Deliverable 2 done, robot should just work!

LineFollower.cr.mti

@@ -5,12 +5,19 @@ QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
 Top level modules:
 	timebase
 
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv
+} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv
 QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module blinking_led
+-- Compiling module robot
 
 Top level modules:
-	blinking_led
+	robot
+
+} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv
+QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
+-- Compiling module motorcontrol
+
+Top level modules:
+	motorcontrol
 
 } {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
 QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
@@ -19,12 +26,12 @@ QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
 Top level modules:
 	inputbuffer
 
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv
+} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv
 QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module robot
+-- Compiling module blinking_led
 
 Top level modules:
-	robot
+	blinking_led
 
 } {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/timebase_tb.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/timebase_tb.sv
 QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
@@ -54,9 +61,11 @@ QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
 Top level modules:
 	robot_tb
 
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv {0 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
+} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
 QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
 -- Compiling module controller
-** Error: (vlog-13069) /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv(9): near "?": syntax error, unexpected '?'.
 
-} {4.0 5.0} {}}
+Top level modules:
+	controller
+
+} {} {}}

LineFollower.mpf

@@ -834,7 +834,7 @@ Resolution = ns
 UserTimeUnit = default
 
 ; Default run length
-RunLength = 40000010 ns
+RunLength = 360 ms
 
 ; Maximum iterations that can be run without advancing simulation time
 IterationLimit = 10000000
@@ -2110,25 +2110,25 @@ Project_DefaultLib = work
 Project_SortMethod = unused
 Project_Files_Count = 10
 Project_File_0 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv
-Project_File_P_0 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} last_compile 1739890971 cover_fsm 0 cover_branch 0 vlog_noload 0 vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 0 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_0 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739890971 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 0 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_1 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
-Project_File_P_1 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1700473387 folder {Top Level} cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 6 cover_expr 0 dont_compile 0 cover_stmt 0
+Project_File_P_1 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1739998639 folder {Top Level} cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 6 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_File_2 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv
-Project_File_P_2 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739991781 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 7 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_2 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} last_compile 1739999897 cover_fsm 0 cover_branch 0 vlog_noload 0 vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 7 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_3 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv
-Project_File_P_3 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1700473424 folder {Top Level} cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 8 cover_expr 0 dont_compile 0 cover_stmt 0
+Project_File_P_3 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} cover_branch 0 cover_fsm 0 last_compile 1739998485 vlog_noload 0 cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 8 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_File_4 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/timebase.sv
-Project_File_P_4 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739989530 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 9 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_4 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} cover_branch 0 cover_fsm 0 last_compile 1740002498 vlog_noload 0 cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 9 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_File_5 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led_tb.sv
-Project_File_P_5 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} last_compile 1739890973 cover_fsm 0 cover_branch 0 vlog_noload 0 vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 1 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_5 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739890973 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 1 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_6 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv
-Project_File_P_6 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} last_compile 1739890968 cover_fsm 0 cover_branch 0 vlog_noload 0 vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 2 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_6 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739890968 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 2 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_7 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_tb.sv
-Project_File_P_7 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} last_compile 1739890970 cover_fsm 0 cover_branch 0 vlog_noload 0 vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 3 dont_compile 0 cover_expr 0 cover_stmt 0
+Project_File_P_7 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1739890970 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 3 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_8 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/timebase_tb.sv
-Project_File_P_8 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} cover_branch 0 cover_fsm 0 last_compile 1739989146 vlog_noload 0 cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 4 cover_expr 0 dont_compile 0 cover_stmt 0
+Project_File_P_8 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 1739989146 cover_fsm 0 cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 0 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 4 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_File_9 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
-Project_File_P_9 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 folder {Top Level} cover_branch 0 cover_fsm 0 last_compile 0 vlog_noload 0 cover_excludedefault 0 vlog_enable0In 0 vlog_disableopt 0 cover_covercells 0 voptflow 1 cover_optlevel 3 vlog_showsource 0 vlog_hazard 0 toggle - vlog_0InOptions {} ood 1 cover_noshort 0 vlog_upper 0 compile_to work vlog_options {} compile_order 5 cover_expr 0 dont_compile 0 cover_stmt 0
+Project_File_P_9 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_id 0 cover_exttoggle 0 cover_nofec 0 cover_cond 0 vlog_1995compat SV vlog_nodebug 0 cover_fsm 0 last_compile 1740007021 vlog_noload 0 cover_branch 0 folder {Top Level} vlog_enable0In 0 cover_excludedefault 0 vlog_disableopt 0 cover_covercells 0 vlog_hazard 0 vlog_showsource 0 cover_optlevel 3 voptflow 1 ood 0 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 5 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_Sim_Count = 0
 Project_Folder_Count = 0
 Echo_Compile_Output = 0

