Builders guide robot pacman.pdf

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