[11] | 1 | /* |
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| 2 | * prodcell.v |
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| 3 | * |
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| 4 | * Model of the production cell circuit. Based on the description given in: |
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| 5 | * |
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| 6 | * @InBook{Lindne94, |
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| 7 | * author = {Thomas Lindner}, |
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| 8 | * title = {Case Study "Production Cell": A Comparative Study in Formal |
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| 9 | * Software Development}, |
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| 10 | * chapter = 2, |
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| 11 | * publisher = {FZI}, |
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| 12 | * year = 1994, |
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| 13 | * pages = {9,21} |
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| 14 | * } |
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| 15 | * |
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| 16 | * author: Abelardo Pardo (abel@vlsi.colorado.edu) |
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| 17 | * date: 96/8/16 |
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| 18 | * |
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| 19 | * |
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| 20 | */ |
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| 21 | |
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| 22 | /* Types */ |
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| 23 | typedef enum {Y, N} sensor; |
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| 24 | typedef enum {on, off} switch; |
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| 25 | typedef enum {GoLeft, GoRight, Stop} craneHorizontalMovement; |
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| 26 | typedef enum {GoUp, GoDown, Stop} craneVerticalMovement; |
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| 27 | typedef enum {Grab, Free} craneGrip; |
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| 28 | typedef enum {OverFB, Middle, OverDB} tcHorizontalPosition; |
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| 29 | typedef enum {UpMost, DBHight, FBHight} tcVerticalPosition; |
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| 30 | typedef enum {E, F} unitInBelt; |
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| 31 | typedef enum {S, SSE, SE} rtAnglePosition; |
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| 32 | typedef enum {Top, Mid, Bot} rtVerticalPosition; |
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| 33 | typedef enum {CWise, Stop, CCWise} rtAngleMovement; |
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| 34 | typedef enum {GoUp, GoDown, Stop} rtVerticalMovement; |
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| 35 | typedef enum {GoUp, GoDown, Stop} pressVerticalMovement; |
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| 36 | typedef enum {Top, Mid, Bot} pressVerticalPosition; |
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| 37 | typedef enum {Extend, Retract, Stop} armHorizontalMovement; |
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| 38 | typedef enum {OverRT, OverLoadedPress, OverDB, OverUnLoadedPress} armAnglePosition; |
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| 39 | typedef enum {CWise, Stop, CCWise} armAngleMovement; |
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| 40 | typedef enum {Extended, Retracted, Middle} armPosition; |
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| 41 | |
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| 42 | /* |
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| 43 | * |
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| 44 | * MAIN MODULE: The production cell |
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| 45 | * |
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| 46 | */ |
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| 47 | module ProductionCell(clk); |
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| 48 | input clk; |
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| 49 | |
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| 50 | sensor wire PieceOutDB; |
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| 51 | sensor wire PieceOutFB; |
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| 52 | sensor wire PieceGrabbedFromDB; |
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| 53 | sensor wire PieceGrabbedFromRT; |
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| 54 | sensor wire PieceGrabbedFromFB; |
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| 55 | sensor wire FBReady; |
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| 56 | sensor wire PieceOutArm; |
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| 57 | sensor wire PieceReleasedOnFB; |
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| 58 | sensor wire DBReady; |
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| 59 | sensor wire ArmUnLoadedPress; |
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| 60 | sensor wire PressReadyToBeUnLoaded; |
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| 61 | sensor wire ArmLoadedPress; |
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| 62 | sensor wire PressReadyToBeLoaded; |
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| 63 | sensor wire RTOutReady; |
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| 64 | |
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| 65 | TravellingCraneSet TC(clk, PieceOutDB, FBReady, PieceGrabbedFromDB, |
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| 66 | PieceReleasedOnFB); |
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| 67 | |
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| 68 | DepositBeltSet DB(clk, PieceGrabbedFromDB, PieceOutArm, PieceOutDB, |
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| 69 | DBReady); |
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| 70 | |
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| 71 | FeedBeltSet FB(clk, PieceGrabbedFromFB, PieceReleasedOnFB, FBReady, |
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| 72 | PieceOutFB); |
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| 73 | |
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| 74 | RotaryTableSet RT(clk, PieceOutFB, PieceGrabbedFromRT, |
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| 75 | PieceGrabbedFromFB, RTOutReady); |
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| 76 | |
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| 77 | PressSet PR(clk, ArmLoadedPress, ArmUnLoadedPress, |
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| 78 | PressReadyToBeLoaded, PressReadyToBeUnLoaded); |
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| 79 | |
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| 80 | ArmSet AR(clk, DBReady, PressReadyToBeUnLoaded, PressReadyToBeLoaded, |
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| 81 | RTOutReady, PieceOutArm, ArmUnLoadedPress, ArmLoadedPress, |
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| 82 | PieceGrabbedFromRT); |
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| 83 | |
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| 84 | endmodule // ProductionCell |
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| 85 | |
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| 86 | /* |
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| 87 | * |
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| 88 | * TRAVELLING CRANE SET |
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| 89 | * |
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| 90 | */ |
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| 91 | module TravellingCraneSet(clk, PieceOutDB, FBReady, PieceGrabbedFromDB, |
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| 92 | PieceReleasedOnFB); |
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| 93 | input clk; |
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| 94 | input PieceOutDB; |
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| 95 | input FBReady; |
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| 96 | output PieceGrabbedFromDB; |
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| 97 | output PieceReleasedOnFB; |
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| 98 | |
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| 99 | sensor wire PieceOutDB; |
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| 100 | sensor wire FBReady; |
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| 101 | sensor wire PieceGrabbedFromDB; |
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| 102 | sensor wire PieceReleasedOnFB; |
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| 103 | |
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| 104 | craneHorizontalMovement wire HorizontalMove; |
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| 105 | craneVerticalMovement wire VerticalMove; |
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| 106 | |
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| 107 | sensor wire CraneOnTheLeft; |
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| 108 | sensor wire CraneOnTheRight; |
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| 109 | |
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| 110 | tcVerticalPosition wire VerticalPos; |
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| 111 | |
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| 112 | TravellingCrane Crane(clk, HorizontalMove, VerticalMove, |
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| 113 | CraneOnTheLeft, CraneOnTheRight, VerticalPos); |
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| 114 | |
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| 115 | TravellingCraneCNTR CraneCNTR(clk, FBReady, PieceOutDB, CraneOnTheLeft, |
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| 116 | CraneOnTheRight, VerticalPos, HorizontalMove, |
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| 117 | VerticalMove, PieceReleasedOnFB, |
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| 118 | PieceGrabbedFromDB); |
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| 119 | endmodule // TravellingCraneSet |
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| 120 | |
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| 121 | /* |
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| 122 | * |
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| 123 | * TRAVELLING CRANE |
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| 124 | * |
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| 125 | */ |
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| 126 | module TravellingCrane(clk, HorizontalMove, VerticalMove, CraneOnTheLeft, |
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| 127 | CraneOnTheRight, VerticalPos); |
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| 128 | input clk; |
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| 129 | input HorizontalMove; /* Signal controlling the horizontal movement */ |
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| 130 | input VerticalMove; /* Signal controlling the vertical movement */ |
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| 131 | output CraneOnTheLeft; /* Crane is on the left most position */ |
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| 132 | output CraneOnTheRight; /* Crane is on the right most position */ |
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| 133 | output VerticalPos; /* Which vertical position the crane is */ |
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| 134 | |
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| 135 | craneHorizontalMovement wire HorizontalMove; |
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| 136 | craneVerticalMovement wire VerticalMove; |
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| 137 | |
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| 138 | sensor wire CraneOnTheLeft; |
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| 139 | sensor wire CraneOnTheRight; |
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| 140 | |
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| 141 | tcHorizontalPosition reg HorizontalPos; |
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| 142 | tcVerticalPosition reg VerticalPos; |
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| 143 | |
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| 144 | assign CraneOnTheLeft = (HorizontalPos == OverFB) ? Y : N; |
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| 145 | assign CraneOnTheRight = (HorizontalPos == OverDB) ? Y : N; |
