Builders guide robot pacman.pdf

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PAC-MANSubmitted to:Dr. W.G. DunfordJuly 24, 2002Submitted by:Pauline Pham (#44064988)Carol Tai (#78264991)Johnson Bao (#64704984)Christopher Chou (#82812991)Jimmy Huang (#4798998)
Table of ContentsList of Tables ....................................................................................................................iiiList of Figures...................................................................................................................iiiAbstract.............................................................................................................................iii1.0 Introduction........................................................................................................... 12.0 Chassis.................................................................................................................... 22.1 Motor Mounts.............................................................................................. 22.2 PCB Mounts ................................................................................................ 32.3 Body ............................................................................................................ 33.0 Motors .................................................................................................................... 63.1 Motor Selection........................................................................................... 63.2 Motor Control.............................................................................................. 74.0 Radio Frequency Application .............................................................................. 94.1 RF Considerations................................................................................................. 94.2 Wireless Input Controller ............................................................................ 94.2.1 Encoding scheme logic.................................................................. 104.2.2 Encoder and Decoder .................................................................... 114.2.2.1 Error detection and filtering .......................................... 124.2.3 RF Modules................................................................................... 135.0 Sensors.................................................................................................................. 165.1 Wall detection ........................................................................................... 165.2 Dot Counting Sensor ................................................................................. 185.3 Pac-Man Tracking..................................................................................... 195.4 Contact Sensor........................................................................................... 215.5 LCD display .............................................................................................. 216.0 Microcontroller and Software............................................................................ 236.1 Pac-Man Robot.......................................................................................... 236.1.1 Obstacle Sensors ........................................................................... 256.1.2 LCD Display ................................................................................. 266.1.3 RF Receiver................................................................................... 266.1.4........................................................................................................... 27Stepper Motors .......................................................................................... 276.1.5 Ghost Contact Sensor.................................................................... 296.1.6 Maze Dot Sensor ........................................................................... 296.2 Ghost Robot............................................................................................... 306.2.1 Beacon Sensor ............................................................................... 317.0 Maze ..................................................................................................................... 357.1 Physical Dimension................................................................................... 357.2 Dots ........................................................................................................... 368.0 Power.................................................................................................................... 388.1 Motor......................................................................................................... 388.2 Controller .................................................................................................. 388.3 Maze.......................................................................................................... 388.4 Regulators.................................................................................................. 39
Page 1: PAC-MANEECE 474 - Team 1July 24, 20
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 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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