VHDL Project : Design of a ROBOT
-Anuja Kumar
Specifications and Assumptions:
1) 5 degrees of movement –
• Base movement (A)
• Shoulder movement (B)
• Arm movement (C)
• Wrist Movement (D)
• Claw movement (E)
2) Five stations- L, S1, S2, S3 and S4 that can load and unload the robot
arm and have priorities from highest to lowest respectively.
3) Load and Unload at same station is not done.
4) Loading operation at any station consequential of an unloading
operation requested by a lower priority station can be interrupted by an
unloading operation request by a higher priority station.
5) Unloading operations cannot be interrupted.
2
Inputs :
Sensors- decides unloading station-requesting station
SENSORS
UNLOAD STATION
and DEST
00001
L
00010
S1
00100
S2
01000
S3
10000
S4
Source-decides loading station
SOURCE
LOAD STATION
000
L
001
S1
010
S2
011
S3
100
S4
3
Flowchart
4
SIMPLISTIC STATE MACHINE
5
Test Bench
•
•
•
•
•
Load at S4 and unload requests from S3,S2,S1,L
Load at S3 and unload requests from S4,S2,S1,L
Load at S2 and unload requests from S4,S3,S1,L
Load at S1 and unload requests from S4,S3,S2,L
Load at L and unload requests from S4,S3,S2,S1
• Reset between each of the above scenarios
• Clock : toggling every 50 ns
6
Simulation Results:Load S4-Unload S3
Simulation results: Load S3-unload S4
Simulation results: Load S2-Unload S1
Simulation results: Load S1-Unload S2
Simulation results: Load L-Unload S3
Simulation results: Interrupt
Thank you..