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ALBot v1
Robot motor & wheel assembly
Atmel microcontroller
Interface PCB
Field Programmable Gate Array (FPGA)
Atmel controller & robot
• Programme in C– Use AVRstudio and JTAG interface– PID controller available embedded
• Robot can operate from PSU or battery
• Fast – up to 2metres per second!– Teaching version of Mirosot competition robot
footballer
ALbot sensors
• Sensors– Infra-red chat
(front facing)– Infra-red Line
detect (bottom)– VGA colour
camera
FPGA
• Altera FPGA EP2C8T144 – 200MHz programmable hardware
• Quartus development tool
• Design in logic schematic and/or VHDL(Very high speed IC Hardware Description Language)
VHDL exampleLIBRARY ieee;USE ieee.std_logic_1164.all;use IEEE.numeric_std.all; -- for integer to bit_vector conversion
ENTITY SlowCounter ISPORT (Clk : IN std_logic; ClockOUT : OUT std_logic);
END SlowCounter;
ARCHITECTURE SlowCounter_v1 OF SlowCounter ISCONSTANT maxval: natural := 100; -- signal Counter: natural range 0 to maxval; -- reduce clock to approx 500ms from 64uS (Hsync input)signal Ctemp: std_logic := '0';
beginprocess (clk) begin if (clk'event) and (clk ='1') then
Counter <= Counter +1;if Counter = 0 then Ctemp <= '0';end if;if Counter = maxval then Ctemp <= not(Ctemp);end if;
end if;end process;
Clockout <= Ctemp;end SlowCounter_v1;
Sequential process
Concurrent process runs in separateHardware section