    DRIVER --> MOTORR
    
    BAT -->|7.4V Direct| DRIVER

🧠 Software Architecture

Control Flow Diagram

flowchart TD
    START([🚀 System Start]) --> INIT[Initialize Peripherals<br/>UART, Timers, GPIO, PWM]
    INIT --> SENSORS[Initialize Sensors<br/>& Encoders]
    SENSORS --> DELAY[3 Second Countdown]
    DELAY --> LOOP{Main Control Loop}
    
    LOOP --> READ_SENS[Read Ultrasonic<br/>Sensors @ 100ms]
    READ_SENS --> READ_ENC[Read Encoder<br/>Counts]
    READ_ENC --> WALL_STATE{Determine<br/>Wall State}
    
    WALL_STATE -->|Both Walls| CENTER[Center Between<br/>Walls PID]
    WALL_STATE -->|Left Only| FOLLOW_L[Follow Left<br/>Wall PID]
    WALL_STATE -->|Right Only| FOLLOW_R[Follow Right<br/>Wall PID]
    WALL_STATE -->|No Walls| STRAIGHT[Encoder-Only<br/>Straight Drive]
    WALL_STATE -->|Front Wall| DECISION[Maze Decision<br/>Required]
    
    CENTER --> FUSION[Sensor Fusion<br/>Enc 40% + Wall 60%]
    FOLLOW_L --> FUSION
    FOLLOW_R --> FUSION
    STRAIGHT --> ENC_ONLY[Encoder<br/>Correction Only]
    
    FUSION --> MOTORS[Apply Motor<br/>Speeds]
    ENC_ONLY --> MOTORS
    
    DECISION --> CHECK{Check<br/>Openings}
    CHECK -->|Left Open| TURN_L[Turn Left 90°]
    CHECK -->|Front Clear| FWD[Continue Forward]
    CHECK -->|Right Open| TURN_R[Turn Right 90°]
    CHECK -->|Dead End| TURN_180[Turn Around 180°]
    
    TURN_L --> MOTORS
    FWD --> MOTORS
    TURN_R --> MOTORS
    TURN_180 --> MOTORS
    
    MOTORS --> LOOP

Maze Solving State Machine

stateDiagram-v2
    [*] --> FORWARD: Start
    
    FORWARD --> LEFT_OPEN: Left sensor > threshold
    FORWARD --> FRONT_BLOCKED: Front sensor < threshold
    FORWARD --> FORWARD: Continue straight
    
    LEFT_OPEN --> WAIT_DELAY: Debounce 500ms
    WAIT_DELAY --> TURN_LEFT: Opening confirmed
    WAIT_DELAY --> FORWARD: False positive
    
    TURN_LEFT --> FORWARD: Turn complete
    
    FRONT_BLOCKED --> CHECK_LEFT: Stop & sense
    CHECK_LEFT --> TURN_LEFT: Left open
    CHECK_LEFT --> CHECK_RIGHT: Left blocked
    CHECK_RIGHT --> TURN_RIGHT: Right open
    CHECK_RIGHT --> TURN_180: Dead end
    
    TURN_RIGHT --> FORWARD: Turn complete
    TURN_180 --> FORWARD: Turn complete
    
    note right of WAIT_DELAY
        MAZE_OPENING_DELAY
        prevents false triggers
    end note

📌 Pin Configuration

Motor Driver (TB6612FNG)

Arduino Pin	ATmega328P	TB6612FNG	Function
D7	PD7	AIN1	Left Motor Direction 1
D6	PD6	AIN2	Left Motor Direction 2
D5	PD5 (OC0B)	PWMA	Left Motor PWM Speed
D4	PD4	BIN1	Right Motor Direction 1
D2	PD2	BIN2	Right Motor Direction 2
D3	PD3 (OC2B)	PWMB	Right Motor PWM Speed
D8	PB0	STBY	Standby (Active HIGH)

Ultrasonic Sensors (HC-SR04)

Sensor	TRIG Pin	ECHO Pin
Left	A4 (PC4)	A5 (PC5)
Front	D9 (PB1)	D10 (PB2)
Right	D11 (PB3)	D12 (PB4)

Quadrature Encoders

Encoder	Phase A	Phase B
Left Motor	A0 (PC0)	A1 (PC1)
Right Motor	A2 (PC2)	A3 (PC3)

📦 3D Printed Body

A custom chassis was designed in Autodesk Fusion 360 to house all components securely.