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| 146 | |
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| 147 | initial |
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| 148 | begin |
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| 149 | HorizontalPos = $ND(Middle, OverDB, OverFB); |
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| 150 | VerticalPos = UpMost; |
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| 151 | end // initial |
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| 152 | |
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| 153 | always @(posedge clk) begin |
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| 154 | |
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| 155 | /* Horizontal Movement evolution */ |
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| 156 | if (HorizontalMove == GoLeft) begin |
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| 157 | if (HorizontalPos == Middle) begin |
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| 158 | HorizontalPos = OverFB; |
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| 159 | end // if (HorizontalPos == Middle) |
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| 160 | else if (HorizontalPos == OverDB) begin |
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| 161 | HorizontalPos = Middle; |
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| 162 | end // if (HorizontalPos == OverDB) |
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| 163 | end // if (HorizontalMove == GoLeft) |
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| 164 | |
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| 165 | if (HorizontalMove == GoRight) begin |
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| 166 | if (HorizontalPos == Middle) begin |
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| 167 | HorizontalPos = OverDB; |
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| 168 | end // if (HorizontalPos == Middle) |
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| 169 | else if (HorizontalPos == OverFB) begin |
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| 170 | HorizontalPos = Middle; |
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| 171 | end // if (HorizontalPos == OverFB) |
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| 172 | end // if (HorizontalMove == GoRight) |
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| 173 | |
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| 174 | /* VerticalMovement Evolution */ |
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| 175 | if (VerticalMove == GoUp) begin |
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| 176 | if (VerticalPos == DBHight) begin |
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| 177 | VerticalPos = UpMost; |
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| 178 | end // if (VerticalPos == DBHight) |
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| 179 | else if (VerticalPos == FBHight) begin |
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| 180 | VerticalPos = DBHight; |
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| 181 | end // if (VerticalPos == FBHight) |
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| 182 | end // if (VerticalMove == GoUp) |
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| 183 | |
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| 184 | if (VerticalMove == GoDown) begin |
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| 185 | if (VerticalPos == UpMost) begin |
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| 186 | VerticalPos = DBHight; |
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| 187 | end // if (VerticalPos == UpMost) |
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| 188 | else if (VerticalPos == DBHight) begin |
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| 189 | VerticalPos = FBHight; |
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| 190 | end // else: !if(VerticalPos == UpMost) |
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| 191 | end // if (VerticalMove == GoDown) |
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| 192 | |
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| 193 | end |
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| 194 | endmodule // TravellingCrane |
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| 195 | |
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| 196 | /* |
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| 197 | * |
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| 198 | * TRAVELLING CRANE CONTROLER |
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| 199 | * |
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| 200 | */ |
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| 201 | module TravellingCraneCNTR(clk, FBReady, PieceOutDB, CraneOnTheLeft, |
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| 202 | CraneOnTheRight, VerticalPos, HorizontalMove, |
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| 203 | VerticalMove, PieceReleasedOnFB, PieceGrabbedFromDB); |
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| 204 | input clk; |
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| 205 | input FBReady; /* FBBelt is ready to receive a piece */ |
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| 206 | input PieceOutDB; /* Deposit Belt has a piece to be picked up */ |
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| 207 | input CraneOnTheLeft; /* Crane is on the left most position */ |
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| 208 | input CraneOnTheRight; /* Crane is on the right most position */ |
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| 209 | input VerticalPos; /* Register storing crane's vertical position */ |
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| 210 | output HorizontalMove; /* Register controlling the horizontal motor */ |
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| 211 | output VerticalMove; /* Register controlling the vertical motor */ |
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| 212 | output PieceReleasedOnFB; /* A piece was dropped on FB */ |
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| 213 | output PieceGrabbedFromDB; /* A piece has been grabbed from DB */ |
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| 214 | |
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| 215 | sensor wire FBReady; |
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| 216 | sensor wire CraneOnTheLeft; |
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| 217 | sensor wire CraneOnTheRight; |
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| 218 | tcVerticalPosition wire VerticalPos; |
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| 219 | sensor wire PieceOutDB; |
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| 220 | |
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| 221 | craneHorizontalMovement reg HorizontalMove; |
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| 222 | craneVerticalMovement reg VerticalMove; |
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| 223 | craneGrip reg Grip; |
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| 224 | sensor reg PieceReleasedOnFB; |
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| 225 | sensor reg PieceGrabbedFromDB; |
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| 226 | |
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| 227 | |
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| 228 | initial |
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| 229 | begin |
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| 230 | HorizontalMove = Stop; |
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| 231 | VerticalMove = Stop; |
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| 232 | Grip = Free; |
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| 233 | PieceReleasedOnFB = N; |
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| 234 | PieceGrabbedFromDB = N; |
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| 235 | end // initial |
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| 236 | |
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| 237 | always @(posedge clk) begin |
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| 238 | case (Grip) |
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| 239 | Grab: begin |
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| 240 | case (VerticalPos) |
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| 241 | UpMost: begin |
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| 242 | Grip = Grab; |
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| 243 | if (CraneOnTheLeft == Y) begin |
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| 244 | HorizontalMove = Stop; |
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| 245 | VerticalMove = GoDown; |
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| 246 | end // if (CraneOnTheLeft) |
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| 247 | else begin |
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| 248 | if (CraneOnTheRight == N && CraneOnTheLeft == N) begin |
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| 249 | if (HorizontalMove == GoLeft) begin |
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| 250 | HorizontalMove = Stop; |
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| 251 | VerticalMove = GoDown; |
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| 252 | end // if (HorizontalMove == GoLeft) |
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| 253 | else begin |
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| 254 | HorizontalMove = GoLeft; |
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| 255 | VerticalMove = Stop; |
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| 256 | end // else: !if(HorizontalMove == GoLeft) |
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| 257 | end // if (CraneOnTheRight == N && CraneOnTheLeft == N) |
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| 258 | else begin |
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| 259 | HorizontalMove = GoLeft; |
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| 260 | VerticalMove = Stop; |
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| 261 | end // else: !if(CraneOnTheRight == N && CraneOnTheLeft == Y) |
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| 262 | end // else: !if(CraneOnTheLeft == Y) |
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| 263 | end // case: UpMost |
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| 264 | DBHight: begin |
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| 265 | if (CraneOnTheLeft == Y) begin |
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| 266 | if (VerticalMove == GoDown) begin |
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| 267 | if (FBReady == Y) begin |
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| 268 | Grip = Free; |
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| 269 | HorizontalMove = Stop; |
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| 270 | VerticalMove = GoUp; |
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| 271 | PieceReleasedOnFB = Y; |
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| 272 | end // if (FBReady == Y) |
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| 273 | else begin |
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| 274 | Grip = Grab; |
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| 275 | HorizontalMove = Stop; |
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| 276 | VerticalMove = Stop; |
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| 277 | end // else: !if(FBReady == Y) |
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| 278 | end // if (VerticalMove == GoDown) |
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| 279 | else begin |
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| 280 | Grip = Grab; |
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| 281 | HorizontalMove = Stop; |
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| 282 | VerticalMove = GoDown; |
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| 283 | end // else: !if(VerticalMove == GoDown) |
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| 284 | end // if (CraneOnTheLeft == Y) |
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| 285 | if (CraneOnTheRight == Y) begin |
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| 286 | Grip = Grab; |
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| 287 | if (VerticalMove == GoUp) begin |
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| 288 | HorizontalMove = GoLeft; |
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| 289 | VerticalMove = Stop; |
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| 290 | end // if (VerticalMove == GoUp) |
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| 291 | else begin |
