Builders guide robot pacman.pdf

More documents

Recommendations

Info

Figure 31. Pin assignments for Pac-Man6.1.1 Obstacle SensorsWe decided to control the power to the obstacle sensors with the PIC toreduce current consumption instead of having the sensor LEDs constantlypower from our battery supply. When the sensors are powered on, the left,right, and front obstacle sensors readings are valid.How the sensors readings represent the proximity to the maze walls isdetermined in the manual calibration stage when the <strong>robot</strong> is first turnedon. When the <strong>robot</strong> is being calibrated, measurements are taking toestablish whether a signal represents the presence of a wall or not. Alsomeasured is the nearest acceptable distance to a sidewall before someadjustments are made for being off-centred.Voltage increases as a sensor approaches a wall so by establishing athreshold for the presence of a wall, any reading that is lower than thisthreshold assumes that there is no presence of a wall.25
Obstacle SensorsPowerPIC16F877MicrocontrollerLeft ObstacleSensorRight ObstacleSensorFront ObstacleSensorFigure 32. Model of interface between PIC and obstacle sensors6.1.2 LCD DisplayThe PIC sends three types of signals to the LCD depending on the event.In the case of a Ghost contact, the PIC sends an LCD lives signalindicating the number of times it has been hit. When Pac-Man runs over amaze dot, it sends an LCD point signal indicating the number of dots it hascollected. Finally, an LCD reset signal is for initializing the display whena new game begins.LCD displayPIC16F877MicrocontrollerFigure 33. Model of interface between PIC and LCD display6.1.3 RF ReceiverThe RF receiver interfaces with the PIC’s interrupt service routine becausethe user can press any button on the controller at any point in the game.This scenario was chosen because it was vital that the PIC did not missany of the control signals, which may have resulted if the RF signals werereceived through polling.Three bits are used to communicate the four different directions. Theformat is listed below.26
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 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 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

Builders guide robot pacman.pdf

Create successful ePaper yourself

Delete template?

Save as template?