README.md

@@ -1,2 +1,7 @@
 # LineFollower-DSB
+
 Code for the line follower for the TU Delft course Digital Systems B (24-25)
+
+- [x] Deliverable 1, motor control and timebase.
+- [x] Deliverable 2, full integration.
+- [ ] Deliverable 3, robot test.

entities/controller.sv

@@ -6,7 +6,7 @@ module controller
     input logic sensor_m,
     input logic sensor_r,
 
-    input logic [?:0] count_in,
+    input logic [20:0] count_in,
     output logic count_reset,
 
     output logic motor_l_reset,
@@ -15,7 +15,92 @@ module controller
     output logic motor_r_reset,
     output logic motor_r_direction);
 
+    // actual FSM control
+    typedef enum logic [2:0] { off, sharp_left, gentle_left, forward, gentle_right, sharp_right } controller_state;
+    controller_state state,next_state;
     
+    always_ff @(posedge clk) begin
+        if(reset)begin
+            state <= off;
+            count_reset<=1;
+        end
+        else begin
+            state <= next_state;
+            count_reset<=0;
+        end
+    end
     
+    //state logic
+    always_comb begin
+        case ({sensor_l,sensor_m,sensor_r})
+            3'b000:
+                next_state = forward;
+            3'b001:
+                next_state = gentle_left;
+            3'b010:
+                next_state = forward;
+            3'b011:
+                next_state = sharp_left;
+            3'b100:
+                next_state = gentle_right;
+            3'b101:
+                next_state = forward;
+            3'b110:
+                next_state = sharp_right;
+            3'b111:
+                next_state = forward;
+        endcase
+    end
+
+    //output logic
+    always_comb begin
+        case(state)
+            off:
+                begin
+                    motor_l_reset=1;
+                    motor_r_reset=1;
+                end
+            forward:
+                begin
+                    motor_l_direction=1;
+                    motor_r_direction=0;
+                    motor_l_reset=0;
+                    motor_r_reset=0;
+                end
+            gentle_left:
+                begin
+                    motor_l_direction=0;
+                    motor_r_direction=0;
+                    motor_l_reset=1;
+                    motor_r_reset=0;
+                end
+            sharp_left:
+                begin
+                    motor_l_direction=0;
+                    motor_r_direction=0;
+                    motor_l_reset=0;
+                    motor_r_reset=0;
+                end
+            gentle_right:
+                begin
+                    motor_l_direction=1;
+                    motor_r_direction=0;
+                    motor_l_reset=0;
+                    motor_r_reset=1;
+                end
+            sharp_right:
+                begin
+                    motor_l_direction=1;
+                    motor_r_direction=1;
+                    motor_l_reset=0;
+                    motor_r_reset=0;
+                end
+            default:
+                begin
+                    motor_l_reset=1;
+                    motor_r_reset=1;
+                end
+        endcase
+    end
 endmodule
    

entities/inputbuffer.sv

@@ -7,6 +7,25 @@ module inputbuffer
     output logic sensor_m_out, 
     output logic sensor_r_out);
 