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| 292 | HorizontalMove = Stop; |
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| 293 | VerticalMove = GoUp; |
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| 294 | end // else: !if(VerticalMove == GoUp) |
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| 295 | end // if (CraneOnTheRight == Y) |
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| 296 | end // case: DBHight |
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| 297 | FBHight: begin |
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| 298 | if (CraneOnTheLeft == Y) begin |
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| 299 | if (FBReady == Y) begin |
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| 300 | Grip = Free; |
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| 301 | HorizontalMove = Stop; |
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| 302 | VerticalMove = GoUp; |
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| 303 | PieceReleasedOnFB = Y; |
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| 304 | end // if (FBReady == Y) |
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| 305 | else begin |
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| 306 | Grip = Grab; |
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| 307 | HorizontalMove = Stop; |
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| 308 | VerticalMove = Stop; |
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| 309 | end // else: !if(FBReady == Y) |
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| 310 | end // if (CraneOnTheLeft == Y) |
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| 311 | end // case: FBHight |
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| 312 | endcase // _case (VerticalPos) |
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| 313 | end // case: Grab |
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| 314 | Free: begin |
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| 315 | case (VerticalPos) |
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| 316 | UpMost: begin |
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| 317 | if (CraneOnTheLeft == Y) begin |
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| 318 | Grip = Free; |
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| 319 | HorizontalMove = GoRight; |
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| 320 | VerticalMove = Stop; |
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| 321 | end // if (CraneOnTheLeft == Y) |
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| 322 | else begin |
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| 323 | if (CraneOnTheRight == N) begin |
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| 324 | if (HorizontalMove == GoRight) begin |
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| 325 | Grip = Free; |
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| 326 | HorizontalMove = Stop; |
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| 327 | VerticalMove = GoDown; |
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| 328 | end // if (HorizontalMove == GoRight) |
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| 329 | else begin |
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| 330 | Grip = Free; |
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| 331 | HorizontalMove = GoRight; |
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| 332 | VerticalMove = Stop; |
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| 333 | end // else: !if(HorizontalMove = GoRight) |
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| 334 | end // if (CraneOnTheRight == N) |
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| 335 | else begin |
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| 336 | if (PieceOutDB == Y) begin |
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| 337 | if (VerticalMove == GoDown) begin |
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| 338 | Grip = Grab; |
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| 339 | HorizontalMove = Stop; |
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| 340 | VerticalMove = GoUp; |
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| 341 | PieceGrabbedFromDB = Y; |
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| 342 | end // if (VerticalMove == GoDown) |
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| 343 | else begin |
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| 344 | Grip = Free; |
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| 345 | HorizontalMove = Stop; |
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| 346 | VerticalMove = GoDown; |
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| 347 | end // else: !if(VerticalMove == GoDown) |
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| 348 | end // if (PieceOutDB == Y) |
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| 349 | else begin |
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| 350 | Grip = Free; |
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| 351 | HorizontalMove = Stop; |
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| 352 | if (VerticalMove == GoDown) begin |
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| 353 | VerticalMove = Stop; |
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| 354 | end // if (VerticalMove == GoDown) |
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| 355 | else begin |
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| 356 | VerticalMove = GoDown; |
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| 357 | end // else: !if(VerticalMove == GoDown) |
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| 358 | end // else: !if(PieceOutDB == Y) |
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| 359 | end // else: !if(CraneOnTheRight == N) |
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| 360 | end // else: !if(CraneOnTheLeft == Y) |
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| 361 | end // case: UpMost |
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| 362 | DBHight: begin |
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| 363 | if (CraneOnTheLeft == Y) begin |
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| 364 | Grip = Free; |
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| 365 | if (VerticalMove == GoUp) begin |
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| 366 | HorizontalMove = GoRight; |
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| 367 | VerticalMove = Stop; |
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| 368 | end // if (VerticalMove == GoUp) |
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| 369 | else begin |
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| 370 | HorizontalMove = Stop; |
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| 371 | VerticalMove = GoUp; |
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| 372 | end // else: !if(VerticalMove == GoUp) |
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| 373 | end // if (CraneOnTheLeft == Y) |
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| 374 | if (CraneOnTheRight == Y) begin |
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| 375 | if (PieceOutDB == Y) begin |
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| 376 | Grip = Grab; |
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| 377 | HorizontalMove = Stop; |
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| 378 | VerticalMove = GoUp; |
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| 379 | PieceGrabbedFromDB = Y; |
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| 380 | end // if (PieceOutDB == Y) |
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| 381 | else begin |
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| 382 | Grip = Free; |
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| 383 | HorizontalMove = Stop; |
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| 384 | VerticalMove = Stop; |
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| 385 | end // else: !if(PieceOutDB == Y) |
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| 386 | end // if (CraneOnTheRight == Y) |
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| 387 | end // case: DBHight |
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| 388 | FBHight: begin |
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| 389 | if (CraneOnTheLeft == Y) begin |
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| 390 | Grip = Free; |
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| 391 | HorizontalMove = Stop; |
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| 392 | VerticalMove = GoUp; |
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| 393 | end // if (CraneOnTheLeft == Y) |
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| 394 | end // case: FBHight |
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| 395 | endcase // _case (VerticalPos) |
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| 396 | end // case: Free |
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| 397 | endcase // _case (Grip) |
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| 398 | |
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| 399 | /* Complete the handshake with both belts */ |
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| 400 | if (PieceOutDB == N && PieceGrabbedFromDB == Y) begin |
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| 401 | PieceGrabbedFromDB = N; |
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| 402 | end // if (PieceOutDB == N && PieceGrabbedFromDB == Y) |
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| 403 | |
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| 404 | if (FBReady == N && PieceReleasedOnFB == Y) begin |
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| 405 | PieceReleasedOnFB = N; |
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| 406 | end // if (FBReady == N && PieceReleasedOnFB == Y) |
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| 407 | |
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| 408 | |
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| 409 | end // always @ (posedge clk) |
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| 410 | endmodule // TravellingCraneCNTR |
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| 411 | |
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| 412 | /* |
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| 413 | * |
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| 414 | * DEPOSIT BELT SET |
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| 415 | * |
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| 416 | */ |
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| 417 | module DepositBeltSet(clk, PieceGrabbedFromDB, PieceOutArm, |
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| 418 | PieceOutDB, DBReady); |
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| 419 | input clk; |
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| 420 | input PieceGrabbedFromDB; |
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| 421 | input PieceOutArm; |
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| 422 | output PieceOutDB; |
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| 423 | output DBReady; |
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| 424 | |
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| 425 | sensor wire PieceGrabbedFromDB; |
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| 426 | sensor wire PieceOutArm; |
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| 427 | sensor wire PieceOutDB; |
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| 428 | sensor wire DBReady; |
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| 429 | |
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| 430 | switch wire DBMotorSwitch; |
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| 431 | unitInBelt wire DBelt0, DBelt1, DBelt2, DBelt3; |
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| 432 | |
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| 433 | DepositBelt DBelt(clk, DBMotorSwitch, PieceOutArm, PieceGrabbedFromDB, |
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| 434 | DBReady, DBelt0, DBelt1, DBelt2, DBelt3); |
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| 435 | |
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| 436 | DepositBeltCNTR DBeltCNTR(clk, DBelt0, DBelt1, DBelt2, DBelt3, |
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| 437 | PieceGrabbedFromDB, PieceOutArm, DBMotorSwitch, |
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| 438 | DBReady, PieceOutDB); |
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| 439 | endmodule // DepositBeltSet |
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| 440 | |
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| 441 | /* |
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| 442 | * |
