Builders guide robot pacman.pdf

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Figure 40. Pin assignments for the GhostBecause the obstacle sensor, stepper motors, and Pac-Man contact sensor areidentical to that of Pac-Man’s, they require no repeat explanation here. We willdiscuss the only thing unique to the Ghost in this section, the beacon sensor.6.2.1 Beacon SensorThe PIC receives four different beacon readings from the Pac-Man beaconbroadcast signal, one for each of its four directions. It uses these readingsto estimate the position of Pac-Man. The interface for these sensors to thePIC is modelled below.Front BeaconSensorLeft BeaconSensorPIC16F877MicrocontrollerBack BeaconSensorRight BeaconSensorFigure 41. Model of interface between PIC and beacon sensors31
The beacon signal strength is a negative, non-linear function of Pac-Man’sdistance from the Ghost. For a 6x6 maze, we measure and plot the signalstrength of the four beacon signals as follows.4.6 V 4.6 V 4.6 V 4.6 V 4.6 V 4.6 V4.6 V 4.6 V 4.6 V 4.6 V 4.6 V4.6 V 4.6 V 4.6 V 4.6 V 4.5 V3.55V0.19V4.6 V 4.6 V 4.6 V 4.6 V0.33V0.05V4.6 V4.53V4.6 V 4.6 V 0.6 V0.05V4.6 V 4.6 V 4.6 V 4.6 V 4.6 VGhostFigure 42. Front beacon measurements of Pac-Man position4.6 V 4.6 V 4.6 V 4.6 V 4.6 V 4.6 V4.6 V 4.6 V 4.6 V 4.6 V 4.6 V 4.6 V4.6 V 4.6 V 4.6 V 2.6 V 4.6 V 4.6 V4.6 V 4.6 V 4.6 V 4.6 V 4.6 V 4.6 V4.6 V4.53V3.2 V0.07V0.6 V 4.3 V4.6 V 4.4 V 2.6 V0.04V0.04VGhostFigure 43. Left beacon measurements of Pac-Man position32
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 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 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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