+    logic [2:0] sensor_reg;
+    logic buffer_l,buffer_m,buffer_r;
+    
+    always_ff @(posedge clk)begin
+        sensor_reg <= {sensor_l_in,sensor_m_in,sensor_r_in};
+    end
+    
+    always_ff @(posedge clk)begin
+        {sensor_l_out,sensor_m_out,sensor_r_out} <= sensor_reg;
+    end
 
     
+    //always_ff @(posedge clk)begin
+    //    buffer_l <= sensor_reg[0];
+    //    buffer_m <= sensor_reg[1];
+    //    buffer_r <= sensor_reg[2];
+    //end
+
+    //assign sensor_l_out = buffer_l;
+    //assign sensor_m_out = buffer_m;
+    //assign sensor_r_out = buffer_r;
 endmodule

entities/motorcontrol.sv

@@ -39,10 +39,17 @@ module motorcontrol
                 else
                     next_state = motor_cw; 
             end
+            default:
+            begin
+                if(direction ==? 0)
+                    next_state = motor_ccw;
+                else
+                    next_state = motor_cw;
+            end
         endcase
     end
 
-    always_comb
+    always_comb //PWM logic
     begin
         case(state)
             motor_off:

entities/robot.sv

@@ -9,6 +9,27 @@ module robot
     output logic motor_l_pwm,
     output logic motor_r_pwm);
     
+    //timebase
+    logic [20:0] counter;
+    logic counter_reset;
+    logic direction_l,direction_r,rst_l,rst_r;
+    logic sensor_l,sensor_m,sensor_r;
 
+    timebase tb(.clk(clk),.reset(counter_reset),.count(counter));
     
+    //input buffer
+    inputbuffer ib(.clk(clk),
+                   .sensor_l_in(sensor_l_in),.sensor_m_in(sensor_m_in),.sensor_r_in(sensor_r_in),
+                   .sensor_l_out(sensor_l),.sensor_m_out(sensor_m),.sensor_r_out(sensor_r));
+
+    //controller
+    controller ctrl(.clk(clk),.reset(reset),
+                    .sensor_l(sensor_l),.sensor_m(sensor_m),.sensor_r(sensor_r),
+                    .count_in(counter),.count_reset(counter_reset),
+                    .motor_l_reset(rst_l),.motor_l_direction(direction_l),
+                    .motor_r_reset(rst_r),.motor_r_direction(direction_r));
+
+    // motor control
+    motorcontrol mc_l (.clk(clk),.reset(rst_l),.direction(direction_l),.count_in(counter),.pwm(motor_l_pwm));
+    motorcontrol mc_r (.clk(clk),.reset(rst_r),.direction(direction_r),.count_in(counter),.pwm(motor_r_pwm));
 endmodule

entities/timebase.sv

@@ -2,7 +2,9 @@ module timebase
    (input logic clk,
     input logic reset,
     output logic [20:0] count);
+    
     logic [20:0] next_count;
+    
     always_ff @(posedge clk)
     begin
         if(reset)