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| 443 | * DEPOSIT BELT |
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| 444 | * |
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| 445 | */ |
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| 446 | module DepositBelt(clk, DBMotorSwitch, PieceOutArm, PieceGrabbedFromDB, |
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| 447 | DBReady, DBelt0, DBelt1, DBelt2, DBelt3); |
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| 448 | input clk; |
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| 449 | input DBMotorSwitch; /* Signal controlling the motor */ |
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| 450 | input PieceOutArm; /* Presence of a piece in the arm */ |
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| 451 | input PieceGrabbedFromDB; /* Piece was grabbed from the DB */ |
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| 452 | input DBReady; /* The belt is ready to accept another piece */ |
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| 453 | output DBelt0, DBelt1, DBelt2, DBelt3; /* Positions on the belt */ |
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| 454 | |
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| 455 | switch wire DBMotorSwitch; |
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| 456 | sensor wire PieceOutArm; |
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| 457 | sensor wire PieceGrabbedFromDB; |
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| 458 | sensor wire DBReady; |
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| 459 | |
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| 460 | unitInBelt reg DBelt0, DBelt1, DBelt2, DBelt3; |
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| 461 | |
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| 462 | initial |
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| 463 | begin |
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| 464 | DBelt0 = F; |
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| 465 | DBelt1 = $ND(E,F); |
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| 466 | DBelt2 = $ND(E,F); |
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| 467 | DBelt3 = $ND(E,F); |
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| 468 | end // initial |
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| 469 | |
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| 470 | always @(posedge clk) begin |
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| 471 | |
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| 472 | /* Motion produced by the motor */ |
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| 473 | if (DBMotorSwitch == on) begin |
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| 474 | DBelt0 = DBelt1; |
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| 475 | DBelt1 = DBelt2; |
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| 476 | DBelt2 = DBelt3; |
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| 477 | DBelt3 = E; |
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| 478 | end // if (DBMotorSwitch == on) |
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| 479 | if (DBelt3 == E && PieceOutArm == Y && DBReady == Y) begin |
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| 480 | DBelt3 = F; |
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| 481 | end // if (DBelt3 == E && PieceOutArm == Y && DBReady == N) |
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| 482 | |
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| 483 | /* The piece was grabbed by the crane */ |
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| 484 | if (PieceGrabbedFromDB == Y) begin |
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| 485 | DBelt0 = E; |
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| 486 | end // if (PieceGrabbedFromDB == Y) |
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| 487 | end // always @ (posedge clk) |
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| 488 | endmodule // DepositBelt |
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| 489 | |
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| 490 | |
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| 491 | /* |
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| 492 | * |
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| 493 | * DEPOSIT BELT CONTROL |
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| 494 | * |
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| 495 | */ |
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| 496 | module DepositBeltCNTR(clk, DBelt0, DBelt1, DBelt2, DBelt3, |
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| 497 | PieceGrabbedFromDB, PieceOutArm, DBMotorSwitch, |
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| 498 | DBReady, PieceOutDB); |
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| 499 | input clk; |
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| 500 | input DBelt0, DBelt1, DBelt2, DBelt3; /* Belt positions */ |
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| 501 | input PieceGrabbedFromDB; /* A piece was grabbed from the DB */ |
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| 502 | input PieceOutArm; /* A piece is ready to be picked up by the belt */ |
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| 503 | output DBMotorSwitch; /* Signal controlling the motor */ |
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| 504 | output DBReady; /* The belt is ready to accept another piece */ |
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| 505 | output PieceOutDB; /* Piece ready to be picked by the crane */ |
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| 506 | |
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| 507 | unitInBelt wire DBelt0, DBelt1, DBelt2, DBelt3; |
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| 508 | sensor wire PieceGrabbedFromDB; |
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| 509 | sensor wire PieceOutArm; |
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| 510 | |
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| 511 | switch reg DBMotorSwitch; |
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| 512 | sensor reg DBReady; |
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| 513 | sensor reg PieceOutDB; |
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| 514 | |
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| 515 | initial |
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| 516 | begin |
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| 517 | DBMotorSwitch = off; |
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| 518 | DBReady = N; |
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| 519 | PieceOutDB = N; |
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| 520 | end |
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| 521 | |
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| 522 | always @(posedge clk) begin |
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| 523 | |
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| 524 | /* Control the handshake with the crane */ |
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| 525 | if ((DBelt0 == F && PieceOutDB == N && PieceGrabbedFromDB == N) || |
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| 526 | (DBelt0 == E && DBelt1 == F && DBMotorSwitch == on && |
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| 527 | PieceOutDB == N && PieceGrabbedFromDB == N)) begin |
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| 528 | PieceOutDB = Y; |
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| 529 | end // if (DBelt0 == F && PieceOutDB == N && PieceGrabbedFromDB == N) |
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| 530 | |
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| 531 | if (PieceOutDB == Y && PieceGrabbedFromDB == Y) begin |
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| 532 | PieceOutDB = N; |
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| 533 | end // if (PieceOutDB == Y && PieceGrabbedFromDB == Y) |
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| 534 | |
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| 535 | |
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| 536 | /* Control The handshake with the Arm */ |
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| 537 | if (DBelt3 == E && PieceOutArm == N && DBReady == N) begin |
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| 538 | DBReady = Y; |
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| 539 | end // if (DBelt3 == E && PieceOutArm == Y && DBReady == N) |
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| 540 | |
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| 541 | if (PieceOutArm == Y && DBReady == Y) begin |
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| 542 | DBReady = N; |
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| 543 | DBMotorSwitch = on; |
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| 544 | end // if (PieceOutArm == Y && DBReady == Y) |
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| 545 | |
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| 546 | /* Control the motor */ |
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| 547 | if (DBelt0 == F) begin |
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| 548 | DBMotorSwitch = off; |
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| 549 | end // if (DBelt0 == F) |
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| 550 | |
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| 551 | if (DBelt0 == E && DBMotorSwitch == off && (DBelt1 == F || DBelt2 == F |
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| 552 | || DBelt3 == F)) begin |
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| 553 | DBMotorSwitch = on; |
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| 554 | end |
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| 555 | else begin |
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| 556 | if (DBelt0 == E && DBMotorSwitch == on && DBelt1 == F) begin |
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| 557 | DBMotorSwitch = off; |
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| 558 | end // if (DBelt0 == E && DBMotorSwitch == on && DBelt1 == F) |
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| 559 | end |
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| 560 | |
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| 561 | end // always @ (posedge clk) |
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| 562 | endmodule // DepositBeltCNTR |
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| 563 | |
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| 564 | /* |
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| 565 | * |
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| 566 | * FEED BELT SET |
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| 567 | * |
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| 568 | */ |
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| 569 | module FeedBeltSet(clk, PieceGrabbedFromFB, PieceReleasedOnFB, |
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| 570 | FBReady, PieceOutFB); |
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| 571 | input clk; |
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| 572 | input PieceGrabbedFromFB; |
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| 573 | input PieceReleasedOnFB; |
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| 574 | output FBReady; |
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| 575 | output PieceOutFB; |
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| 576 | |
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| 577 | sensor wire PieceGrabbedFromFB; |
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| 578 | sensor wire PieceReleasedOnFB; |
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| 579 | sensor wire FBReady; |
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| 580 | sensor wire PieceOutFB; |
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| 581 | |
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| 582 | switch wire FBMotorSwitch; |
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| 583 | unitInBelt wire FBelt0, FBelt1, FBelt2, FBelt3; |
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| 584 | |
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| 585 | FeedBelt FBelt(clk, FBMotorSwitch, PieceReleasedOnFB, PieceGrabbedFromFB, |
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| 586 | FBReady, FBelt0, FBelt1, FBelt2, FBelt3); |
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| 587 | |
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| 588 | FeedBeltCNTR FBeltCNTR(clk, FBelt0, FBelt1, FBelt2, FBelt3, |
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| 589 | PieceGrabbedFromFB, PieceReleasedOnFB, FBMotorSwitch, |
