.gitignore

@@ -1,4 +0,0 @@
-/*
-.wlf
-work/*
-!.sv

LineFollower.cr.mti

@@ -1,78 +0,0 @@
-/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
-
-Top level modules:
-	blinking_led
-
-} {} {}} /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/robot_tb.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_tb.sv
-QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module robot_tb
-
-Top level modules:
-	robot_tb
-
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led_tb.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led_tb.sv
-QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module blinking_led_tb
-
-Top level modules:
-	blinking_led_tb
-
-} {} {}} /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
--- Compiling module timebase_tb
-
-Top level modules:
-	timebase_tb
-
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_tb.sv
-QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module motorcontrol_tb
-
-Top level modules:
-	motorcontrol_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
-
-} {} {}} /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol_michael.sv {1 {vlog -work work -vopt -sv -stats=none /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol_michael.sv
-QuestaSim-64 vlog 10.6g Compiler 2019.08 Aug  2 2019
--- Compiling module motorcontrol_mich
-
-Top level modules:
-	motorcontrol_mich
-
-} {} {}}

LineFollower.mpf

@@ -834,7 +834,7 @@ Resolution = ns
 UserTimeUnit = default
 
 ; Default run length
-RunLength = 360 ms
+RunLength = 100
 
 ; Maximum iterations that can be run without advancing simulation time
 IterationLimit = 10000000
@@ -2108,29 +2108,27 @@ suppress = 8780 ;an explanation can be had by running: verror 8780
 Project_Version = 6
 Project_DefaultLib = work
 Project_SortMethod = unused
-Project_Files_Count = 11
+Project_Files_Count = 10
 Project_File_0 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/timebase.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 vlog_noload 0 last_compile 1740405912 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 9 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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 0 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 1 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_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 folder {Top Level} cover_branch 0 cover_fsm 0 last_compile 1740008019 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_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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 0 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 1 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_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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 1740496574 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 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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 0 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 1 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 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1740008019 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_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 cover_branch 0 folder {Top Level} last_compile 0 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 1 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_4 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led.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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 1739890971 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 0 cover_expr 0 dont_compile 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 cover_fsm 0 last_compile 0 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 1 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_5 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/timebase_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 1739989146 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 4 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 0 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 1 vlog_0InOptions {} toggle - vlog_options {} compile_to work vlog_upper 0 cover_noshort 0 compile_order 4 dont_compile 0 cover_expr 0 cover_stmt 0
 Project_File_6 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/robot_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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 1739890970 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 3 cover_expr 0 dont_compile 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 0 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 1 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_7 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/motorcontrol_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 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1740496451 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 2 cover_expr 0 dont_compile 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 0 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 1 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_8 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/blinking_led_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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 1739890973 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 1 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 cover_fsm 0 last_compile 0 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 1 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_9 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol_michael.sv
+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 cover_fsm 0 cover_branch 0 vlog_noload 0 last_compile 1740495519 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 10 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 vlog_noload 0 cover_branch 0 folder {Top Level} last_compile 0 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 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_10 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
-Project_File_P_10 = 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 1740674203 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 5 cover_expr 0 dont_compile 0 cover_stmt 0
 Project_Sim_Count = 0
 Project_Folder_Count = 0
 Echo_Compile_Output = 0

README.md

@@ -1,7 +1,2 @@
 # 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.
-- [x] Deliverable 3, robot test.

entities/controller.sv

@@ -6,7 +6,7 @@ module controller
     input logic sensor_m,
     input logic sensor_r,
 
-    input logic [20:0] count_in,
+    input logic [?:0] count_in,
     output logic count_reset,
 
     output logic motor_l_reset,
@@ -15,110 +15,7 @@ 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;
-        end
-        else begin
-            state <= next_state;
-        end
-    end
-    
-    //state logic
-    always_comb begin
-        case(state)
-        off:
-            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
-        sharp_left,
-        sharp_right,
-        forward,
-        gentle_left,
-        gentle_right:
-            if(count_in==?2000000) next_state=off;
-            else next_state=state;
-        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
 
-    
-    always_comb //counter reset logic
-    begin
-    if(!(state==?off))
-        count_reset = 0;
-    else begin
-        count_reset = 1;
-    end
-    end
 endmodule
    

entities/inputbuffer.sv

@@ -7,25 +7,6 @@ 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

@@ -1,81 +1,10 @@
-
 module motorcontrol 
    (input logic clk,
     input logic reset,
     input logic direction, 
-    input logic [20:0] count_in,
+    input logic [?:0] count_in,
     output logic pwm);
     
-//    typedef enum logic [1:0] { motor_off, motor_cw, motor_ccw } motor_controller_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
 
-    typedef enum logic { pwm_off, pwm_on } motor_controller_state;
-    motor_controller_state state,next_state;
-    always_ff @(posedge clk) begin
-        if(reset)
-            state<=pwm_off;
-        else
-            state<= next_state;
-    end
 
