Chap. 18 라인 트레이서의 설계

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Chap. 18 라인 트레이서의 설계

라인 트레이서 바닥에 그려진 선을 따라가는 로봇을 의미

모터부

센서부

제어부

FPGA

라인 트레이서 구성도

( 바퀴를 굴려줌 )

( 선 감지 )

( 선을 잘 따라가도록 판단 및 제어 )

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라인 트레이서의 설계 - 개념도

적외선센서 제어기

(11장)

양쪽 모터차등 속도

제어기(10장)모터 속도

결정 process(18장)

라인 상태탐지 데이터

LED 표시

데이터 mtl_speedmtr_speed

스위치 입력

좌, 우 모터구동 신호

라인 트레이서 VHDL 코드 작성 개념도

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센서 데이터( 중앙의 5 비트 )

좌 , 우 모터 속도(11:320Hz, 10:200Hz, 01:100Hz,

00: 정지 )

좌 우 비고

11011 11 11 빠른 직진

10001 01 01 느린 직진

10011 11 10 느린 우회전

10111

11 01 빠른 우회전00011

00111

01111

11001 10 11 느린 좌회전

11101

01 11 빠른 좌회전11000

11100

11110

그 외 00 00 정지

센서 데이터에 따른 좌 , 우 모터 속도 결정

라인 트레이서의 설계 - Design

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library IEEE;use IEEE.STD_LOGIC_1164.ALL;use IEEE.STD_LOGIC_ARITH.ALL;use IEEE.STD_LOGIC_UNSIGNED.ALL; entity line_tracer is Port ( RSTB : in std_logic; CLK_4M : in std_logic; SENSE : in std_logic_vector(6 downto 0); LIGHT : out std_logic_vector(6 downto 0); MTL_A : out std_logic; MTL_B : out std_logic; MTL_nA : out std_logic; MTL_nB : out std_logic; MTR_A : out std_logic; MTR_B : out std_logic; MTR_nA : out std_logic; MTR_nB : out std_logic);end line_tracer;architecture Behavioral of line_tracer issignal clk_500 : std_logic;signal mtl_speed : std_logic_vector (1 downto 0);signal mtr_speed : std_logic_vector (1 downto 0);signal speed_l : integer range 0 to 25000;signal speed_r : integer range 0 to 25000;signal motor_lcnt : integer range 0 to 25000;signal phase_lclk : std_logic;


signal motor_rcnt : integer range 0 to 25000;signal phase_rclk : std_logic;signal phase_lcnt : std_logic_vector (1 downto 0);signal phase_lout : std_logic_vector (3 downto 0);signal phase_rcnt : std_logic_vector (1 downto 0);signal phase_rout : std_logic_vector (3 downto 0); begin=========Clock(500Hz)Generator=================== process(RSTB,CLK_4M) variable cnt : integer range 0 to 4000; begin if RSTB = '0' then cnt := 0; clk_500 <= '0'; elsif rising_edge (CLK_4M) then if cnt >= 3999 then -- 정상 동작시-- if cnt >= 2 then -- 시뮬레이션시 cnt := 0; clk_500 <= not clk_500; else cnt := cnt + 1; end if; end if; end process;=============================================

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--========== Infrared Light Emission =========== LIGHT(0) <= clk_500 ; LIGHT(1) <= clk_500 ; LIGHT(2) <= clk_500 ; LIGHT(3) <= clk_500 ; LIGHT(4) <= clk_500 ; LIGHT(5) <= clk_500 ; LIGHT(6) <= clk_500 ;--=========================================--=== Line Status Sensing & 좌 , 우 모터 속도값 결정 ===== process(RSTB,CLK_500) begin if RSTB = '0' then mtl_speed <="00"; mtr_speed <="00"; -- 느린 직진 elsif falling_edge (CLK_500) then case SENSE is when "1110111" => mtl_speed <="11"; mtr_speed <="11"; -- 빠른직진 when "1100011" => mtl_speed <="01"; mtr_speed <="01"; -- 느린직진 when "1100111" => mtl_speed <="11"; mtr_speed <="10"; -- 느린우회전 when "1000111" => mtl_speed <="11";

mtr_speed <="01"; -- 빠른우회전

when "1001111" => mtl_speed <="11";


when "1011111" => mtl_speed <="11";


when "1110011" => mtl_speed <="10";

mtr_speed <="11"; -- 느린좌회전

when "1111011" => mtl_speed <="01";

mtr_speed <="11"; -- 빠른좌회전

when "1110001" => mtl_speed <="01";


when "1111001" => mtl_speed <="01";


when "1111101" => mtl_speed <="01";


when others => mtl_speed <="00";

mtr_speed <="00"; -- 정지

end case;

end if;

end process;


