Builders guide robot pacman.pdf

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Table 1. Encoding schemeUp 100Left 101Right 110Down 111The most significant bit was selected to act as an interrupt signal for themicro-controller so that it goes high each time a button is pushed.4.2.2 Encoder and DecoderThe encoder and decoder chip used in this project is Motorola’sMC145026 encoder and MC145027 decoder chips. See Figure 14 andFigure 15 for their block diagrams. Since more than one 474 group wasusing RF modules at 418MHz, these chips were selected for ourapplication because they performed the necessary error checking andfiltering required. In addition, they provided parallel-to-serial and serialto-paralleldata conversion, which was a requirement for the RF modules(the RF modules transmit and receive serial data only).Figure 14. MC145026 Encoder Block Diagram11
Figure 15. MC145027 Decoder Block Diagram4.2.2.1 Error detection and filteringThe encoder chip contains nine bits of information. The first fivebits contain the address of the encoder and the other remainingfour bits contain the data bits. These nine bits of information aresent serially to the RF transmitter module. The RF transmittermodule then sends the serial data asynchronously at 418MHz tothe receiver module. For this project, only three out of the fourdata bits were used. The fourth bit was left opened. The decoderreceives the serial data via the RF receiver module, unscramblesthe data and checks to see if two consecutive addresses arematched to the local address of the decoder. Secondly, it checks tosee if the four data bits match the last valid data received. If bothconditions are met, the data bits are outputted to themicrocontroller.Both encoder and decoder chip contain an internal RC oscillator.Since the RF modules were tested and found to operate best forinput frequencies up to 2kHz, the encoder and decoder clockfrequencies were set to approximately 1.7kHz. This resulted in anoutput frequency of approximately 420Hz to the RF modules. Asseen in the figure below, each data bit generated from the encoder12
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 16 and 17: 4.0 Radio Frequency ApplicationSinc
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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