Builders guide robot pacman.pdf

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4.0 Radio Frequency ApplicationSince one of the goals in this project is to implement a user controlled Pac-Man, it wasessential to have the Pac-Man <strong>robot</strong> move freely through the maze without havingcommunication wires from the controller suspending from it. Therefore, radio frequencywas introduced into our project in order to make the communication between Pac-Manand its user controller wireless. When dealing with radio frequency applications, thetransmission protocol and noise factors were key issues taken into consideration in ourequipment selection and design.4.1 RF ConsiderationsWe initially considered a two-way communication link between Pac-Man and thecontroller. This would have allowed us to control Pac-Man from the PC on thedownlink and it would allow Pac-Man to send useful information to the PC (suchas data for dot counting and counting lives) on the uplink. We also considered awireless communication link between Pac-Man and the Ghost. This would haveallowed us to send Pac-Man’s position coordinates to the Ghost so that the Ghostcan track Pac-Man down. However, due to budget restraints and in order to avoidadditional programming and synchronization issues between the transmitter andthe receiver modules, we decided to use one-way communication between thecontroller and Pac-Man only and implement the hardware required to count dotsand lives on Pac-Man. By simplifying our RF requirements, we were able todesign a controller without having to interface it with the PC or a separatemicrocontroller.4.2 Wireless Input ControllerA wireless input controller was designed to specifically control the movements ofPac-Man. The controller consists of three subsystems: the encoding schemelogic, the encoder and decoder, and the RF modules. Four momentary SPDT(single-pole-double-throw) pushbuttons were selected as the control buttons suchthat each time a user pushes a button, the output would go high, else it remainslow at all times. From there, an algorithm was devised to encode the output into aspecific scheme. This output is then sent to the encoder where it is sent serially tothe RF transmitter module. The RF transmitter module sends the data off at418MHz to the receiver module on Pac-Man. The data is then transferred to thedecoder and outputted through three pins to the microcontroller. The followingdiagram describes the operation of the wireless controller.9
Logic4 to 1 bitencoderRF TransmitterModuleTo Pac-ManSPDT PushbuttonsWireless Input ControllerFrom controllerRF ReceiverModule4 to 1 bitdecoderMicrocontrollerPac-ManFigure 12. Wireless Input Controller4.2.1 Encoding scheme logicThere are four movements required to control Pac-Man in the maze: up,down, right, and left. The following logic was designed to meet thesespecifications.5V+VUPU1AU1DMSBLEFTU1BRIGHTU1CLSBDOWNFigure 13. Encoding scheme logicAs each button is pressed, the following outputs are sent to the encoderchip.10
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 14 and 15: Figure 10. 55M048B2U 12VDC Unipolar
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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