Crystal the Maze robot

This was my Bachelor’s final project. Crystal was able to find its way out of an unknown maze. There were also some intelligent algorithms implemented helping the robot find the exit quicker. Crystal attended two Labyrinth competitions but due to unlucky accidents it was unable of finishing the maze.

Hardware:

AT89S52 + LM567 PLL + LM324 + ULN2803 + Stepper motors

Software:

The code for this project is developed in MCS51 Assembly. Timer 1 interrupts at the time intended for the motors to be updated. In the ISR sensors are checked, sensors are masked with augmented walls on predefined locations if needed. Later, a decision is made based on the walls surrounding the robot and previous locations visited.

This code is provided at no cost and no warranty. Use it at your own risk. It is not commented very well, check the schematic to make sure the provided schematics meet the code. Definition are provided at the first lines of the source codes :

Simple version which follows left wall/right wall and saves on the number of turns.

More advanced version which can avoid entering predefined locations or unwanted exits.

You may use this code in your robot/program. You may not use it commercially without my prior license. I like the Beerware concept: “If we meet some day, and you think this stuff is worth it, you can buy me a beer in return”