Builders guide robot pacman.pdf

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}case S:}go_forward();break;}current_orient = W;break;switch (current_orient){case N:// turn backwardsturn_backwards();break;case E:// turn rightturn_right();break;case S:// move forwardgo_forward();break;case W:// turn leftturn_left();break;}current_orient = S;break;void estimate_Pac-Man( signed int &x, signed int &y, int front, int back, int left, int right ){Pac-Man_dir pacdir;int minvalue;int cells_away = 0;int random;pacdir = PACFRONT;minvalue = front;if ( minvalue > back ){minvalue = back;pacdir = PACBACK;}if ( minvalue > left ){minvalue = left;pacdir = PACLEFT;}if ( minvalue > right ){minvalue = right;pacdir = PACRIGHT;}if ( minvalue < FAR ){if ( minvalue
case S:case E:case W:}break;x = current_x_pos - cells_away;y = current_y_pos;break;x = current_x_pos + cells_away;y = current_y_pos;break;x = current_x_pos;y = current_y_pos - cells_away;break;x = current_x_pos;y = current_y_pos + cells_away;break;}}else{}case PACRIGHT:switch( current_orient ){case N:x = current_x_pos + cells_away;y = current_y_pos;break;case S:x = current_x_pos - cells_away;y = current_y_pos;break;case E:x = current_x_pos;y = current_y_pos + cells_away;break;case W:x = current_x_pos;y = current_y_pos - cells_away;break;}break;case PACBACK:switch( current_orient ){case N:x = current_x_pos;y = current_y_pos - cells_away;break;case S:x = current_x_pos;y = current_y_pos + cells_away ;break;case E:x = current_x_pos - cells_away;y = current_y_pos;break;case W:x = current_x_pos + cells_away;y = current_y_pos;break;}break;}random = get_timer1();x = (random/10)%6;y = random%6;// random Pac-Man position estimateshort is_neighbour( int x, int y, direction dir ){int walls;walls = maze[point_to_cell_number(x,y)];if ( dir == N ){if ( walls & NORTH )return 0;elsereturn 1;}else if ( dir == E ){if ( walls & EAST )return 0;elsereturn 1;}else if ( dir == S ){
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
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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 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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