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| 590 | FBReady, PieceOutFB); |
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| 591 | endmodule // FeedBeltSet |
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| 592 | |
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| 593 | |
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| 594 | /* |
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| 595 | * |
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| 596 | * FEED BELT |
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| 597 | * |
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| 598 | */ |
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| 599 | module FeedBelt(clk, FBMotorSwitch, PieceReleasedOnFB, PieceGrabbedFromFB, |
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| 600 | FBReady, FBelt0, FBelt1, FBelt2, FBelt3); |
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| 601 | input clk; |
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| 602 | input FBMotorSwitch; /* Motor controlling the belt */ |
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| 603 | input PieceReleasedOnFB; /* Piece has been released in the belt */ |
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| 604 | input PieceGrabbedFromFB; /* Piece was picked from the belt */ |
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| 605 | input FBReady; /* Belt is ready to accept another piece */ |
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| 606 | output FBelt0, FBelt1, FBelt2, FBelt3; /* Belt positions */ |
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| 607 | |
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| 608 | switch wire FBMotorSwitch; |
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| 609 | sensor wire PieceReleasedOnFB; |
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| 610 | sensor wire PieceGrabbedFromFB; |
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| 611 | sensor wire FBReady; |
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| 612 | |
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| 613 | unitInBelt reg FBelt0, FBelt1, FBelt2, FBelt3; |
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| 614 | |
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| 615 | initial |
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| 616 | begin |
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| 617 | FBelt0 = $ND(E,F); |
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| 618 | FBelt1 = $ND(E,F); |
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| 619 | FBelt2 = $ND(E,F); |
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| 620 | FBelt3 = $ND(E,F); |
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| 621 | end // initial |
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| 622 | |
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| 623 | always @(posedge clk) begin |
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| 624 | |
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| 625 | /* Motion produced by the motor */ |
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| 626 | if (FBMotorSwitch == on) begin |
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| 627 | FBelt0 = FBelt1; |
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| 628 | FBelt1 = FBelt2; |
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| 629 | FBelt2 = FBelt3; |
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| 630 | FBelt3 = E; |
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| 631 | end // if (FBMotorSwitch == on) |
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| 632 | if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == Y) begin |
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| 633 | FBelt3 = F; |
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| 634 | end // if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == N) |
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| 635 | |
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| 636 | /* The piece was grabbed by the crane */ |
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| 637 | if (PieceGrabbedFromFB == Y) begin |
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| 638 | FBelt0 = E; |
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| 639 | end // if (PieceGrabbedFromFB == Y) |
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| 640 | end // always @ (posedge clk) |
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| 641 | endmodule // FeedBelt |
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| 642 | |
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| 643 | |
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| 644 | /* |
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| 645 | * |
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| 646 | * FEED BELT CONTROL |
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| 647 | * |
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| 648 | */ |
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| 649 | module FeedBeltCNTR(clk, FBelt0, FBelt1, FBelt2, FBelt3, |
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| 650 | PieceGrabbedFromFB, PieceReleasedOnFB, FBMotorSwitch, |
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| 651 | FBReady, PieceOutFB); |
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| 652 | input clk; |
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| 653 | input FBelt0, FBelt1, FBelt2, FBelt3; /* Belt Positions */ |
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| 654 | input PieceGrabbedFromFB; /* Piece was grabbed from the belt */ |
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| 655 | input PieceReleasedOnFB; /* Piece was deposited on the belt */ |
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| 656 | output FBMotorSwitch; /* Signal controlling the motor */ |
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| 657 | output FBReady; /* Belt is ready to receive another piece */ |
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| 658 | output PieceOutFB; /* Belt has a piece ready to be picked */ |
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| 659 | |
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| 660 | unitInBelt wire FBelt0, FBelt1, FBelt2, FBelt3; |
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| 661 | sensor wire PieceGrabbedFromFB; |
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| 662 | sensor wire PieceReleasedOnFB; |
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| 663 | |
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| 664 | switch reg FBMotorSwitch; |
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| 665 | sensor reg FBReady; |
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| 666 | sensor reg PieceOutFB; |
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| 667 | |
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| 668 | initial |
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| 669 | begin |
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| 670 | FBMotorSwitch = off; |
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| 671 | FBReady = N; |
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| 672 | PieceOutFB = N; |
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| 673 | end |
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| 674 | |
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| 675 | always @(posedge clk) begin |
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| 676 | |
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| 677 | /* Control the handshake with the crane */ |
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| 678 | if ((FBelt0 == F && PieceOutFB == N && PieceGrabbedFromFB == N) || |
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| 679 | (FBelt0 == E && FBelt1 == F && FBMotorSwitch == on && |
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| 680 | PieceOutFB == N && PieceGrabbedFromFB == N)) begin |
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| 681 | PieceOutFB = Y; |
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| 682 | end // if (FBelt0 == F && PieceOutFB == N && PieceGrabbedFromFB == N) |
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| 683 | |
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| 684 | if (PieceOutFB == Y && PieceGrabbedFromFB == Y) begin |
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| 685 | PieceOutFB = N; |
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| 686 | end // if (PieceOutFB == Y && PieceGrabbedFromFB == Y) |
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| 687 | |
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| 688 | |
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| 689 | /* Control The handshake with the Arm */ |
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| 690 | if (FBelt3 == E && PieceReleasedOnFB == N && FBReady == N) begin |
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| 691 | FBReady = Y; |
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| 692 | end // if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == N) |
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| 693 | |
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| 694 | if (PieceReleasedOnFB == Y && FBReady == Y) begin |
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| 695 | FBReady = N; |
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| 696 | FBMotorSwitch = on; |
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| 697 | end // if (PieceReleasedOnFB == Y && FBReady == Y) |
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| 698 | |
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| 699 | /* Control the motor */ |
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| 700 | if (FBelt0 == F) begin |
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| 701 | FBMotorSwitch = off; |
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| 702 | end // if (FBelt0 == F) |
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| 703 | |
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| 704 | if (FBelt0 == E && FBMotorSwitch == off && (FBelt1 == F || FBelt2 == F |
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| 705 | || FBelt3 == F)) begin |
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| 706 | FBMotorSwitch = on; |
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| 707 | end // if (FBelt0 == E && FBMotorSwitch == off &&... |
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| 708 | else begin |
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| 709 | if (FBelt0 == E && FBMotorSwitch == on && FBelt1 == F) begin |
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| 710 | FBMotorSwitch = off; |
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| 711 | end // if (FBelt0 == E && FBMotorSwitch == on && FBelt1 == F) |
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| 712 | end |
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| 713 | |
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| 714 | end // always @ (posedge clk) |
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| 715 | endmodule // FeedBeltCNTR |
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| 716 | |
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| 717 | /* |
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| 718 | * |
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| 719 | * ROTARY TABLE SET |
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| 720 | * |
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| 721 | */ |
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| 722 | module RotaryTableSet(clk, PieceOutFB, PieceGrabbedFromRT, |
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| 723 | PieceGrabbedFromFB, RTOutReady); |
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| 724 | input clk; |
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| 725 | input PieceOutFB; |
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| 726 | input PieceGrabbedFromRT; |
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| 727 | output PieceGrabbedFromFB; |
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| 728 | output RTOutReady; |
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| 729 | |
---|
| 730 | sensor wire PieceOutFB; |
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| 731 | sensor wire PieceGrabbedFromRT; |
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| 732 | sensor wire PieceGrabbedFromFB; |
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| 733 | sensor wire RTOutReady; |
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| 734 | |
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| 735 | rtAngleMovement wire RTRotaryMotor; |
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| 736 | rtVerticalMovement wire RTVerticalMotor; |
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| 737 | |
---|
| 738 | sensor wire RTOnFB; |
