Builders guide robot pacman.pdf

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9.0 Recommendations ............................................................................................... 4110.0 Conclusion............................................................................................................ 43APPENDICESAPPENDIX A: Photo GalleryAPPENDIX B: PCB LayoutsAPPENDIX C: Expense ReportAPPENDIX D: Gantt ChartAPPENDIX E: Source Code
List of TablesTable 1. Encoding scheme ................................................................................................ 11Table 2. RF signal format for Pac-Man movement .......................................................... 27Table 3. List of parameters needed to control motor speed.............................................. 27Table 4. Truth table of the Memory Device ..................................................................... 37List of FiguresFigure 1. Aluminum Corner…………………………………………………………....... 2Figure 2. Wheel……………….......................................................................................... 2Figure 3. Motor Mounts..................................................................................................... 3Figure 4. PCB Mount......................................................................................................... 3Figure 5. Chassis Body ...................................................................................................... 4Figure 6. Pac-Man South-west view.. ………………………….………………………4Figure 7. Front view………………… ……...................................................................... 4Figure 8. Top view… ..................................................................................................... 5Figure 9. Side view... ......................................................................................................... 5Figure 10. 55M048B2U 12VDC Unipolar Stepper Motor ................................................. 7Figure 11. Pin Assignments and internal circuitry of UCN5804........................................ 8Figure 12. Wireless Input Controller ................................................................................ 10Figure 13. Encoding scheme logic.................................................................................... 10Figure 14. MC145026 Encoder Block Diagram............................................................... 11Figure 15. MC145027 Decoder Block Diagram............................................................... 12Figure 16. Encoder and Decoder transmission protocol................................................... 13Figure 17. Transmitter Module......................................................................................... 14Figure 18. Receiver Module ............................................................................................. 14Figure 19. Transmitter Block Diagram............................................................................. 14Figure 20. Receiver Block Diagram ................................................................................. 15Figure 21. GP2D12 ........................................................................................................... 17Figure 22. Wall Sensor… ................................................................................................. 17Figure 23. Wall Sensor Circuit ......................................................................................... 17Figure 24. Dot Counting Circuit ...................................................................................... 18Figure 25. PNA4612…. ................................................................................................... 20Figure 26. Beacon Receiver Circuit.................................................................................. 20Figure 27. IR Beacon Circuit............................................................................................ 20Figure 28. Contact Sensor................................................................................................. 21Figure 29. LCD display..................................................................................................... 22Figure 30. Architectural model of Pac-Man software ...................................................... 24Figure 31. Pin assignments for Pac-Man .......................................................................... 25Figure 32. Model of interface between PIC and obstacle sensors .................................... 26Figure 33. Model of interface between PIC and LCD display ......................................... 26Figure 34. Model of interface between PIC and RF receiver ........................................... 27Figure 35. Sketch of wheel dimensions ............................................................................ 28Figure 36. Model of interface between PIC and stepper motor drivers............................ 29iii
Page 1 and 2: PAC-MANEECE 474 - Team 1July 24, 20
Page 3: Table of ContentsList of Tables ...
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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