Custom 3D-printed chassis design in Fusion 360

Design Features:

✅ Integrated motor mounts with vibration dampening
✅ Precise sensor mounting angles for optimal detection
✅ Battery compartment with secure fit
✅ Easy access for programming and debugging
✅ Ventilation slots for electronics cooling

Printing Specifications:

Parameter	Value
Material	PLA or PETG
Layer Height	0.2mm
Infill	25%
Supports	Yes (for motor mounts)
Print Time	~4 hours

📥 Download STL File

📥 Download Fusion 360 Source

⚙️ Build & Flash Instructions

Prerequisites

AVR-GCC Toolchain (avr-gcc, avr-objcopy, avrdude)
Arduino Nano or compatible ATmega328P board
USB-to-Serial driver (CH340 for clone Nanos)

Build Commands

# Clone the repository
git clone https://github.com/Ravinx001/MicroMouse.git
cd MicroMouse

# Build the project
make build

# Check memory usage (critical - RAM near capacity!)
make size

# Flash to Arduino Nano (update COM port in Makefile first)
make flash

# Clean build artifacts
make clean

# Run encoder calibration tool
make calibrate

⚠️ Important: COM Port Configuration

Before flashing, update the PORT variable in Makefile:

# Windows: COM3, COM4, etc.
# Linux: /dev/ttyUSB0, /dev/ttyACM0
# Mac: /dev/cu.usbserial-*
PORT = COM3

Memory Usage

Memory	Used	Available	Usage
Flash	~12KB	32KB	~37%
RAM	~1.8KB	2KB	~90% ⚠️

⚠️ Warning: RAM usage is near capacity. Avoid adding large buffers or arrays.

🔧 Configuration & Tuning

All tunable parameters are centralized in include/config.h.

Key Parameters

// Motor Speeds
#define MOTOR_SPEED 110      // Base forward speed (0-255)
#define TURN_SPEED 80        // Turning speed (0-255)

// PID Gains
#define PID_KP 1.2f          // Proportional gain
#define PID_KI 0.03f         // Integral gain
#define PID_KD 0.6f          // Derivative gain

// Wall Following
#define TARGET_WALL_DISTANCE 8    // Target distance from walls (cm)
#define FRONT_STOP_DISTANCE 15    // Stop when front wall closer (cm)

// Maze Detection
#define MAZE_LEFT_THRESHOLD 20    // Opening detection threshold (cm)
#define MAZE_OPENING_DELAY 500    // Debounce delay (ms)

// Control Fusion Weights
#define ENCODER_WEIGHT 0.4f       // Encoder contribution
#define WALL_WEIGHT 0.6f          // Wall PID contribution

Tuning Guide

Problem	Solution
Robot oscillates/wobbles	Reduce `PID_KP` or increase `PID_KD`
Drifts on straight paths	Increase `ENCODER_CORRECTION_GAIN`
Turns overshoot	Increase `TURN_90_COMPENSATION`
Turns undershoot	Decrease `TURN_90_COMPENSATION`
False turn triggers	Increase `MAZE_OPENING_DELAY`
Too slow reaction	Decrease `CONTROL_PERIOD_MS`

📚 Detailed tuning guide: See CONFIG_PARAMETERS_GUIDE.md

📊 Technical Specifications

Specification	Value	Notes
Microcontroller	ATmega328P	16MHz, 32KB Flash, 2KB RAM
Operating Voltage	5V Logic	7.4V battery input
Motor Voltage	6-7.4V	Direct from battery
Sensor Range	2-400cm	HC-SR04 ultrasonic
Encoder Resolution	356 ticks/rev	Quadrature decoding
Control Loop Rate	20Hz	50ms period
Sensor Update Rate	10Hz	100ms period
Turn Accuracy	±5°	Encoder-controlled
Max Speed	~30cm/s	At MOTOR_SPEED=110
Dimensions	~12×10×8cm	LxWxH approximate
Weight	~200g	Including battery

