library ieee;
use ieee.std_logic_1164.all;
use ieee.std_logic_unsigned.all;
use ieee.std_logic_arith.all;
entity controller is
port(
clk_50 : in std_logic;
input : in std_logic_vector(7 downto 0);
l : out std_logic_vector(1 downto 0);
r : out std_logic_vector(1 downto 0);
ref_L : out integer range 0 to 20 + 1 ;
ref_R : out integer range 0 to 20 + 1 );
end controller;
architecture beh of controller is
type state is (START,MARCH_LEFT,MARCH_RIGHT,FORWARD,STOP,TURN_LEFT,TURN_RIGHT);
signal PresentState: state;
signal NextState: state;
begin
SwitchToNextState : process (clk_50,input) -- PresentState -> NextState
variable tmp0,tmp1 :integer range 0 to 50;
begin
if clk_50'event and clk_50 = '1' then
case input is
when "11111111" =>
tmp0 := 15;
tmp1 := 0;
when "00000000" =>
tmp1 := tmp1 + 1;
when others =>
if tmp0 >= 1 then
tmp0 := tmp0 - 1;
end if;
tmp1 := 0;
end case;
if tmp0 >= 1 then
PresentState <= FORWARD;
elsif tmp1 >= 40 then
PresentState <= START;
else
PresentState <= NextState;
end if;
end if;
end process SwitchToNextState;
StateMode : process (input,PresentState)
begin
case PresentState is
when START =>
case input is
when "11100000" =>
NextState <= TURN_RIGHT;
when "11000000" =>
NextState <= TURN_RIGHT;
when "10000000" =>
NextState <= TURN_RIGHT;
when "00000111" =>
NextState <= TURN_LEFT;
when "00000011" =>
NextState <= TURN_LEFT;
when "00000001" =>
NextState <= TURN_LEFT;
when others =>
case input(4 downto 3) is
when "11" =>
NextState <= STOP;
when "10" =>
NextState <= STOP;
when "01" =>
NextState <= STOP;
when others =>
Nextstate <= START;
end case;
end case;
l <= "10" ;
r <= "10" ;
ref_L <= 11 ;
ref_R <= 11 ;
when MARCH_LEFT =>
case input is
when "11100000" =>
NextState <= TURN_RIGHT;
when "11000000" =>
NextState <= TURN_RIGHT;
when "10000000" =>
NextState <= TURN_RIGHT;
when "00000111" =>
NextState <= TURN_LEFT;
when "00000011" =>
NextState <= TURN_LEFT;
when "00000001" =>
NextState <= TURN_LEFT;
when others =>
case input(4 downto 3) is
when "11" =>
NextState <= STOP;
when "10" =>
NextState <= STOP;
when "01" =>
NextState <= STOP;
when others =>
Nextstate <= START;
end case;
end case;
l <= "01" ;
r <= "10" ;
ref_L <= 17 ;
ref_R <= 14 ;
when MARCH_RIGHT =>
case input is
when "11100000" =>
NextState <= TURN_RIGHT;
when "11000000" =>
NextState <= TURN_RIGHT;
when "10000000" =>
NextState <= TURN_RIGHT;
when "00000111" =>
NextState <= TURN_LEFT;
when "00000011" =>
NextState <= TURN_LEFT;
when "00000001" =>
NextState <= TURN_LEFT;
when others =>
case input(4 downto 3) is
when "11" =>
NextState <= STOP;
when "10" =>
NextState <= STOP;
when "01" =>
NextState <= STOP;
when others =>
Nextstate <= START;
end case;
end case;
l <= "10" ;
r <= "01" ;
ref_L <= 14 ;
ref_R <= 17 ;
when STOP =>
case input is
when "11110000" =>
NextState <= TURN_LEFT;
when "11100000" =>
NextState <= TURN_LEFT;
when "11000000" =>
NextState <= TURN_LEFT;
when "10000000" =>
NextState <= TURN_LEFT;
when "00001111" =>
NextState <= TURN_RIGHT;
when "00000111" =>
NextState <= TURN_RIGHT;
when "00000011" =>
NextState <= TURN_RIGHT;
when "00000001" =>
NextState <= TURN_RIGHT;
when "10110000" =>
NextState <= TURN_LEFT;
when "00001101" =>
NextState <= TURN_RIGHT;
when "11111000" =>
NextState <= TURN_LEFT;
when "11111100" =>
NextState <= TURN_LEFT;
when "00011111" =>
NextState <= TURN_RIGHT;
when "00111111" =>
NextState <= TURN_RIGHT;
when "00001001" =>
NextState <= TURN_RIGHT;
when "10010000" =>
NextState <= TURN_LEFT;
when "00010001" =>
NextState <= TURN_RIGHT;
when "10001000" =>
NextState <= TURN_LEFT;
when others =>
NextState <= FORWARD;
end case;
l <= "00" ;
r <= "00" ;
ref_L <= 0 ;
ref_R <= 0 ;
when FORWARD => --speed
case input is
when "11110000" =>
NextState <= STOP;
when "11100000" =>
NextState <= STOP;
when "11000000" =>
NextState <= STOP;
when "10000000" =>
NextState <= STOP;
when "00001111" =>
NextState <= STOP;
