Builders guide robot pacman.pdf

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8.4 RegulatorsRegulators were added to provide a constant output voltage to the variable load onboth <strong>robot</strong>s. On Pac-Man, we used a LM7805 5V regulator to power all thecircuitry. This included the RF receiver module, the obstacle sensors, contactsensor, micro-controller, stepper motor driver chips, the LCD, and the beaconcircuit. The total amount of current consumed by all circuits is less than 1A,which was enough to meet the regulator’s specifications.On the Ghost, we decided to experiment with a 5V switching voltage regulator tosend power to the micro-controller, obstacle sensor, contact sensor and beaconcircuits. See Figure 48 for the circuit set-up. The switching regulator contains a52kHz internal frequency oscillator that allows it to output the input power as apulse. The regulator controls the pulse duration by using feedback as shown inFigure 49. The width of the pulse changes based on the amount of output powerrequired. When the output power is small, the pulse duration is narrow and whenthe output power is large, the pulse duration is wider.Figure 48. LM2575 Circuit SchematicFigure 49. LM2575 Circuit Block Diagram39
Due to its switching operation, a switching regulator has higher efficiency thanthree pin regulators (used on Pac-Man). A three pin regulator has lowerefficiency because its input power is equal to its output power at all times whereasfor a switching regulator, the output power is usually less than the input powersince the amount sent out is determined by the amount of power required by theexternal circuits. We recommend using a switching regulator on both <strong>robot</strong>s inorder to obtain higher efficiency for future considerations. A switching regulatorwas not implemented on Pac-Man due to time constraints and limited resources.40
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 44 and 45: Table 4. Truth table of the Memory
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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