Builders guide robot pacman.pdf

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Figure 10. 55M048B2U 12VDC Unipolar Stepper Motor3.2 Motor ControlOpposite from DC motors, stepper motors have an armature built out ofpermanent magnets, and surrounded by sets electromagnets that are activated ondemand. By activating different sets of coils in a particular sequence, we canmove the armature from one position to the next to create the rotation required.The activation sequence can be generated by programming the microprocessor orby logic devices, such as the L297 stepper motor controller, which translatesdirection and clock signal into corresponding sequences.Both Pac-Man and the Ghost are driven by two motors (left and right), which iscontrolled by the UCN5804 unipolar stepper-motor translator/driver from AllegroMicrosystems Inc. Figure 11 below shows the pin assignment and internalcircuitry of the UCN5804.7
Figure 11. Pin Assignments and internal circuitry of UCN5804The motors we used can be controlled by combining the L297 with a Darlingtontransistor array. However, the UCN5804 not only integrated the translation logicwith the Darlington transistors, it is also capable of sinking twice as much current(1.25A) than regular Darlington arrays (600mA). Therefore, we chose theUCN5804 as our motor controller to eliminate extra circuitry and to lighten theload on the microprocessor.8
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 and 10: 2.0 ChassisThe design objective of
Page 11: casters in the back. For any two wh
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
Page 68 and 69:
if ( (ob_left > MAX_LEFT) || (ob_ri
Page 70 and 71:
Ghost Source Code/*****************
Page 72 and 73:
}case S:}go_forward();break;}curren
Page 74 and 75:
}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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