Micromouse robot seen from directly above: green circuit board, wiring looms and front sensor mounts Micromouse from the front left Micromouse from the front Micromouse from the front right Micromouse from the rear right Micromouse from the rear
Alex OliveriMicromouse

Micromouse

A maze-solving robot. It maps the walls as it drives and uses flood-fill to find the shortest way to the goal.

Scroll to drive
Cells to goal 3
315°

Front left

Alex OliveriMicromouse · design files
CAD · printed parts

The frame

Chassis, two motor brackets and four 5 mm spacers, straight from the CAD files. This is a live 3D model, so it turns smoothly as you scroll.

Design files to finished board

As designed, as built

Layout, from the Gerbers
The assembled board on the robot, seen from above with the front at the top
Assembled, same way up
Board
84 × 105.5 mm, 2 layers, 1.6 mmEvery part is through-hole: 99 drilled pads.
Tracks
0.3 · 0.5 · 1.0 mmSignal, power and motor. Ground is a pour across the back.
Controller
DFRduino Nano, U1Runs the flood-fill firmware, written in C++.
Drive
Dual motor driver, U2Direction and PWM per motor on D4 to D7.
Power
Battery on J3, buck converter U3Battery voltage to the motors, 5 V to everything else.
Ports
2 motor, 5 sensor6-pin motor connectors, 3-pin sensor ports on A0 to A4 — four populated.
Frame
90 × 143 mm chassisPlus two motor brackets and four 5 mm spacers.