Leonardo MicroMouse Help Code 2026

Here you will find the help code for MicroMouse.
For context, see video of MicroMouse 2025 here: LinkedIn

Contents

• Documentation
  • Configuration
  • How to move your mouse
  • Global Variables
  • Global Methods
• Getting Started
• Dependencies
• Contributor
• License

Documentation

Config.h

This file contains ALL the variables to control every aspect of your mouse, all in one place.

// *** Recommended order to configure: ***CELL_DISTANCELEFT_MOTOR_BIASRIGHT_MOTOR_BIAS// Use `testMotors()` for these.LC_LEFT_RIGHT_BIASLC_LEFT_IR_VALUELC_RIGHT_IR_VALUEFRONT_IR_VALUE_DIFF// Use `testIrReadings()` for these, looking at Serial Plotter.TURN_LEFT_DEG_TO_STEPS_MULTIPLIERTURN_RIGHT_DEG_TO_STEPS_MULTIPLIER// Watch it turning and adjust accordilngly.

How to move your mouse

It's recommended to call these methods from 'YourAlgorithm'.

voidstartOffsetAction();
// Moves the mouse forwards 80% of a cell. Offsetting it enough to check the walls in the next cell.// Called at the begining of the algorithm and after `turnAroundAction`.voidmoveForwardAction();
// Moves the mouse 1 cell forwards.// Lane centering is active.voidturnRightAction();
// Turns the mouse 90 degrees right.voidturnLeftAction();
// Turns the mouse 90 degrees left.voidturnAroundAction();
// Turns the mouse 180 degress, in the direction furthest from a wall to avoid collision.int* getCell(int direction);
// Returns the cell in the `direction` relative to mouse.// For example, if mouse at [10, 5] facing EAST, getCell(NORTH) returns [9, 5].// For example, if mouse at [10, 5] facing SOUTH, getCell(NORTH) returns [10, 4].floatdistToMiddle(Cell coord);
// Returns the distance from `coord` to middle.// Use this in combination with `getCell`, like: distToMiddle(getCell(NORTH));

Global variables

bool wallLeft = true;
bool wallRight = true;
bool wallBack = true;
bool wallFront = false;
// Variables to store current surrounding walls.bool fatalError = false; // If `true`, causes mouse to stop. // Updates this in `Main.ino` line 82.bool collisionDetectionActive = false;
// When `true`, monitors the IMU and sets `fatalError` to `true` if IMU data goes above threshold, indicating a collision. // Threshold set in `Gyro.cpp` line 3.bool laneCenteringActive = false;
// When `true`, enables lane centering. Also enables contunuous IR sensor readings.bool updateGyroData = false;
// When `true`, continuously gets data from gyro, and updates Z angle.// This is quite intensive, and slows down the program loop. So only enables when required, like when turning.// But gyro seems inacurate anyway. So not being used.

Global Methods

voidprint(String text, int priority);
// Logs the text `text` to the serial console if the global variable `DEBUG_MODE` is greater than `priority`.voidprintLoopTime();
// If called from a `loop`ing function, it prints the time to complete 1 cycle.

Getting Started

Begin in YourAlgorithm.cpp.
Here you will find a default algorithm, and this is where you should make edits, using the action functions described above.

The other important file is Config.h.
You need to adjust these variuables to your specifc mouse. Use trial and error.

Dependencies

Install these using the Arduino IDE Library Manager:

• <Arduino_LSM9DS1> Used to control the IMU & Gyro.
  
• <Adafruit_VL6180X> Used to control the IR Sensors.

Contributor

• Peter Metcalfe (Please reach out for support - I'm more than happy to help :)

License

CC BY-NC-SA 4.0