work/_info

@@ -20,7 +20,7 @@ OL;O;10.6g;65
 R0
 vblinking_led
 Z2 DXx6 sv_std 3 std 0 22 AD7iAPLo6nTIKk<N0eo=D3
-Z3 !s110 1739990797
+Z3 !s110 1740002551
 !i10b 1
 !s100 <0lR74YAbCmRiY]YGZE;43
 IZ@z6KWGiBO0`b=]<J44fk3
@@ -36,7 +36,7 @@ Z6 OL;L;10.6g;65
 r1
 !s85 0
 31
-Z7 !s108 1739990797.000000
+Z7 !s108 1740002551.000000
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv|
 !i113 0
@@ -66,24 +66,48 @@ R7
 !i113 0
 R8
 R1
-vinputbuffer
+vcontroller
 R2
-R3
+!s110 1740007184
 !i10b 1
-!s100 gAG^h3jPRiOJTf@52kK@U1
+!s100 ^]X2o_jVn;UT4>:A9b]6F2
-I@5mG4@[1iV12]g[J3NNzD3
+I^9NA0o7ChWbWHjbYfXSX61
 R4
-!s105 inputbuffer_sv_unit
+!s105 controller_sv_unit
 S1
 R5
-w1700473387
+w1740007021
-8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
+8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
-F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
+F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
 L0 1
 R6
 r1
 !s85 0
 31
+!s108 1740007184.000000
+!s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv|
+!s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv|
+!i113 0
+R8
+R1
+vinputbuffer
+R2
+R3
+R4
+r1
+!s85 0
+31
+!i10b 1
+!s100 jh8LQjCKnDA0eIXL[[=Z;1
+IAoU:mm@RBCI]Rkgn<WH=J3
+!s105 inputbuffer_sv_unit
+S1
+R5
+w1739998639
+8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
+F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv
+L0 1
+R6
 R7
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.sv|
@@ -92,23 +116,23 @@ R8
 R1
 vmotorcontrol
 R2
-!s110 1739991788
+R3
 R4
 r1
 !s85 0
 31
 !i10b 1
-!s100 k2cM=GT9NZBgNUoF9XHnl3
+!s100 aj1>J6Zfkm7^10e=3?=n@0
-I=832f83EDTlgzkcE=ZF`Y1
+Ib=[@B<AHjcIcYePcPPB7I2
 !s105 motorcontrol_sv_unit
 S1
 R5
-w1739991781
+w1739999897
 8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv
 F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv
 L0 2
 R6
-!s108 1739991788.000000
+R7
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol.sv|
 !i113 0
@@ -117,13 +141,10 @@ R1
 vmotorcontrol_tb
 R2
 R3
-R4
-r1
-!s85 0
-31
 !i10b 1
 !s100 :B8Yi2Oo;QP<8>OCdD=f33
 IR^J9km[@a77RRWkS:_SJk2
+R4
 !s105 motorcontrol_tb_sv_unit
 S1
 R5
@@ -132,6 +153,9 @@ w1739890968
 F/home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv
 L0 3
 R6
+r1
+!s85 0
+31
 R7
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv|
@@ -141,21 +165,21 @@ R1
 vrobot
 R2
 R3
-!i10b 1
-!s100 cQL[Qz1a:2n@ezn[M9FoF2
-I05ea<`H7SIdzN4Z]fB>B]0
 R4
+r1
+!s85 0
+31
+!i10b 1
+!s100 mVi_ba`j8N<PSzPBMal]O3
+ITC_l9_PEoDlj5@GNF[iln1
 !s105 robot_sv_unit
 S1
 R5
-w1700473424
+w1739998485
 8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv
 F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv
 L0 1
 R6
-r1
-!s85 0
-31
 R7
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.sv|
@@ -165,10 +189,13 @@ R1
 vrobot_tb
 R2
 R3
+R4
+r1
+!s85 0
+31
 !i10b 1
 !s100 NZM8Q:n0DD=[0kz35fN@^2
 IXL_`E`R4o6WPXd3n0Z1Fc3
-R4
 !s105 robot_tb_sv_unit
 S1
 R5
@@ -177,9 +204,6 @@ w1739890970
 F/home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_tb.sv
 L0 3
 R6
-r1
-!s85 0
-31
 R7
 !s107 /home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_tb.sv|
 !s90 -reportprogress|300|-work|work|-vopt|-sv|-stats=none|/home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_tb.sv|
@@ -194,12 +218,12 @@ r1
 !s85 0
 31
 !i10b 1
-!s100 g?zcME<Wllkz162]bN]BU2
+!s100 Pz`^[M8kl`<`W:HdK5z@n3
-IVmaWYU6NiQ<mzZ_G3UP`C1
+IU0@eOeBUBo;dgdeW0=I3n0
 !s105 timebase_sv_unit
 S1
 R5
-w1739989530
+w1740002498
 8/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/timebase.sv
 F/home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/timebase.sv
 L0 1