Builders guide robot pacman.pdf

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}if ( walls & SOUTH )return 0;elsereturn 1;else // dir == W{if ( walls & WEST )return 0;elsereturn 1;}}void solve( int x, int y ){// maze solving algorithm to get to point pos from current position with fast floodingint queue_x[NUM_CELLS], queue_y[NUM_CELLS]; // holds queue of cells to calculate distanceint goal_distance[NUM_CELLS]; // holds each cell's distance from point posint neigh_cell_x, neigh_cell_y;int queue_count = 0, queue_index = 0, curr_cell_dist = 0; // for solving mazeint i;int curr_pos_dist, neigh_pos_dist; // for creating roadmapint curr_cell_x, curr_cell_y;// initialize frontier arrayfor ( i = 0; i < NUM_CELLS; i++ ){goal_distance[i] = 0xFF;}goal_distance[point_to_cell_number(x,y)] = curr_cell_dist;// add target point pos to queuequeue_x[0] = x;queue_y[0] = y;queue_count++;while(queue_count > 0){queue_count--;curr_cell_x = queue_x[queue_index];curr_cell_y = queue_y[queue_index];curr_cell_dist = goal_distance[point_to_cell_number(curr_cell_x, curr_cell_y)];queue_index++;if ( curr_cell_dist != 0xFF ){// check all neighbours for accessibilityif ( is_neighbour(curr_cell_x, curr_cell_y, N) ){neigh_cell_x = curr_cell_x;neigh_cell_y = curr_cell_y - 1;curr_cell_dist + 1;}if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] == 0xFF ){goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] =}queue_x[queue_index + queue_count] = neigh_cell_x;queue_y[queue_index + queue_count] = neigh_cell_y;queue_count++;if ( is_neighbour(curr_cell_x, curr_cell_y, E) ){neigh_cell_x = curr_cell_x + 1;neigh_cell_y = curr_cell_y;curr_cell_dist + 1;}if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] == 0xFF ){goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] =}queue_x[queue_index + queue_count] = neigh_cell_x;queue_y[queue_index + queue_count] = neigh_cell_y;queue_count++;if ( is_neighbour(curr_cell_x, curr_cell_y, S) ){neigh_cell_x = curr_cell_x;neigh_cell_y = curr_cell_y + 1;curr_cell_dist + 1;}if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] == 0xFF ){goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] =}queue_x[queue_index + queue_count] = neigh_cell_x;queue_y[queue_index + queue_count] = neigh_cell_y;queue_count++;
if ( is_neighbour(curr_cell_x, curr_cell_y, W) ){neigh_cell_x = curr_cell_x - 1;neigh_cell_y = curr_cell_y;curr_cell_dist + 1;}}}if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] == 0xFF ){goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] =}queue_x[queue_index + queue_count] = neigh_cell_x;queue_y[queue_index + queue_count] = neigh_cell_y;queue_count++;// create roadmapcurr_pos_dist = goal_distance[point_to_cell_number(current_x_pos, current_y_pos)];curr_cell_x = current_x_pos;curr_cell_y = current_y_pos;for ( i= 0; curr_pos_dist > 0; i++ ){// check northneigh_cell_x = curr_cell_x;neigh_cell_y = curr_cell_y - 1;if ( (neigh_cell_x < NUM_X_CELLS) && (neigh_cell_y < NUM_Y_CELLS) ){if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] < curr_pos_dist ){// add to roadmapcurr_pos_dist = goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)];write_bank(3, i, NORTH);curr_cell_x = neigh_cell_x;curr_cell_y = neigh_cell_y;continue;}}// check eastneigh_cell_x = curr_cell_x + 1;neigh_cell_y = curr_cell_y;if ( (neigh_cell_x < NUM_X_CELLS) && (neigh_cell_y < NUM_Y_CELLS) ){if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] < curr_pos_dist ){// add to roadmapcurr_pos_dist = goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)];write_bank(3, i, EAST);curr_cell_x = neigh_cell_x;curr_cell_y = neigh_cell_y;continue;}}// check southneigh_cell_x = curr_cell_x;neigh_cell_y = curr_cell_y + 1;if ( (neigh_cell_x < NUM_X_CELLS) && (neigh_cell_y < NUM_Y_CELLS) ){if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] < curr_pos_dist ){// add to roadmapcurr_pos_dist = goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)];write_bank(3, i, SOUTH);curr_cell_x = neigh_cell_x;curr_cell_y = neigh_cell_y;continue;}}// check westneigh_cell_x = curr_cell_x - 1;neigh_cell_y = curr_cell_y;if ( (neigh_cell_x < NUM_X_CELLS) && (neigh_cell_y < NUM_Y_CELLS) ){if ( goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)] < curr_pos_dist ){// add to roadmapcurr_pos_dist = goal_distance[point_to_cell_number(neigh_cell_x, neigh_cell_y)];write_bank(3, i, WEST);curr_cell_x = neigh_cell_x;curr_cell_y = neigh_cell_y;continue;}}}write_bank(3, i, 0);// clean up
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 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 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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