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| 739 | sensor wire RTOnArm; |
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| 740 | sensor wire RTOnTop; |
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| 741 | sensor wire RTOnBottom; |
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| 742 | |
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| 743 | RotaryTable RTable(clk, RTRotaryMotor, RTVerticalMotor, |
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| 744 | RTOnFB, RTOnArm, RTOnTop, RTOnBottom); |
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| 745 | RotaryTableCNTR RTableCNTR(clk, PieceOutFB, PieceGrabbedFromRT, |
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| 746 | RTOnFB, RTOnArm, RTOnTop, RTOnBottom, |
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| 747 | RTRotaryMotor, RTVerticalMotor, |
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| 748 | PieceGrabbedFromFB, RTOutReady); |
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| 749 | endmodule // RotarySet |
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| 750 | |
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| 751 | /* |
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| 752 | * |
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| 753 | * ROTARY TABLE |
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| 754 | * |
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| 755 | */ |
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| 756 | module RotaryTable(clk, RTRotaryMotor, RTVerticalMotor, |
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| 757 | RTOnFB, RTOnArm, RTOnTop, RTOnBottom); |
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| 758 | input clk; |
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| 759 | input RTRotaryMotor; |
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| 760 | input RTVerticalMotor; |
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| 761 | output RTOnFB; |
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| 762 | output RTOnArm; |
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| 763 | output RTOnTop; |
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| 764 | output RTOnBottom; |
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| 765 | |
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| 766 | rtAngleMovement wire RTRotaryMotor; |
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| 767 | rtVerticalMovement wire RTVerticalMotor; |
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| 768 | |
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| 769 | sensor wire RTOnFB; |
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| 770 | sensor wire RTOnArm; |
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| 771 | sensor wire RTOnTop; |
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| 772 | sensor wire RTOnBottom; |
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| 773 | |
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| 774 | rtAnglePosition reg RTAngle; |
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| 775 | rtVerticalPosition reg RTHight; |
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| 776 | |
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| 777 | assign RTOnFB = (RTAngle == S) ? Y : N; |
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| 778 | assign RTOnArm = (RTAngle == SE) ? Y : N; |
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| 779 | assign RTOnTop = (RTHight == Top) ? Y : N; |
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| 780 | assign RTOnBottom = (RTHight == Bot) ? Y : N; |
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| 781 | |
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| 782 | initial |
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| 783 | begin |
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| 784 | RTAngle = $ND(S, SSE, SE); |
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| 785 | RTHight = $ND(Top, Mid, Bot); |
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| 786 | end // initial |
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| 787 | |
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| 788 | always @(posedge clk) begin |
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| 789 | /* Rotary movement of the table */ |
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| 790 | if (RTRotaryMotor == CWise) begin |
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| 791 | case (RTAngle) |
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| 792 | SE: begin |
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| 793 | RTAngle = SSE; |
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| 794 | end |
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| 795 | SSE: begin |
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| 796 | RTAngle = S; |
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| 797 | end |
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| 798 | endcase // _case (RTAngle) |
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| 799 | end // if (RTRotaryMotor == CWise) |
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| 800 | |
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| 801 | if (RTRotaryMotor == CCWise) begin |
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| 802 | case (RTAngle) |
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| 803 | S: begin |
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| 804 | RTAngle = SSE; |
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| 805 | end |
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| 806 | SSE: begin |
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| 807 | RTAngle = SE; |
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| 808 | end |
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| 809 | endcase // _case (RTAngle) |
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| 810 | end // if (RTRotaryMotor == CCWise) |
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| 811 | |
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| 812 | /* Vertical Movement of the table */ |
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| 813 | if (RTVerticalMotor == GoUp) begin |
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| 814 | case (RTHight) |
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| 815 | Mid: begin |
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| 816 | RTHight = Top; |
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| 817 | end |
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| 818 | Bot: begin |
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| 819 | RTHight = Mid; |
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| 820 | end |
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| 821 | endcase // _case (RTHight) |
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| 822 | end // if (RTVerticalMotor == GoUp) |
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| 823 | |
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| 824 | if (RTVerticalMotor == GoDown) begin |
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| 825 | case (RTHight) |
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| 826 | Mid: begin |
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| 827 | RTHight = Bot; |
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| 828 | end |
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| 829 | Top: begin |
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| 830 | RTHight = Mid; |
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| 831 | end |
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| 832 | endcase // _case (RTHight) |
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| 833 | end // if (RTVerticalMotor = GoDown) |
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| 834 | end // always @ (posedge clk) |
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| 835 | endmodule // RotaryTable |
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| 836 | |
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| 837 | /* |
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| 838 | * |
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| 839 | * ROTARY TABLE CNTR |
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| 840 | * |
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| 841 | */ |
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| 842 | module RotaryTableCNTR(clk, PieceOutFB, PieceGrabbedFromRT, |
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| 843 | RTOnFB, RTOnArm, RTOnTop, RTOnBottom, |
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| 844 | RTRotaryMotor, RTVerticalMotor, |
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| 845 | PieceGrabbedFromFB, RTOutReady); |
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| 846 | input clk; |
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| 847 | input PieceOutFB; |
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| 848 | input PieceGrabbedFromRT; |
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| 849 | input RTOnFB; |
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| 850 | input RTOnArm; |
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| 851 | input RTOnTop; |
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| 852 | input RTOnBottom; |
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| 853 | output RTRotaryMotor; |
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| 854 | output RTVerticalMotor; |
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| 855 | output PieceGrabbedFromFB; |
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| 856 | output RTOutReady; |
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| 857 | |
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| 858 | sensor wire PieceOutFB; |
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| 859 | sensor wire PieceGrabbedFromRT; |
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| 860 | sensor wire RTOnFB; |
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| 861 | sensor wire RTOnArm; |
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| 862 | sensor wire RTOnBottom; |
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| 863 | sensor wire RTOnTop; |
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| 864 | |
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| 865 | rtAngleMovement wire CWiseChoice; |
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| 866 | rtAngleMovement wire CCWiseChoice; |
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| 867 | rtVerticalMovement wire UpChoice; |
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| 868 | rtVerticalMovement wire DownChoice; |
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| 869 | |
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| 870 | rtAngleMovement reg RTRotaryMotor; |
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| 871 | rtVerticalMovement reg RTVerticalMotor; |
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| 872 | sensor reg PieceGrabbedFromFB; |
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| 873 | sensor reg RTOutReady; |
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| 874 | sensor reg TableLoaded; |
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| 875 | |
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| 876 | // assign CWiseChoice = $ND(Stop, CWise); |
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| 877 | // assign CCWiseChoice = $ND(Stop, CCWise); |
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| 878 | // assign UpChoice = $ND(Stop, GoUp); |
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| 879 | // assign DownChoice = $ND(Stop, GoDown); |
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| 880 | assign CWiseChoice = CWise; |
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| 881 | assign CCWiseChoice = CCWise; |
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| 882 | assign UpChoice = GoUp; |
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| 883 | assign DownChoice = GoDown; |
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| 884 | |
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| 885 | initial |
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| 886 | begin |
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| 887 | RTRotaryMotor = Stop; |
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| 888 | RTVerticalMotor = Stop; |
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| 889 | PieceGrabbedFromFB = N; |
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| 890 | RTOutReady = N; |
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| 891 | TableLoaded = N; |
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| 892 | end // initial |
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| 893 | |
---|
| 894 | always @(posedge clk) begin |
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| 895 | case (TableLoaded) |
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| 896 | Y: begin |
