Builders guide robot pacman.pdf

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Figure 3. Motor Mounts2.2 PCB MountsIn the original design, the PCBs were to be mounted in layers using screws andspacers at each corner. However, after looking at the design carefully, we foundthis mounting method to be inconvenient in terms of accessing and debugging thePCBs. Therefore, we decided to switch to the wooden slots that we are currentlyusing. This mounting mechanism enables us to slide each of the layers in and outindividually for debugging. Just like the motors, the wooden PCB mounts areattached to the main body using an aluminum corner. (See Figure 4)Figure 4. PCB Mount2.3 BodyThe chassis body, as shown in Figure 5, is actually quite simple; it consists of a10cm x 10cm aluminum plate, two standing casters in the front, and two ball3
casters in the back. For any two wheel robot, casters are needed to keep the robotin balance, but usually only one ball caster is needed in the back. For Pac-Manand the Ghost, because the LED dots are planted at the center of each lane, thecasters were moved away from the center in order to accommodate the LEDs andsensors. Moreover, having only one caster placed off center may cause an unevendrag and affect the movement of the robot. Therefore, we placed two ball castersin the back to keep the robot balanced. The front standing casters are there toprevent the robot from tilting forward on the brake.Figure 5. Chassis BodyFigure 6. Pac-Man South-west viewFigure 7. Front view4
Page 1 and 2: PAC-MANEECE 474 - Team 1July 24, 20
Page 3 and 4: Table of ContentsList of Tables ...
Page 5 and 6: List of TablesTable 1. Encoding sch
Page 7 and 8: AbstractThe EECE474 Pac-Man project
Page 9: 2.0 ChassisThe design objective of
Page 14 and 15: Figure 10. 55M048B2U 12VDC Unipolar
Page 16 and 17: 4.0 Radio Frequency ApplicationSinc
Page 18 and 19: Table 1. Encoding schemeUp 100Left
Page 20 and 21: is held for several clock cycles an
Page 22 and 23: Figure 20. Receiver Block DiagramTh
Page 24 and 25: Figure 21. GP2D12However, it also h
Page 26 and 27: ed LED on the maze. Therefore, the
Page 28 and 29: Since the beacon signal needs to co
Page 30 and 31: 6.0 Microcontroller and SoftwareOur
Page 32 and 33: Figure 31. Pin assignments for Pac-
Page 34 and 35: Table 2. RF signal format for Pac-M
Page 36 and 37: We know that the timer counts at 1
Page 38 and 39: Figure 40. Pin assignments for the
Page 40 and 41: The measurements for the right and
Page 42 and 43: 7.0 MazeThe maze is the area in whi
Page 44 and 45: Table 4. Truth table of the Memory
Page 46 and 47: 8.4 RegulatorsRegulators were added
Page 48 and 49: 9.0 RecommendationsRFIn order to re
Page 50 and 51: 10.0 ConclusionThe design and imple
Page 52 and 53: APPENDIX A: Photo GalleryPac-ManGho
Page 54 and 55: APPENDIX B: PCB LayoutsPac-ManBotto
Page 56 and 57: GhostBottom Layer (PIC, motor, cont
Page 58 and 59: MazeLEDs and sensor circuit
Page 60 and 61:
APPENDIX D: Gantt chartWeek 1(May 6
Page 62 and 63:
Pac-Man Source Code/***************
Page 64 and 65:
}}}next_turn = NONE;turn_ready = 0;
Page 66 and 67:
MIN_RIGHT += read_adc();}output_bit
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if ( (ob_left > MAX_LEFT) || (ob_ri
Page 70 and 71:
Ghost Source Code/*****************
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}case S:}go_forward();break;}curren
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}if ( walls & SOUTH )return 0;elser
Page 76 and 77:
}queue_count = 0, queue_index = 0,
Page 78 and 79:
}}}turn_enable = 0;turn_180 = 0;tur
Page 80:
{// Look for Pac-Man's beacon signa
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