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==== 모터속도값에 따른 좌 , 우모터 속도결정 ==== process(mtl_speed) variable for_sim : std_logic; begin for_sim := '0'; -- 1: 시뮬레이션시 0: 정상동작시 if for_sim = '0' then case mtl_speed is when "00" => speed_l <= 0; -- 0 Hz when "01" => speed_l <= 19999;-- 100Hz when "10" => speed_l <= 9999; -- 200 Hz when "11" => speed_l <= 6249; -- 320Hz when others => speed_l <= 6249; end case; else case mtl_speed is when "00" => speed_l <= 0 ; when "01" => speed_l <= 8; when "10" => speed_l <= 4; when "11" => speed_l <= 2; when others => speed_l <= 2; end case; end if; end process;

process(mtr_speed)variable for_sim : std_logic;begin for_sim := '0'; -- 1: 시뮬레이션시 0: 정상동작시 if for_sim = '0' then case mtr_speed is when "00" => speed_r <= 0; -- 0 Hz when "01" => speed_r <= 19999;-- 100Hz when "10" => speed_r <= 9999; -- 200Hz when "11" => speed_r <= 6249; -- 320Hz when others => speed_r <= 6249; --320Hz end case; else case mtr_speed is when "00" => speed_r <= 0; when "01" => speed_r <= 8; when "10" => speed_r <= 4; when "11" => speed_r <= 2; when others => speed_r <= 2; end case; end if;end process;

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process(RSTB,speed_l, CLK_4M,motor_lcnt)begin if RSTB = '0' or speed_l = 0 then motor_lcnt <= 0; phase_lclk <= '0'; elsif rising_edge (CLK_4M) then if (motor_lcnt >= speed_l) then motor_lcnt <= 0; phase_lclk <= not phase_lclk; else motor_lcnt <= motor_lcnt + 1; end if; end if;end process;process(RSTB,speed_r, CLK_4M,motor_rcnt)begin if RSTB = '0' or speed_r = 0 then motor_rcnt <= 0; phase_rclk <= '0'; elsif rising_edge (CLK_4M) then if (motor_rcnt >= speed_r) then motor_rcnt <= 0; phase_rclk <= not phase_rclk; else motor_rcnt <= motor_rcnt + 1; end if; end if;end process;--=====================================

--===== 왼쪽 모터 phase Output(1 상 여자방식 ) ====== process(RSTB,phase_lclk,phase_lcnt) begin if RSTB = '0' then phase_lcnt <= (others => '0'); elsif rising_edge (phase_lclk) then phase_lcnt <= phase_lcnt + 1; end if; end process;

process(RSTB, phase_lcnt) begin if RSTB = '0' then phase_lout <= (others => '0'); else case phase_lcnt is when "00" => phase_lout <= "1000"; when "01" => phase_lout <= "0100"; when "10" => phase_lout <= "0010"; when "11" => phase_lout <= "0001"; when others => phase_lout <= "0000"; end case; end if; end process; --===========================

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--====== 오른쪽 Phase Output(1 상 여자방식 ) ========= process(RSTB,phase_rclk,phase_rcnt) begin if RSTB = '0' then phase_rcnt <= (others => '0'); elsif rising_edge (phase_rclk) then phase_rcnt <= phase_rcnt + 1; end if; end process;

process(RSTB, phase_rcnt) begin if RSTB = '0' then phase_rout <= (others => '0'); else case phase_rcnt is when "00" => phase_rout <= "0001"; when "01" => phase_rout <= "0010"; when "10" => phase_rout <= "0100"; when "11" => phase_rout <= "1000"; when others => phase_rout <= "0000"; end case; end if; end process;

--==========================================


MTL_A <= phase_lout(0); MTL_B <= phase_lout(1); MTL_nA <= phase_lout(2); MTL_nB <= phase_lout(3); MTR_A <= phase_rout(0); MTR_B <= phase_rout(1); MTR_nA <= phase_rout(2); MTR_nB <= phase_rout(3); end Behavioral;

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라인 트레이서의 설계 - Simulation

라인 트레이서의 시뮬레이션 결과 파형 화면

Chap. 18 라인 트레이서의 설계

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Transcript of Chap. 18 라인 트레이서의 설계