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| 897 | if (RTOnTop == Y) begin |
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| 898 | if (RTOnFB == Y) begin |
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| 899 | RTRotaryMotor = CCWise; |
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| 900 | RTVerticalMotor = Stop; |
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| 901 | end // if (RTOnFB == Y) |
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| 902 | if (RTOnFB == N && RTOnArm == N) begin |
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| 903 | RTVerticalMotor = Stop; |
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| 904 | if (RTRotaryMotor == CCWise) begin |
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| 905 | RTRotaryMotor = Stop; |
---|
| 906 | RTOutReady = Y; |
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| 907 | end // if (RTRotaryMotor == CCWise) |
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| 908 | else begin |
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| 909 | if (RTRotaryMotor == Stop) begin |
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| 910 | RTRotaryMotor = CCWise; |
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| 911 | end // if (RTRotaryMotor == Stop) |
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| 912 | end // else: !if(RTRotaryMotor == CCWise) |
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| 913 | end // if (RTOnFB == N && RTOnArm == N) |
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| 914 | if (RTOnArm == Y) begin |
---|
| 915 | if (PieceGrabbedFromRT == Y) begin |
---|
| 916 | RTOutReady = N; |
---|
| 917 | RTRotaryMotor = CWiseChoice; |
---|
| 918 | RTVerticalMotor = DownChoice; |
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| 919 | TableLoaded = N; |
---|
| 920 | end // if (PieceGrabbedFromRT == Y) |
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| 921 | else begin |
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| 922 | RTOutReady = Y; |
---|
| 923 | RTRotaryMotor = Stop; |
---|
| 924 | RTVerticalMotor = Stop; |
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| 925 | end // else: !if(PieceGrabbedFromRT == Y) |
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| 926 | end // if (RTOnArm == Y) |
---|
| 927 | end // if (RTOnTop == Y) |
---|
| 928 | if (RTOnTop == N && RTOnBottom == N) begin |
---|
| 929 | if (RTOnFB ==Y) begin |
---|
| 930 | RTRotaryMotor = CCWiseChoice; |
---|
| 931 | if (RTVerticalMotor == GoUp) begin |
---|
| 932 | RTVerticalMotor = Stop; |
---|
| 933 | end // if (RTVerticalMotor == GoUp) |
---|
| 934 | else begin |
---|
| 935 | RTVerticalMotor = UpChoice; |
---|
| 936 | end // else: !if(RTVerticalMotor == GoUp) |
---|
| 937 | end // if (RTOnFB ==Y) |
---|
| 938 | if (RTOnFB == N && RTOnArm == N) begin |
---|
| 939 | if (RTRotaryMotor == CCWise && RTVerticalMotor == GoUp) begin |
---|
| 940 | RTRotaryMotor = Stop; |
---|
| 941 | RTVerticalMotor = Stop; |
---|
| 942 | RTOutReady = Y; |
---|
| 943 | end // if (RTRotaryMotor == CCWise && RTVerticalMotor == GoUp) |
---|
| 944 | else begin |
---|
| 945 | if (RTRotaryMotor!=CCWise && RTVerticalMotor == GoUp) begin |
---|
| 946 | RTRotaryMotor = CCWiseChoice; |
---|
| 947 | RTVerticalMotor = Stop; |
---|
| 948 | end |
---|
| 949 | else begin |
---|
| 950 | if (RTRotaryMotor == CCWise && |
---|
| 951 | RTVerticalMotor != GoUp) begin |
---|
| 952 | RTRotaryMotor = Stop; |
---|
| 953 | RTVerticalMotor = UpChoice; |
---|
| 954 | end |
---|
| 955 | else begin |
---|
| 956 | if (RTRotaryMotor != CCWise |
---|
| 957 | && RTVerticalMotor != GoUp) begin |
---|
| 958 | RTRotaryMotor = CCWiseChoice; |
---|
| 959 | RTVerticalMotor = UpChoice; |
---|
| 960 | end |
---|
| 961 | end |
---|
| 962 | end |
---|
| 963 | end |
---|
| 964 | end // if (RTOnFB == N && RTOnArm == N) |
---|
| 965 | if (RTOnArm == Y) begin |
---|
| 966 | RTRotaryMotor = Stop; |
---|
| 967 | if (RTVerticalMotor == GoUp) begin |
---|
| 968 | RTVerticalMotor = Stop; |
---|
| 969 | RTOutReady = Y; |
---|
| 970 | end // if (RTVerticalMotor == GoUp) |
---|
| 971 | else begin |
---|
| 972 | RTVerticalMotor = GoUp; |
---|
| 973 | end // else: !if(RTVerticalMotor == GoUp) |
---|
| 974 | end // if (RTOnArm == Y) |
---|
| 975 | end // if (RTOnTop == N && RTOnBottom == N) |
---|
| 976 | if (RTOnBottom == Y) begin |
---|
| 977 | if (RTOnFB == Y) begin |
---|
| 978 | RTRotaryMotor = CCWiseChoice; |
---|
| 979 | RTVerticalMotor = UpChoice; |
---|
| 980 | end // if (RTOnFB == Y) |
---|
| 981 | if (RTOnFB == N && RTOnArm == N) begin |
---|
| 982 | RTVerticalMotor = UpChoice; |
---|
| 983 | if (RTRotaryMotor == CCWise) begin |
---|
| 984 | RTRotaryMotor = Stop; |
---|
| 985 | end // if (RTRotaryMotor == CCWise) |
---|
| 986 | else begin |
---|
| 987 | RTRotaryMotor = CCWiseChoice; |
---|
| 988 | end // else: !if(RTRotaryMotor == CCWise) |
---|
| 989 | end // if (RTOnFB == N && RTOnArm == N) |
---|
| 990 | if (RTOnArm == Y) begin |
---|
| 991 | RTRotaryMotor = Stop; |
---|
| 992 | RTVerticalMotor = GoUp; |
---|
| 993 | end // if (RTOnArm == Y) |
---|
| 994 | end // if (RTOnBottom == Y) |
---|
| 995 | end // case: Y |
---|
| 996 | N:begin |
---|
| 997 | if (RTOnTop == Y) begin |
---|
| 998 | if (RTOnFB == Y) begin |
---|
| 999 | RTRotaryMotor = Stop; |
---|
| 1000 | RTVerticalMotor = GoDown; |
---|
| 1001 | end // if (RTOnFB == Y) |
---|
| 1002 | if (RTOnFB == N && RTOnArm == N) begin |
---|
| 1003 | RTVerticalMotor = DownChoice; |
---|
| 1004 | if (RTRotaryMotor == CWise) begin |
---|
| 1005 | RTRotaryMotor = Stop; |
---|
| 1006 | end // if (RTRotaryMotor == CWise) |
---|
| 1007 | else begin |
---|
| 1008 | RTRotaryMotor = CWiseChoice; |
---|
| 1009 | end // else: !if(RTRotaryMotor == CWise) |
---|
| 1010 | end // if (RTOnFB == N && RTOnArm == N) |
---|
| 1011 | if (RTOnArm == Y) begin |
---|
| 1012 | RTRotaryMotor = CWiseChoice; |
---|
| 1013 | RTVerticalMotor = DownChoice; |
---|
| 1014 | end // if (RTOnArm == Y) |
---|
| 1015 | end // if (RTOnTop == Y) |
---|
| 1016 | if (RTOnTop == N && RTOnBottom == N) begin |
---|
| 1017 | if (RTOnFB == Y) begin |
---|
| 1018 | if (RTVerticalMotor == GoDown) begin |
---|
| 1019 | if (PieceOutFB == Y) begin |
---|
| 1020 | TableLoaded = Y; |
---|
| 1021 | PieceGrabbedFromFB = Y; |
---|
| 1022 | RTRotaryMotor = CCWiseChoice; |
---|
| 1023 | RTVerticalMotor = UpChoice; |
---|
| 1024 | end // if (PieceOutFB == Y) |
---|
| 1025 | else begin |
---|
| 1026 | RTRotaryMotor = Stop; |
---|
| 1027 | RTVerticalMotor = Stop; |
---|
| 1028 | end // else: !if(PieceOutFB == Y) |
---|
| 1029 | end // if (RTVerticalMotor == GoDown) |
---|
| 1030 | else begin |
---|
| 1031 | RTRotaryMotor = Stop; |
---|
| 1032 | RTVerticalMotor = GoDown; |
---|
| 1033 | end // else: !if(RTVerticalMotor == GoDown) |
---|
| 1034 | end // if (RTOnFB == Y) |
---|
| 1035 | if (RTOnFB == N && RTOnArm == N) begin |
---|
| 1036 | if (RTRotaryMotor == CWise && RTVerticalMotor == GoDown) begin |
---|
| 1037 | if (PieceOutFB == Y) begin |
---|
| 1038 | TableLoaded = Y; |
---|
| 1039 | PieceGrabbedFromFB = Y; |
---|
| 1040 | RTRotaryMotor = CCWiseChoice; |
---|
| 1041 | RTVerticalMotor = UpChoice; |
---|
| 1042 | end // if (PieceOutFB == Y) |
---|
| 1043 | else begin |
---|
| 1044 | RTRotaryMotor = Stop; |
---|
| 1045 | RTVerticalMotor = Stop; |
---|
| 1046 | end // else: !if(PieceOutFB == Y) |
---|
| 1047 | end // if (RTRotaryMotor == CWise && RTVerticalMotor == GoDown) |
---|
| 1048 | else begin |
---|
| 1049 | if (RTRotaryMotor != CWise && |
---|
| 1050 | RTVerticalMotor == GoDown) begin |
---|
| 1051 | RTRotaryMotor = CWiseChoice; |
---|
| 1052 | RTVerticalMotor = Stop; |
---|
| 1053 | end |
---|
| 1054 | else begin |
---|
| 1055 | if (RTRotaryMotor == CWise && |
---|
| 1056 | RTVerticalMotor != GoDown) begin |
---|
| 1057 | RTRotaryMotor = Stop; |
---|
| 1058 | RTVerticalMotor = DownChoice; |
---|
| 1059 | end |
---|
| 1060 | else begin |
---|
| 1061 | if (RTRotaryMotor != CWise && |
---|
| 1062 | RTVerticalMotor != GoDown) begin |
---|
| 1063 | RTRotaryMotor = CWiseChoice; |
---|
| 1064 | RTVerticalMotor = DownChoice; |
---|
| 1065 | end |
---|
| 1066 | end |
---|
| 1067 | end |
---|
| 1068 | end |
---|
| 1069 | end // if (RTOnFB == N && RTOnArm == N) |
---|
| 1070 | if (RTOnArm == Y) begin |
---|
| 1071 | RTRotaryMotor = CWiseChoice; |
---|
| 1072 | if (RTVerticalMotor == GoDown) begin |
---|
| 1073 | RTVerticalMotor = Stop; |
---|
| 1074 | end // if (RTVerticalMotor == GoDown) |
---|
| 1075 | else begin |
---|
| 1076 | RTVerticalMotor = GoDown; |
---|
| 1077 | end // else: !if(RTVerticalMotor == GoDown) |
---|
| 1078 | end // if (RTOnArm == Y) |
---|
| 1079 | end // if (RTOnTop == N && RTOnBottom == N) |
---|
| 1080 | if (RTOnBottom == Y) begin |
---|
| 1081 | if (RTOnFB == Y) begin |
---|
| 1082 | if (PieceOutFB == Y) begin |
---|
| 1083 | PieceGrabbedFromFB = Y; |
---|
| 1084 | RTRotaryMotor = CCWiseChoice; |
---|
| 1085 | RTVerticalMotor = UpChoice; |
---|
| 1086 | TableLoaded = Y; |
---|
| 1087 | end // if (PieceOutFB == Y) |
---|
| 1088 | else begin |
---|
| 1089 | RTRotaryMotor = Stop; |
---|
| 1090 | RTVerticalMotor = Stop; |
---|
| 1091 | end // else: !if(PieceOutFB == Y) |
---|
| 1092 | end // if (RTOnFB == Y) |
---|
| 1093 | if (RTOnFB == N && RTOnArm == N) begin |
---|
| 1094 | RTVerticalMotor = Stop; |
---|
| 1095 | if (RTRotaryMotor == CWise) begin |
---|
| 1096 | RTRotaryMotor = Stop; |
---|
| 1097 | end // if (RTRotaryMotor == CWise) |
---|
| 1098 | else begin |
---|
| 1099 | RTRotaryMotor = CWise; |
---|
| 1100 | end // else: !if(RTRotaryMotor == CWise) |
---|
| 1101 | end // if (RTOnFB == N && RTOnArm == N) |
---|
| 1102 | if (RTOnArm == Y) begin |
---|
| 1103 | RTRotaryMotor = CWise; |
---|
| 1104 | RTVerticalMotor = Stop; |
---|
| 1105 | end // if (RTOnArm == Y) |
---|
| 1106 | end // if (RTOnBottom == Y) |
---|
| 1107 | end // case: N |
---|
| 1108 | endcase // _case (TableLoaded) |
---|
| 1109 | |
---|
| 1110 | if (PieceOutFB == N && PieceGrabbedFromFB == Y) begin |
---|
| 1111 | PieceGrabbedFromFB = N; |
---|
| 1112 | end // if (PieceOutFB == N && PieceGrabbedFromFB == Y) |
---|
| 1113 | |
---|
| 1114 | if (RTOutReady == Y && PieceGrabbedFromRT == Y) begin |
---|
| 1115 | RTOutReady = N; |
---|
| 1116 | end // if (RTOutReady == Y && PieceGrabbedFromRT == Y) |
---|
| 1117 | |
---|
| 1118 | end // always @ (posedge clk) |
---|
| 1119 | endmodule // RotaryTableCNTR |
---|
| 1120 | |
---|
| 1121 | /* |
---|
| 1122 | * |
---|
| 1123 | * PRESS SET |
---|
| 1124 | * |
---|
| 1125 | */ |
---|
| 1126 | module PressSet(clk, ArmLoadedPress, ArmUnLoadedPress, |
---|
| 1127 | PressReadyToBeLoaded, PressReadyToBeUnLoaded); |
---|
| 1128 | input clk; |
---|
| 1129 | input ArmLoadedPress; |
---|
| 1130 | input ArmUnLoadedPress; |
---|
| 1131 | output PressReadyToBeLoaded; |
---|
| 1132 | output PressReadyToBeUnLoaded; |
---|
| 1133 | |
---|
| 1134 | sensor wire ArmLoadedPress; |
---|
| 1135 | sensor wire ArmUnLoadedPress; |
---|
| 1136 | sensor wire PressReadyToBeLoaded; |
---|
| 1137 | sensor wire PressReadyToBeUnLoaded; |
---|
| 1138 | |
---|
| 1139 | pressVerticalMovement wire PressMotor; |
---|
| 1140 | pressVerticalPosition wire PressPosition; |
---|
| 1141 | |
---|
| 1142 | Press Pr(clk, PressMotor, PressPosition); |
---|
| 1143 | PressCNTR PrCNTR(clk, PressPosition, ArmLoadedPress, ArmUnLoadedPress, |
---|
| 1144 | PressMotor, PressReadyToBeLoaded, PressReadyToBeUnLoaded); |
---|
| 1145 | endmodule // PressSet |
---|
| 1146 | |
---|
| 1147 | /* |
---|
| 1148 | * |
---|
| 1149 | * PRESS |
---|
| 1150 | * |
---|
| 1151 | */ |
---|
| 1152 | module Press(clk, PressMotor, PressPosition); |
---|
| 1153 | input clk; |
---|
| 1154 | input PressMotor; |
---|
| 1155 | output PressPosition; |
---|
| 1156 | |
---|
| 1157 | pressVerticalMovement wire PressMotor; |
---|
| 1158 | |
---|
| 1159 | pressVerticalPosition reg PressPosition; |
---|
| 1160 | |
---|
| 1161 | initial |
---|
| 1162 | begin |
---|
| 1163 | PressPosition = Mid; |
---|
| 1164 | end // initial |
---|
| 1165 | |
---|
| 1166 | always @(posedge clk) begin |
---|
| 1167 | if (PressMotor == GoUp) begin |
---|
| 1168 | case (PressPosition) |
---|
| 1169 | Mid: begin |
---|
| 1170 | PressPosition = Top; |
---|
| 1171 | end // case: Mid |
---|
| 1172 | Bot: begin |
---|
| 1173 | PressPosition = Mid; |
---|
| 1174 | end // case: Bot |
---|
| 1175 | endcase // _case (PressPosition) |
---|
| 1176 | end // if (PressMotor == GoUp) |
---|
| 1177 | |
---|
| 1178 | if (PressMotor == GoDown) begin |
---|
| 1179 | case (PressPosition) |
---|
| 1180 | Top: begin |
---|
| 1181 | PressPosition = Mid; |
---|
| 1182 | end // case: Top |
---|
| 1183 | Mid: begin |
---|
| 1184 | PressPosition = Bot; |
---|
| 1185 | end // case: Mid |
---|
| 1186 | endcase // _case (PressPosition) |
---|
| 1187 | end // if (PressMotor = GoDown) |
---|
| 1188 | |
---|
| 1189 | end // always @ (posedge clk) |
---|
| 1190 | endmodule // Press |
---|
| 1191 | |
---|
| 1192 | /* |