-    always_comb begin
-        case(state)
-            pwm_off:
-            begin
-                pwm=0;
-                if(count_in ==? 0) begin
-                    next_state=pwm_on;
-                end
-            end
-            pwm_on:
-            begin
-                pwm=1;
-                if((direction ==? 0) && (count_in >= 100000)) begin //CCW
-                    next_state=pwm_off;
-                end
-                else if((direction ==? 1) && (count_in >= 200000)) begin //CW
-                    next_state=pwm_off;
-                end
-                else
-                    next_state=pwm_on;
-            end
-        endcase
-    end
 endmodule

entities/robot.sv

@@ -8,28 +8,7 @@ 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

@@ -1,23 +1,8 @@
 module timebase 
    (input logic clk,
     input logic reset,
-    output logic [20:0] count);
+    output logic [?:0] count);
-    
+
-    logic [20:0] next_count;
-    
-    always_ff @(posedge clk)
-    begin
-        if(reset)
-            count <= 0;
-        else
-            count <= next_count;
-    end
 
-    //always_comb begin
-    //    if(count==?2000000)
-    //        next_count=0;
-    //    else
-    assign next_count = count + 1;
-    //end
 
 endmodule

entities/timebase.sv.old

@@ -1,34 +0,0 @@
-module timebase 
-   (input logic clk,
-    input logic reset,
-    output logic [4:0] count);
-    logic [16:0] internal_count,next_internal_count;
-    logic [4:0] next_count;
-    always_ff @(posedge clk) begin
-        if(reset)begin
-            count <=0;
-            internal_count <=0 ;
-        end
-        else begin
-            count <= next_count;
-            internal_count <= next_internal_count;
-        end
-    end
-
-    always_comb
-    begin
-    if(internal_count ==? 100000) begin
-        next_internal_count=0;
-        if(count ==? 19)
-            next_count = 0;
-        else
-            next_count = count+1;
-    end
-    else begin
-        next_internal_count = internal_count+1;
-        next_count=count;
-    end
-    
-    end
-
-endmodule

tcl_stacktrace.txt

@@ -1,19 +0,0 @@
-Wed Feb 19 19:10:26 CET 2025
-Trace back: can't read "tbX(tbf18)": no such element in array
-    while executing
-"lappend orderx($tbX($tb)) $tb"
-    (object "::.dockbar" method "::mtiwidgets::Dockbar::redoPack" body line 34)
-    invoked from within
-"redoPack {Configure Event}"
-    ("eval" body line 1)
-    invoked from within
-"eval $args"
-    (object "::.dockbar" method "::mtiwidgets::Dockbar::_delayedEval" body line 3)
-    invoked from within
-"::.dockbar _delayedEval redoPack {Configure Event}"
-    (in namespace inscope "::mtiwidgets::Dockbar" script line 1)
-    invoked from within
-"namespace inscope ::mtiwidgets::Dockbar ::.dockbar _delayedEval redoPack {Configure Event}"
-    ("after" script)
-  <2:/home/nano/questaSim/linux_x86_64/tk8.6/bgerror.tcl:106: ::tkerror {can't read "tbX(tbf18)": no such element in array}
-  <1:eval:1: ::tk::dialog::error::bgerror {can't read "tbX(tbf18)": no such element in array}

timebase_tb.sv

@@ -1,3 +1,4 @@
+
 `timescale 1ns/1ps
 
 module timebase_tb();

vsim_stacktrace.vstf

@@ -1,25 +0,0 @@
-# Current time Wed Feb 19 18:54:44 2025
-# Program = vsim
-# Id = "10.6g"
-# Version = "2019.08"
-# Date = "Aug  2 2019"
-# Platform = "linux_x86_64"
-# Signature = 94b58c929e6acf1df9316e0331d0248a
-# 0    0x000000000116b520: '<unknown (@0x116b520)>'
-# 1    0x0000000000a8af2e: '<unknown (@0xa8af2e)>'
-# 2    0x0000000000a8b12c: '<unknown (@0xa8b12c)>'
-# 3    0x0000000000a91176: '<unknown (@0xa91176)>'
-# 4    0x000000000120905d: '<unknown (@0x120905d)>'
-# 5    0x000000000120d4b6: '<unknown (@0x120d4b6)>'
-# 6    0x000000000120eba1: '<unknown (@0x120eba1)>'
-# 7    0x000000000120ef06: '<unknown (@0x120ef06)>'
-# 8    0x0000000000e8c268: '<unknown (@0xe8c268)>'
-# 9    0x00000000012aee0f: '<unknown (@0x12aee0f)>'
-# 10   0x0000000001302977: '<unknown (@0x1302977)>'
-# 11   0x00000000012c5877: '<unknown (@0x12c5877)>'
-# 12   0x00000000012c5b59: '<unknown (@0x12c5b59)>'
-# 13   0x000000000111eae6: '<unknown (@0x111eae6)>'
-# 14   0x0000000000a57d76: '<unknown (@0xa57d76)>'
-# End of Stack Trace
-
-

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