📁 Project Structure

MicroMouse/
├── 📄 README.md                          # This file
├── 📄 LICENSE                            # MIT License
├── 📄 Makefile                           # Build system
├── 📄 CONFIG_PARAMETERS_GUIDE.md         # Detailed tuning guide
├── 📄 TURN_CONFIG_SIMPLIFIED.md          # Turn calibration guide
│
├── 📂 src/                               # Source files
│   ├── main.c                            # Main control loop & maze logic
│   ├── motors.c                          # TB6612FNG motor driver
│   ├── sensors.c                         # HC-SR04 ultrasonic sensors
│   ├── uart.c                            # Serial communication
│   └── utils.c                           # Timing utilities (millis, micros)
│
├── 📂 include/                           # Header files
│   ├── config.h                          # ⚙️ ALL tunable parameters
│   ├── motors.h                          # Motor driver interface
│   ├── sensors.h                         # Sensor interface
│   ├── uart.h                            # UART interface
│   └── utils.h                           # Utility functions
│
├── 📂 samples/                           # Example implementations
│   ├── 90_turning_and_wall_following/    # Turn + wall follow demo
│   └── optimized_wall_following_with_ultrasonic/  # PID tuning demo
│
├── 📂 arduino_codes/                     # Arduino IDE versions
│   └── wall_following_tune.ino           # Wall following tuning sketch
│
├── 📂 body_3D_design/                    # Chassis design files
│   ├── micromouse_body_3d_design.f3d     # Fusion 360 source
│   ├── micromouse_body_3d_design.stl     # 3D printable STL
│   └── micromouse_body_3d_design.PNG     # Design preview
│
├── 📂 photos/                            # Build documentation
│   └── final_view_of_micro_mouse.jpeg    # Finished robot photo
│
├── 📂 video/                             # Demo videos
│   └── Micro Mouse Full Video.mp4        # Full operation demo
│
├── 📂 build/                             # Compiled output (generated)
│
└── 📂 .github/                           # GitHub configuration
    └── copilot-instructions.md           # AI coding assistant guide

🔄 Control Algorithm Deep Dive

PID Wall Following

flowchart LR
    subgraph INPUT
        SP[Setpoint<br/>8cm target]
        PV[Process Variable<br/>Actual distance]
    end
    
    subgraph PID["PID Controller"]
        E[Error<br/>SP - PV]
        P[P Term<br/>Kp × error]
        I[I Term<br/>Ki × ∫error]
        D[D Term<br/>Kd × d/dt error]
        SUM((Σ))
    end
    
    subgraph OUTPUT
        CORR[Correction<br/>-40 to +40]
        ML[Left Motor<br/>Speed ± correction]
        MR[Right Motor<br/>Speed ∓ correction]
    end
    
    SP --> E
    PV --> E
    E --> P
    E --> I
    E --> D
    P --> SUM
    I --> SUM
    D --> SUM
    SUM --> CORR
    CORR --> ML
    CORR --> MR

Sensor Fusion Algorithm

flowchart TD
    subgraph ENCODERS["Encoder Feedback"]
        EL[Left Encoder<br/>Ticks]
        ER[Right Encoder<br/>Ticks]
        DIFF[Tick Difference<br/>L - R]
        ENC_CORR[Encoder Correction<br/>diff × gain]
    end
    
    subgraph WALLS["Wall PID Feedback"]
        SENS[Ultrasonic<br/>Sensors]
        FILTER[Low-Pass<br/>Filter α=0.6]
        PID_CALC[PID<br/>Calculation]
        WALL_CORR[Wall Correction]
    end
    
    subgraph FUSION["Sensor Fusion"]
        WEIGHT[Weighted Sum<br/>40% Enc + 60% Wall]
        TOTAL[Total Correction]
    end
    
    EL --> DIFF
    ER --> DIFF
    DIFF --> ENC_CORR
    
    SENS --> FILTER
    FILTER --> PID_CALC
    PID_CALC --> WALL_CORR
    
    ENC_CORR -->|× 0.4| WEIGHT
    WALL_CORR -->|× 0.6| WEIGHT
    WEIGHT --> TOTAL
    
    TOTAL --> MOTORS[Motor Speeds]

🐛 Troubleshooting

Problem	Possible Cause	Solution
Robot doesn't move	STBY pin LOW	Check D8 is HIGH after `motors_enable()`
Erratic sensor readings	Electrical noise	Add 0.1µF caps near sensor VCC pins
Turns are inaccurate	Wrong encoder count	Run `make calibrate` and update `TICKS_PER_REVOLUTION`
Robot drifts left/right	Encoder polarity	Check encoder wiring or swap A/B phases
Oscillates in corridor	PID gains too high	Reduce `PID_KP` or increase `PID_KD`
Misses wall openings	Threshold too low	Increase `MAZE_LEFT_THRESHOLD`
False opening detection	Delay too short	Increase `MAZE_OPENING_DELAY`
Won't compile	Missing toolchain	Install avr-gcc and avr-libc
Flash fails	Wrong COM port	Update `PORT` in Makefile
RAM overflow	Too many variables	Remove debug strings, optimize buffers

Serial Debug Output

Connect at 9600 baud to view real-time status:

ENC L:1234 R:1230 D:4 | BOTH L:7cm R:8cm
ENC L:1280 R:1278 D:2 | LEFT L:6cm
>>> TURNING LEFT 90° <<<
Turn complete! Ticks: 287 (Target: 282)

🛒 Bill of Materials (BOM)

