Builders guide robot pacman.pdf

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Table 4. Truth table of the Memory DeviceS R QStart 1 1 0No light 1 1 0Light 0 1 1No light 1 1 1Light 0 1 1Reset 0 0!1 0Start 0 1 1No light 1 1 1Reset 1 0!1 0The output from the comparator is connected to ‘S’ and a dipswitch is connectedto ‘R’. ‘R’ must be high while operating. When ‘R’ is switched to low, all thered LEDs on the maze will be turn on again.The last part of the dot circuit is a switch. CD4066, a bilateral switch is chosen.The output of the memory device is connected to ‘Control’ in the CD4066. When‘Control’ is low, the dot is ‘ON’; when ‘Control’ is high, the dot is ‘OFF’ (seeFigure 47 below).Figure 47. Timing diagram of the Switch (including CD4066, resistor, and capacitor)As shown in the above diagram, when ‘Control’ is low, the output of switch isequal to VDD. However, when ‘Control’ is high, the output voltage neverreaches 0V yet the output voltage is low enough to turn off the red LED.The dots on the maze are powered by a power supply in the lab. In order to makethe LEDs brighter, we inputted 12V to the dot circuit.37
8.0 Power8.1 MotorOur stepper motors require an output voltage of 12V to operate. Since this wasour highest voltage requirement, we used 12V as our base voltage and usedregulators to supply power to the rest of the circuits. Luckily, we were able to useone regulator to power all of the circuits since they all required the same inputvoltage of 5V.For our battery selection, we decided to use a rechargeable 12V Lead-Acidbattery with a rating of 1200mA⋅h on Pac-Man and 10 rechargeable 1.2V Nickel-Hydride AA batteries with a rating of 1600mA⋅h on the Ghost. We recommend inthe future that the AA batteries be used since they have a longer life and arelighter in weight in comparison to the Lead-Acid battery. (The AA batteries werenot used on both <strong>robot</strong>s due to our budget restraints.)While testing the motors at low frequencies, we found that it was essential to havea well-regulated voltage from the battery source. In order to ensure properoperation, we placed a decoupling capacitor across the 5V power and ground pinsof the motor driver chips and across the 12V battery terminals.8.2 ControllerThe transmitter module for the controller circuit required a clean and wellregulatedvoltage to operate efficiently. A low pass filter was added to thetransmitter module and a bypass capacitor to the logic ICs in cases when thequality of the power supply is poor. Due to the transmitter’s low powerconsumption (6mA), we were able to use a rechargeable 9V Nickel-Hydridebattery to power the module and the LM7805 5V regulator to power the othervarious components in the controller. The total amount of current consumed bythe controller is 10mA, which is well below the battery rating of 150mAh. Wefound that this was enough to power the controller for several hours.8.3 MazeThe LEDs and sensors placed on the maze are powered off the power supply sincewe opted that it would not be necessary to power them off a battery. The voltagesupplied to the LEDs, sensors and ICs were set to the maximum voltage rating of15V. We wanted to maximize the voltage because we found that the brighter theLEDs on the maze, the easier it was for Pac-Man to detect it.38
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 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 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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