testing

.gitignore

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

LineFollower.cr.mti

@@ -0,0 +1,78 @@
+/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 = 100
+RunLength = 360 ms
 
 ; Maximum iterations that can be run without advancing simulation time
 IterationLimit = 10000000
@@ -2108,27 +2108,29 @@ suppress = 8780 ;an explanation can be had by running: verror 8780
 Project_Version = 6
 Project_DefaultLib = work
 Project_SortMethod = unused
-Project_Files_Count = 10
+Project_Files_Count = 11
 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 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_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_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 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_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_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 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_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_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 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_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_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 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_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_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 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_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_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 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_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_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 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_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_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 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_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_9 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/controller.sv
+Project_File_9 = /home/nano/Documents/EE/DS-B/LineFollower-DSB/entities/motorcontrol_michael.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 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_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_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

@@ -1,2 +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.
+- [x] 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 +15,110 @@ 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

@@ -7,6 +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

@@ -1,10 +1,81 @@
+
 module motorcontrol 
    (input logic clk,
     input logic reset,
     input logic direction, 
-    input logic [?:0] count_in,
+    input logic [20:0] 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

@@ -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

@@ -1,8 +1,23 @@
 module timebase 
    (input logic clk,
     input logic reset,
-    output logic [?:0] count);
+    output logic [20:0] 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

@@ -0,0 +1,34 @@
+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

@@ -0,0 +1,19 @@
+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

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

vsim_stacktrace.vstf

@@ -0,0 +1,25 @@
+# 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
+
+

work/_info

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work/_vmake

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