Builders guide robot pacman.pdf

More documents

Recommendations

Info

MIN_RIGHT += read_adc();}output_bit(SENSOR_LED, 0);calibration_stage++;}else if ( calibration_stage == 5){initial_start = 1 ; //facing north initiallyrf1 = input(RF_1);rf0 = input(RF_0);}else{}rf_enable = 1;if ( !rf1 && !rf0 ) // north{next_turn = NONE;}else if ( rf1 && !rf0 ){next_turn = RIGHT;}else if ( !rf1 && rf0 ){next_turn = LEFT;}else // south{next_turn = BACK;}rf1 = input(RF_1);rf0 = input(RF_0);if ( !rf1 && !rf0 ) // north{switch (current_orient){case N:// move forwardnext_turn = NONE;break;case E:// turn leftnext_turn = LEFT;break;case S:// turn_backwardsnext_turn = BACK;break;case W:// turn rightnext_turn = RIGHT;break;}current_orient = N;}else if ( rf1 && !rf0 ) // west{switch (current_orient){case N:// turn leftnext_turn = LEFT;break;case E:// turn backwardsnext_turn = BACK;break;case S:// turn rightnext_turn = RIGHT;break;case W:// move forwardnext_turn = NONE;break;}current_orient = W;}else if ( !rf1 && rf0 ) // east{// stop = 1;switch (current_orient){case N:// turn rightnext_turn = RIGHT;break;case E:// east// west
}else{}}rf_enable = 0;case S:case W:// move forwardnext_turn = NONE;break;// turn leftnext_turn = LEFT;break;// turn backwardsnext_turn = BACK;break;}current_orient = E;}else // south{switch (current_orient){case N:// turn backwardsnext_turn = BACK;break;case E:// turn rightnext_turn = RIGHT;break;case S:// move forwardnext_turn = NONE;break;case W:// turn leftnext_turn = LEFT;break;}current_orient = S;}if ( input(CONTACT) )stop = 1;elsestop = 0;if ( input(DOT_COUNT) ){output_bit(LCD_POINTS, 1);dot_count_timer = 1;}}main(){output_bit(LCD_RESET, 1);delay_ms(1);output_bit(LCD_RESET, 0);setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);// setup interruptsenable_interrupts(INT_TIMER1);enable_interrupts(INT_RB);enable_interrupts(GLOBAL);setup_port_a(ALL_ANALOG);setup_adc(adc_clock_internal);output_bit(L_WHEEL_DIR, L_FORWARD);output_bit(R_WHEEL_DIR, R_FORWARD);// initial direction forward// initial direction forwardoutput_bit(SENSOR_LED, 0);while( initial_start == 0 );for( ; ; ){read_obstacles( ob_left, ob_front, ob_right );if (ob_front > FRONT_OBSTACLE){stop = 1;// cell_counter = CELL_SIZE;}else{stop = 0;}if ( !turn_enable ){
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 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 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
show all

Builders guide robot pacman.pdf

Create successful ePaper yourself

Delete template?

Save as template?