Qty	Component	Specification	Notes
1	Arduino Nano	ATmega328P, CH340	Or compatible clone
1	TB6612FNG Module	Dual H-Bridge	Handles 1.2A/channel
2	N20 Gear Motors	6V, 100-300 RPM	With encoder mount
2	Quadrature Encoders	~360 PPR	Magnetic or optical
3	HC-SR04	Ultrasonic sensor	2-400cm range
1	7.4V LiPo Battery	300-500mAh	2S configuration
1	AMS1117-5V	Voltage regulator	Or LM7805
2	Wheels	42mm diameter	Fits N20 shaft
1	Caster Wheel	Ball or swivel	Rear support
-	Jumper Wires	Various	For connections
-	3D Printed Chassis	PLA/PETG	See design files

📚 Learning Outcomes

This project demonstrates proficiency in:

✅ Embedded C Programming - Direct register manipulation, ISRs, hardware timers
✅ Control Systems - PID implementation, sensor fusion, state machines
✅ Algorithm Design - Left-hand rule maze solving, decision trees
✅ Electronics Integration - Motor drivers, sensor interfaces, power management
✅ 3D CAD Design - Fusion 360 parametric modeling
✅ Build Systems - Makefile-based compilation and flashing
✅ Technical Documentation - Comprehensive project documentation

🤝 Contributing

Contributions are welcome! Areas for improvement:

Flood-fill algorithm implementation
Speed run optimization after maze learning
IR sensor alternative to ultrasonic
Bluetooth/WiFi telemetry
PCB design for cleaner integration
OLED display for status

How to Contribute

Fork the repository
Create a feature branch (git checkout -b feature/FloodFill)
Commit changes (git commit -m 'Add flood-fill algorithm')
Push to branch (git push origin feature/FloodFill)
Open a Pull Request

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

📞 Contact & Support

Project Maintainer
📧 Email: rav.business.lak@gmail.com
🐙 GitHub: @Ravinx001
💼 LinkedIn: Ravindu Amarasekara

Community
💬 Discussions: Use GitHub Discussions for questions
🐛 Issues: Report bugs via GitHub Issues

🐭 From Code to Maze Mastery 🐭

🌟 Where Algorithms Meet Real-World Robotics 🌟

⭐ Star this repository if you found it helpful! ⭐

Built with ❤️ for the Robotics & Maker Community

Name		Name	Last commit message	Last commit date
Latest commit History 12 Commits
.github		.github
arduino_codes		arduino_codes
body_3D_design		body_3D_design
include		include
photos		photos
samples		samples
src		src
.gitattributes		.gitattributes
.gitignore		.gitignore
CONFIG_PARAMETERS_GUIDE.md		CONFIG_PARAMETERS_GUIDE.md
Clean		Clean
Cleaning		Cleaning
Compiling		Compiling
LICENSE		LICENSE
Makefile		Makefile
README.md		README.md
TURN_CONFIG_SIMPLIFIED.md		TURN_CONFIG_SIMPLIFIED.md

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🐭 Autonomous Maze-Solving MicroMouse Robot

🤖 ATmega328P Embedded C Project with Dual Feedback Control

🎯 Project Overview

🎬 Demo Video

🚀 Getting Started

Quick Start Guide

Step 1: Clone the Repository

Step 2: Gather Components

Step 3: Print the Chassis

Step 4: Wire the Electronics

Step 5: Install Toolchain & Flash

Step 6: Calibrate Encoders

Step 7: Test & Run!

🔧 First-Time Tuning Checklist

✨ Key Features & Capabilities

🧭 Left-Hand Rule Maze Solving

🎛️ Dual Feedback Control System

📡 Triple Ultrasonic Sensing

⚡ High-Performance Motor Control

🛠️ Hardware Architecture

📊 System Block Diagram

🧠 Software Architecture

Control Flow Diagram

Maze Solving State Machine

📌 Pin Configuration

Motor Driver (TB6612FNG)

Ultrasonic Sensors (HC-SR04)

Quadrature Encoders

📦 3D Printed Body

Design Features:

Printing Specifications:

⚙️ Build & Flash Instructions

Prerequisites

Build Commands

⚠️ Important: COM Port Configuration

Memory Usage

🔧 Configuration & Tuning

Key Parameters

Tuning Guide

📊 Technical Specifications

📁 Project Structure

🔄 Control Algorithm Deep Dive

PID Wall Following

Sensor Fusion Algorithm

🐛 Troubleshooting

Serial Debug Output

🛒 Bill of Materials (BOM)

📚 Learning Outcomes

🤝 Contributing

How to Contribute

📄 License

📞 Contact & Support

🐭 From Code to Maze Mastery 🐭

🌟 Where Algorithms Meet Real-World Robotics 🌟

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