The aim of this project is to produce a simple Micromouse robot for entering into competitions. The mouse itself is constructed around two H546 Stepper motors which provide the chassis integrity.

Specification
1mm thick Aluminium chassis
'Airat 2' Wheels
2x H546 Motors
Li-poly Battery
PIC18F4520 Microcontroller
TSL262R IR Sensors
L297/L298 Stepper Drivers

Initial concept...

Refined final design for PCB mounting...

The circuit itself is a very simple design, I managed to squeeze on the controllers (L297/298/2610) for both stepper motors as well as a Darlington array (ULN2803A) for my IR emitters, all controlled by a single PIC18F4520. I have any spare I/O going to headers as well as specific headers for SPI and UART. All that is externally required is a simple sensor board to mount the IR emitters/photodiodes and a few resistors/caps. All IC's are DIP as I didn't fancy SMD for my first board. I also managed fit a full silkscreen (Name/values). Not bad for a 80x100mm board I thought.

Bad Points/Improvements Required