Moore Machine for motor controller

LineFollower.cr.mti

@@ -1,4 +1,25 @@
-/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/timebase.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/timebase.sv
+QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
+-- Compiling module timebase
+
+Top level modules:
+	timebase
+
+} {} {}} /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 robot
+
+Top level modules:
+	robot
+
+} {} {}} /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
+-- Compiling module inputbuffer
+
+Top level modules:
+	inputbuffer
+
+} {} {}} /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 blinking_led
 
@@ -33,4 +54,11 @@ QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
 Top level modules:
 	timebase_tb
 
+} {} {}} /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
+
+Top level modules:
+	controller
+
 } {} {}}

LineFollower.mpf

@@ -834,7 +834,7 @@ Resolution = ns
 UserTimeUnit = default
 
 ; Default run length
-RunLength = 360 ms
+RunLength = 40 ms
 
 ; Maximum iterations that can be run without advancing simulation time
 IterationLimit = 10000000
@@ -2114,7 +2114,7 @@ Project_File_P_0 = cover_toggle 0 vlog_protect 0 file_type systemverilog group_i
 Project_File_1 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/robot.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 last_compile 1740008019 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 8 dont_compile 0 cover_expr 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 cover_branch 0 vlog_noload 0 last_compile 1740057090 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 7 cover_expr 0 dont_compile 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 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1740061310 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 7 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_File_3 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/inputbuffer.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 vlog_noload 0 last_compile 1740008019 folder {Top Level} cover_branch 0 cover_fsm 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 6 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_4 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.sv

entities/motorcontrol.sv

@@ -6,44 +6,76 @@ module motorcontrol
     input logic [20:0] count_in,
     output logic pwm);
     
-    typedef enum logic [1:0] { motor_off, motor_cw, motor_ccw } motor_controller_state;
+//    typedef enum logic [1:0] { motor_off, motor_cw, motor_ccw } motor_controller_state;
-    motor_controller_state state,next_state;
+//    motor_controller_state state,next_state;
+//
+//    always_ff @(posedge clk)
+//        if (reset)
+//            state <= motor_off;
+//        else
+//            state <= next_state;
+//    
+//    always_comb //state logic
+//    begin
+//        if(direction ==? 0)
+//            next_state = motor_ccw;
+//        else
+//            next_state = motor_cw;
+//    end
+//    
+//    always_comb //PWM logic
+//    begin
+//        case(state)
+//            motor_off:
+//                pwm=0;
+//            motor_ccw:
+//            begin
+//                if(count_in <= 100000)
+//                    pwm=1;
+//                else
+//                    pwm=0;
+//            end
+//            motor_cw:
+//            begin
+//                if(count_in <= 200000 )
+//                    pwm=1;
+//                else
+//                    pwm=0;
+//            end
+//        endcase
+//    
+//    end
 
-    always_ff @(posedge clk)
+    typedef enum logic { pwm_off, pwm_on } motor_controller_state;
-        if (reset)
+    motor_controller_state state,next_state;
-            state <= motor_off;
+    always_ff @(posedge clk) begin
+        if(reset)
+            state<=pwm_off;
         else
-            state <= next_state;
+            state<= next_state;
-    
-    always_comb //state logic
-    begin
-        if(direction ==? 0)
-            next_state = motor_ccw;
-        else
-            next_state = motor_cw;
     end
-    
+
-    always_comb //PWM logic
+    always_comb begin
-    begin
         case(state)
-            motor_off:
+            pwm_off:
+            begin
                 pwm=0;
-            motor_ccw:
+                if(count_in ==? 0) begin
-            begin
+                    next_state=pwm_on;
-                if(count_in <= 100000)
+                end
-                    pwm=1;
-                else
-                    pwm=0;
             end
-            motor_cw:
+            pwm_on:
             begin
-                if(count_in <= 200000 )
+                pwm=1;
-                    pwm=1;
+                if((direction ==? 0) && (count_in >= 100000)) begin //CCW
+                    next_state=pwm_off;
+                end
+                else if((direction ==? 1) && (count_in >= 200000)) begin
+                    next_state=pwm_off;
+                end
                 else
-                    pwm=0;
+                    next_state=pwm_on;
             end
         endcase
-    
     end
-
 endmodule

work/_info

@@ -116,23 +116,23 @@ R8
 R1
 vmotorcontrol
 R2
-R9
+!s110 1740061324
 R4
 r1
 !s85 0
 31
 !i10b 1
-!s100 K8[l6@OcQ9YNX==LlIUOX3
+!s100 ;emhoV3HFDWaaM1`aeWkc3
-IO?fk96X;Y9oaf[e1kUblg2
+If5hJo_lREHS9TNo3?Lhd]1
 !s105 motorcontrol_sv_unit
 S1
 R5
-w1740057090
+w1740061310
 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
-R11
+!s108 1740061324.000000
 !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
@@ -141,10 +141,13 @@ 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
@@ -153,9 +156,6 @@ 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|