when "00000111" =>
NextState <= STOP;
when "00000011" =>
NextState <= STOP;
when "00000001" =>
NextState <= STOP;
when "10110000" =>
NextState <= STOP;
when "00001101" =>
NextState <= STOP;
when "11111000" =>
NextState <= STOP;
when "11111100" =>
NextState <= STOP;
when "00011111" =>
NextState <= STOP;
when "00111111" =>
NextState <= STOP;
when "00001001" =>
NextState <= STOP;
when "10010000" =>
NextState <= STOP;
when "00010001" =>
NextState <= STOP;
when "10001000" =>
NextState <= STOP;
when others =>
NextState <= FORWARD;
end case;
l <= "10" ;
r <= "10" ;
ref_L <= 11 ;
ref_R <= 11 ;
when TURN_LEFT => --turn left stay
case input is
when "11110000" =>
NextState <= TURN_LEFT;
when "11100000" =>
NextState <= TURN_LEFT;
when "11000000" =>
NextState <= TURN_LEFT;
when "10000000" =>
NextState <= TURN_LEFT;
when "00001111" =>
NextState <= STOP;
when "00000111" =>
NextState <= STOP;
when "00000011" =>
NextState <= STOP;
when "00000001" =>
NextState <= STOP;
when "10110000" =>
NextState <= TURN_LEFT;
when "00001101" =>
NextState <= STOP;
when "11111000" =>
NextState <= TURN_LEFT;
when "11111100" =>
NextState <= TURN_LEFT;
when "00011111" =>
NextState <= STOP;
when "00111111" =>
NextState <= STOP;
when "10001000" =>
NextState <= TURN_LEFT;
when "11001000" =>
NextState <= TURN_LEFT;
when "10001100" =>
NextState <= TURN_LEFT;
when "11001100" =>
NextState <= TURN_LEFT;
红外循迹小车VHDL程序
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2009-09-13
11:18:39
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红外循迹小车VHDL程序 （160个子文件） 
car_global_asgn_op.abo 237KB car.root_partition.cmp.atm 28KB car.root_partition.map.atm 22KB controller.vhd.bak 8KB translator.vhd.bak 1006B car.bdf 9KB moto_control.bdf 7KB pwm.bdf 7KB car.cmp.bpm 644B car.map.bpm 611B moto_control.bsf 3KB controller.bsf 2KB pwm.bsf 2KB PWM_generator.bsf 2KB translator.bsf 2KB clk_generator.bsf 2KB divider_1M.bsf 2KB divider_4.bsf 2KB TAW_generator.bsf 2KB car.cmp.cdb 38KB car.pre_map.cdb 19KB car.rtlv_sg.cdb 18KB car.(9).cnf.cdb 11KB car.map.cdb 11KB car.sgdiff.cdb 10KB car.(4).cnf.cdb 2KB car.(5).cnf.cdb 2KB car.(8).cnf.cdb 2KB car.rtlv_sg_swap.cdb 2KB car.(0).cnf.cdb 1KB car.(2).cnf.cdb 1KB car.(1).cnf.cdb 1KB car.(7).cnf.cdb 962B car.(3).cnf.cdb 873B car.(6).cnf.cdb 730B car.map_bb.cdb 713B car.eco.cdb 161B car.cdf 301B car.sim.cvwf 961B car.db_info 137B car.cmp0.ddb 44KB car.tis_db_list.ddb 174B car.root_partition.cmp.dfp 33B car.done 26B car.root_partition.map.dpi 1KB car.map.ecobp 28B car.cmp.ecobp 28B car.sgdiff.hdb 15KB car.pre_map.hdb 14KB car.rtlv.hdb 14KB car.cmp.hdb 14KB car.map.hdb 13KB car.map_bb.hdb 8KB car.(9).cnf.hdb 2KB car.(8).cnf.hdb 889B car.(4).cnf.hdb 881B car.(5).cnf.hdb 846B car.(3).cnf.hdb 775B car.(1).cnf.hdb 757B car.(6).cnf.hdb 727B car.(0).cnf.hdb 702B car.(2).cnf.hdb 687B car.(7).cnf.hdb 664B car.root_partition.cmp.hdbx 6KB car.root_partition.map.hdbx 5KB car.hier_info 9KB car.hif 5KB
car.lpc.html 4KB car.root_partition.map.kpt 33KB car.map.kpt 33KB car.root_partition.cmp.kpt 341B car.cmp_merge.kpt 340B car.cmp.kpt 334B car.map.logdb 4B car.cmp.logdb 4B car.map_bb.logdb 4B car.root_partition.cmp.logdb 4B car_v1.map 166B output_file.map 130B car.pin 30KB car_v1.pof 2MB output_file.pof 128KB car.pof 128KB car_assignment_defaults.qdf 32KB car.tan.qmsg 60KB prev_cmp_car.tan.qmsg 56KB car.fit.qmsg 49KB prev_cmp_car.fit.qmsg 46KB car.map.qmsg 17KB prev_cmp_car.map.qmsg 15KB prev_cmp_car.sim.qmsg 10KB prev_cmp_car.qmsg 2KB prev_cmp_car.asm.qmsg 2KB prev_cmp_car.eda.qmsg 2KB car.asm.qmsg 2KB car.qpf 903B car.qsf 3KB car.qws 90B car.root_partition.cmp.rcf 10KB car.cmp.rdb 26KB共 160 条
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资源评论
飞越沧海2015-04-15刚好适合我的课程设计，不错。- 肥鱼喘气2014-03-08不错，功能挺强
飞蓬2014-12-15很好用谢谢分享
kent11442017-03-23不错，刚好需要- iamgaea2012-10-16楼主做的很好，功能很强大啊~~~
heyun07
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