Builders guide robot pacman.pdf

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Figure 20. Receiver Block DiagramThe Linx modules have the capability of sending analog or digital data atdistances greater than 500 ft. We tested these modules by sending a signalfrom the function generator from one end of the 474 room to the otherend. The modules received the signal instantaneously and mirrored thesignal exactly as we varied the frequency. We chose not to test themodules at greater distances since it was unnecessary to do so for ourspecific application.15
5.0 SensorsSeveral different types of sensors are used to achieve the following functionalities in thePac-Man project:1) Wall detection – Pac-Man and Ghost should be able to maneuver around themaze without hitting or scraping the walls, and meanwhile detect openings in themaze. Given the configuration of the robots and the maze, this functionalityrequires distance sensors that have good resolution within a 15 cm range.2) Dot counting – The “Dots” in the Pac-Man game is realized by the floormounted LEDs in the maze. Pac-Man should be able to distinguish between thebare floor and an LED light source as it passes over them even when it is notcentered within the track. As in the computer game, the dots disappear after eatenby Pac-Man. Our LEDs should also turn off immediately after it has beendetected.3) Pac-Man location tracking – Ghost should be able to locate Pac-Man from agive distance within the maze. This functionality requires sensors that have awide detection angle (approximately 45 degrees) and a long detection range(approximately 120 cm).4) Contact - When Pac-Man and Ghost physically make contact, both robotsshould be able to detect the event.Given the above functional requirements, the following sensor designs are investigated aspossible solutions.5.1 Wall detectionWe first considered the Sharp GP2d12 IR ranger module (Figure 21), which isequipped with an infrared transmitter and receiver pair. Several features makesGP2D12 an attractive candidate – 1) Small packaging (0.75in x 0.5in) whichhelps keep the size of our robot under control, 2) GP2D12’s analog output (0.25Vto 2.45V) is easily interfaced with the PIC microcontroller’s internal A-Dconverter, and 3) high immunity to ambient light.16
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 18 and 19: Table 1. Encoding schemeUp 100Left
Page 20 and 21: is held for several clock cycles an
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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