---|
| 1193 | * |
---|
| 1194 | * PRESS CNTR |
---|
| 1195 | * |
---|
| 1196 | */ |
---|
| 1197 | module PressCNTR(clk, PressPosition, ArmLoadedPress, ArmUnLoadedPress, |
---|
| 1198 | PressMotor, PressReadyToBeLoaded, PressReadyToBeUnLoaded); |
---|
| 1199 | input clk; |
---|
| 1200 | input PressPosition; |
---|
| 1201 | input ArmLoadedPress; |
---|
| 1202 | input ArmUnLoadedPress; |
---|
| 1203 | output PressMotor; |
---|
| 1204 | output PressReadyToBeLoaded; |
---|
| 1205 | output PressReadyToBeUnLoaded; |
---|
| 1206 | |
---|
| 1207 | pressVerticalPosition wire PressPosition; |
---|
| 1208 | sensor wire ArmLoadedPress; |
---|
| 1209 | sensor wire ArmUnLoadedPress; |
---|
| 1210 | |
---|
| 1211 | pressVerticalMovement reg PressMotor; |
---|
| 1212 | sensor reg PressReadyToBeLoaded; |
---|
| 1213 | sensor reg PressReadyToBeUnLoaded; |
---|
| 1214 | sensor reg PressLoaded; |
---|
| 1215 | |
---|
| 1216 | initial |
---|
| 1217 | begin |
---|
| 1218 | PressMotor = Stop; |
---|
| 1219 | PressReadyToBeLoaded = N; |
---|
| 1220 | PressReadyToBeUnLoaded = N; |
---|
| 1221 | PressLoaded = N; |
---|
| 1222 | end // initial |
---|
| 1223 | |
---|
| 1224 | always @(posedge clk) begin |
---|
| 1225 | |
---|
| 1226 | case (PressLoaded) |
---|
| 1227 | Y: begin |
---|
| 1228 | case (PressPosition) |
---|
| 1229 | Top: begin |
---|
| 1230 | PressMotor = GoDown; |
---|
| 1231 | end |
---|
| 1232 | Mid: begin |
---|
| 1233 | if (PressMotor == GoDown) begin |
---|
| 1234 | PressMotor = Stop; |
---|
| 1235 | PressReadyToBeUnLoaded = Y; |
---|
| 1236 | end // if (PressMotor == GoDown) |
---|
| 1237 | else begin |
---|
| 1238 | PressMotor = GoDown; |
---|
| 1239 | end // else: !if(PressMotor == GoDown) |
---|
| 1240 | end // case: Mid |
---|
| 1241 | Bot: begin |
---|
| 1242 | if (ArmUnLoadedPress == Y && PressReadyToBeUnLoaded == Y) begin |
---|
| 1243 | PressMotor = GoUp; |
---|
| 1244 | PressLoaded = N; |
---|
| 1245 | PressReadyToBeUnLoaded = N; |
---|
| 1246 | end // if (ArmUnLoadedPress == Y && PressReadyToBeUnLoaded == Y) |
---|
| 1247 | else begin |
---|
| 1248 | PressMotor = Stop; |
---|
| 1249 | end |
---|
| 1250 | end // case: Bot |
---|
| 1251 | endcase // _case (PressPosition) |
---|
| 1252 | end // case: Y |
---|
| 1253 | N: begin |
---|
| 1254 | case (PressPosition) |
---|
| 1255 | Top: begin |
---|
| 1256 | if (PressMotor == GoDown) begin |
---|
| 1257 | PressMotor = Stop; |
---|
| 1258 | PressReadyToBeLoaded = Y; |
---|
| 1259 | end // if (PressMotor == GoDown) |
---|
| 1260 | else begin |
---|
| 1261 | PressMotor = GoDown; |
---|
| 1262 | end // else: !if(PressMotor == GoDown) |
---|
| 1263 | end // case: Top |
---|
| 1264 | Mid: begin |
---|
| 1265 | if (ArmLoadedPress == Y) begin |
---|
| 1266 | PressLoaded = Y; |
---|
| 1267 | PressMotor = GoUp; |
---|
| 1268 | end // if (ArmLoadedPress == Y) |
---|
| 1269 | else begin |
---|
| 1270 | PressMotor = Stop; |
---|
| 1271 | PressReadyToBeLoaded = Y; |
---|
| 1272 | end // else: !if(ArmLoadedPress == Y) |
---|
| 1273 | end // case: Mid |
---|
| 1274 | endcase // _case (PressPosition) |
---|
| 1275 | end // case: N |
---|
| 1276 | endcase // _case (PressLoaded) |
---|
| 1277 | |
---|
| 1278 | if (ArmLoadedPress == Y && PressReadyToBeLoaded == Y) begin |
---|
| 1279 | PressReadyToBeLoaded = N; |
---|
| 1280 | end // if (ArmLoadedPress == N && PressReadyToBeLoaded == Y) |
---|
| 1281 | |
---|
| 1282 | if (PressReadyToBeUnLoaded == Y && ArmUnLoadedPress == Y) begin |
---|
| 1283 | PressReadyToBeUnLoaded = N; |
---|
| 1284 | end // if (PressReadyToBeUnLoaded == Y && ArmUnLoadedPress == Y) |
---|
| 1285 | end // always @ (posedge clk) |
---|
| 1286 | |
---|
| 1287 | endmodule // PressCNTR |
---|
| 1288 | |
---|
| 1289 | /* |
---|
| 1290 | * |
---|
| 1291 | * ARM SET |
---|
| 1292 | * |
---|
| 1293 | */ |
---|
| 1294 | module ArmSet(clk, DBReady, PressReadyToBeUnLoaded, PressReadyToBeLoaded, |
---|
| 1295 | RTOutReady, PieceOutArm, ArmUnLoadedPress, ArmLoadedPress, |
---|
| 1296 | PieceGrabbedFromRT); |
---|
| 1297 | input clk; |
---|
| 1298 | input DBReady; |
---|
| 1299 | input PressReadyToBeUnLoaded; |
---|
| 1300 | input PressReadyToBeLoaded; |
---|
| 1301 | input RTOutReady; |
---|
| 1302 | output PieceOutArm; |
---|
| 1303 | output ArmUnLoadedPress; |
---|
| 1304 | output ArmLoadedPress; |
---|
| 1305 | output PieceGrabbedFromRT; |
---|
| 1306 | |
---|
| 1307 | sensor wire DBReady; |
---|
| 1308 | sensor wire PressReadyToBeUnLoaded; |
---|
| 1309 | sensor wire PressReadyToBeLoaded; |
---|
| 1310 | sensor wire RTOutReady; |
---|
| 1311 | sensor wire PieceOutArm; |
---|
| 1312 | sensor wire ArmUnLoadedPress; |
---|
| 1313 | sensor wire ArmLoadedPress; |
---|
| 1314 | sensor wire PieceGrabbedFromRT; |
---|
| 1315 | |
---|
| 1316 | sensor wire RALoadArmExtended; |
---|
| 1317 | sensor wire RALoadArmRetracted; |
---|
| 1318 | sensor wire RAUnLoadArmExtended; |
---|
| 1319 | sensor wire RAUnLoadArmRetracted; |
---|
| 1320 | sensor wire RAArmOverRT; |
---|
| 1321 | sensor wire RAArmOverUnLoadedPress; |
---|
| 1322 | sensor wire RAArmOverLoadedPress; |
---|
| 1323 | sensor wire RAArmOverDB; |
---|
| 1324 | armHorizontalMovement wire RAExtendLoadArm; |
---|
| 1325 | armHorizontalMovement wire RAExtendUnLoadArm; |
---|
| 1326 | armAngleMovement wire RARotaryMotor; |
---|
| 1327 | |
---|
| 1328 | RobotArm Arm(clk, RAExtendLoadArm, RAExtendUnLoadArm, RARotaryMotor, |
---|
| 1329 | RALoadArmExtended, RALoadArmRetracted, RAUnLoadArmExtended, |
---|
| 1330 | RAUnLoadArmRetracted, RAArmOverRT, RAArmOverUnLoadedPress, |
---|
| 1331 | RAArmOverLoadedPress, RAArmOverDB); |
---|
| 1332 | |
---|
| 1333 | RobotArmCNTR ACNTR(clk, RALoadArmExtended, RALoadArmRetracted, |
---|
| 1334 | RAUnLoadArmExtended, RAUnLoadArmRetracted, RAArmOverRT, |
---|
| 1335 | RAArmOverUnLoadedPress, RAArmOverLoadedPress, RAArmOverDB, |
---|
| 1336 | DBReady, PressReadyToBeUnLoaded, PressReadyToBeLoaded, |
---|
| 1337 | RTOutReady, RAExtendLoadArm, RAExtendUnLoadArm, |
---|
| 1338 | RARotaryMotor, PieceOutArm, ArmUnLoadedPress, |
---|
| 1339 | ArmLoadedPress, PieceGrabbedFromRT); |
---|
| 1340 | endmodule // ArmSet |
---|
| 1341 | |
---|
| 1342 | /* |
---|
| 1343 | * |
---|
| 1344 | * ROBOT ARM |
---|
| 1345 | * |
---|
| 1346 | */ |
---|
| 1347 | module RobotArm(clk, RAExtendLoadArm, RAExtendUnLoadArm, RARotaryMotor, |
---|
| 1348 | RALoadArmExtended, RALoadArmRetracted, RAUnLoadArmExtended, |
---|
| 1349 | RAUnLoadArmRetracted, RAArmOverRT, RAArmOverUnLoadedPress, |
---|
| 1350 | RAArmOverLoadedPress, RAArmOverDB); |
---|
| 1351 | input clk; |
---|
| 1352 | input RAExtendLoadArm; |
---|
| 1353 | input RAExtendUnLoadArm; |
---|
| 1354 | input RARotaryMotor; |
---|
| 1355 | output RALoadArmExtended; |
---|
| 1356 | output RALoadArmRetracted; |
---|
| 1357 | output RAUnLoadArmExtended; |
---|
| 1358 | output RAUnLoadArmRetracted; |
---|
| 1359 | output RAArmOverRT; |
---|
| 1360 | output RAArmOverUnLoadedPress; |
---|
| 1361 | output RAArmOverLoadedPress; |
---|
| 1362 | output RAArmOverDB; |
---|
| 1363 | |
---|
| 1364 | armHorizontalMovement wire RAExtendLoadArm; |
---|
| 1365 | armHorizontalMovement wire RAExtendUnLoadArm; |
---|
| 1366 | armAngleMovement wire RARotaryMotor; |
---|
| 1367 | sensor wire RALoadArmExtended; |
---|
| 1368 | sensor wire RALoadArmRetracted; |
---|
| 1369 | sensor wire RAUnLoadArmExtended; |
---|
| 1370 | sensor wire RAUnLoadArmRetracted; |
---|
| 1371 | sensor wire RAArmOverRT; |
---|
| 1372 | sensor wire RAArmOverUnLoadedPress; |
---|
| 1373 | sensor wire RAArmOverLoadedPress; |
---|
| 1374 | sensor wire RAArmOverDB; |
---|
| 1375 | |
---|
| 1376 | armPosition reg RALoadArm; |
---|
| 1377 | armPosition reg RAUnLoadArm; |
---|
| 1378 | armAnglePosition reg RAAnglePos; |
---|
| 1379 | |
---|
| 1380 | assign RALoadArmExtended = (RALoadArm == Extended) ? Y : N; |
---|
| 1381 | assign RALoadArmRetracted = (RALoadArm == Retracted) ? Y : N; |
---|
| 1382 | assign RAUnLoadArmExtended = (RAUnLoadArm == Extended) ? Y : N; |
---|
| 1383 | assign RAUnLoadArmRetracted = (RAUnLoadArm == Retracted) ? Y : N; |
---|
| 1384 | assign RAArmOverRT = (RAAnglePos == OverRT) ? Y : N; |
---|
| 1385 | assign RAArmOverUnLoadedPress = (RAAnglePos == OverUnLoadedPress) ? Y : N; |
---|
| 1386 | assign RAArmOverLoadedPress = (RAAnglePos == OverLoadedPress) ? Y : N; |
---|
| 1387 | assign RAArmOverDB = (RAAnglePos == OverDB) ? Y : N; |
---|
| 1388 | |
---|
| 1389 | initial |
---|
| 1390 | begin |
---|
| 1391 | RALoadArm = Retracted; |
---|
| 1392 | RAUnLoadArm = Retracted; |
---|
| 1393 | RAAnglePos = $ND(OverRT, OverLoadedPress, OverDB, OverUnLoadedPress); |
---|
| 1394 | end // initial |
---|
| 1395 | |
---|
| 1396 | always @(posedge clk) begin |
---|
| 1397 | |
---|
| 1398 | /* Control the horizontal movement of the load arm */ |
---|
| 1399 | if (RAExtendLoadArm == Extend) begin |
---|
| 1400 | case (RALoadArm) |
---|
| 1401 | Retracted: begin |
---|
| 1402 | RALoadArm = Middle; |
---|
| 1403 | end // case: Retracted |
---|
| 1404 | Middle: begin |
---|
| 1405 | RALoadArm = Extended; |
---|
| 1406 | end // if (RALoadArm = Middle) |
---|
| 1407 | endcase // _case (RALoadArm) |
---|
| 1408 | end // if (RAExtendLoadArm == Extend) |
---|
| 1409 | |
---|
| 1410 | if (RAExtendLoadArm == Retract) begin |
---|
| 1411 | case (RALoadArm) |
---|
| 1412 | Extended: begin |
---|
| 1413 | RALoadArm = Middle; |
---|
| 1414 | end // case: Extended |
---|
| 1415 | Middle: begin |
---|
| 1416 | RALoadArm = Retracted; |
---|
| 1417 | end // if (RALoadArm == Middle) |
---|
| 1418 | endcase // _case (RALoadArm) |
---|
| 1419 | end // if (RAExtendLoadArm = Retract) |
---|
| 1420 | |
---|
| 1421 | /* Control the horizontal movement of the UnLoad arm */ |
---|
| 1422 | if (RAExtendUnLoadArm == Extend) begin |
---|
| 1423 | case (RAUnLoadArm) |
---|
| 1424 | Retracted: begin |
---|
| 1425 | RAUnLoadArm = Middle; |
---|
| 1426 | end // case: Retracted |
---|
| 1427 | Middle: begin |
---|
| 1428 | RAUnLoadArm = Extended; |
---|
| 1429 | end // case: Middle |
---|
| 1430 | endcase // _case (RAUnLoadArm) |
---|
| 1431 | end // if (RAExtendLoadArm == Extend) |
---|
| 1432 | |
---|
| 1433 | if (RAExtendUnLoadArm == Retract) begin |
---|
| 1434 | case (RAUnLoadArm) |
---|
| 1435 | Extended: begin |
---|
| 1436 | RAUnLoadArm = Middle; |
---|
| 1437 | end // case: Extended |
---|
| 1438 | Middle: begin |
---|
| 1439 | RAUnLoadArm = Retracted; |
---|
| 1440 | end // case: Middle |
---|
| 1441 | endcase // _case (RAUnLoadArm) |
---|
| 1442 | end // if (RAExtendUnLoadArm = Retract) |
---|
| 1443 | |
---|
| 1444 | /* Control the rotation of the arm */ |
---|
| 1445 | if (RARotaryMotor == CCWise) begin |
---|
| 1446 | case (RAAnglePos) |
---|
| 1447 | OverRT: begin |
---|
| 1448 | RAAnglePos = OverUnLoadedPress; |
---|
| 1449 | end // case: OverRT |
---|
| 1450 | OverUnLoadedPress: begin |
---|
| 1451 | RAAnglePos = OverDB; |
---|
| 1452 | end // case: OverLoadedPress |
---|
| 1453 | OverDB: begin |
---|
| 1454 | RAAnglePos = OverLoadedPress; |
---|
| 1455 | end // case: OverDB |
---|
| 1456 | endcase // _case (RAAnglePos) |
---|
| 1457 | end // if (RARotaryMotor == CCWise) |
---|
| 1458 | if (RARotaryMotor == CWise) begin |
---|
| 1459 | case (RAAnglePos) |
---|
| 1460 | OverLoadedPress: begin |
---|
| 1461 | RAAnglePos = OverDB; |
---|
| 1462 | end // case: OverLoadedPress |
---|
| 1463 | OverDB: begin |
---|
| 1464 | RAAnglePos = OverUnLoadedPress; |
---|
| 1465 | end // case: OverDB |
---|
| 1466 | OverUnLoadedPress: begin |
---|
| 1467 | RAAnglePos = OverRT; |
---|
| 1468 | end // case: OverUnLoadedPress |
---|
| 1469 | endcase // _case (RAAnglePos) |
---|
| 1470 | end // if (RARotaryMotor == CWise) |
---|
| 1471 | end // always @ (posedge clk) |
---|
| 1472 | endmodule // RobotArm |
---|
| 1473 | |
---|
| 1474 | /* |
---|
| 1475 | * |
---|
| 1476 | * ROBOT ARM CNTR |
---|
| 1477 | * |
---|
| 1478 | */ |
---|
| 1479 | module RobotArmCNTR(clk, RALoadArmExtended, RALoadArmRetracted, |
---|
| 1480 | RAUnLoadArmExtended, RAUnLoadArmRetracted, RAArmOverRT, |
---|
| 1481 | RAArmOverUnLoadedPress, RAArmOverLoadedPress, RAArmOverDB, |
---|
| 1482 | DBReady, PressReadyToBeUnLoaded, PressReadyToBeLoaded, |
---|
| 1483 | RTOutReady, RAExtendLoadArm, RAExtendUnLoadArm, |
---|
| 1484 | RARotaryMotor, PieceOutArm, ArmUnLoadedPress, |
---|
| 1485 | ArmLoadedPress, PieceGrabbedFromRT); |
---|
| 1486 | input clk; |
---|
| 1487 | input RALoadArmExtended; |
---|
| 1488 | input RALoadArmRetracted; |
---|
| 1489 | input RAUnLoadArmExtended; |
---|
| 1490 | input RAUnLoadArmRetracted; |
---|
| 1491 | input RAArmOverRT; |
---|
| 1492 | input RAArmOverUnLoadedPress; |
---|
| 1493 | input RAArmOverLoadedPress; |
---|
| 1494 | input RAArmOverDB; |
---|
| 1495 | input DBReady; |
---|
| 1496 | input PressReadyToBeUnLoaded; |
---|
| 1497 | input PressReadyToBeLoaded; |
---|
| 1498 | input RTOutReady; |
---|
| 1499 | output RAExtendLoadArm; |
---|
| 1500 | output RAExtendUnLoadArm; |
---|
| 1501 | output RARotaryMotor; |
---|
| 1502 | output PieceOutArm; |
---|
| 1503 | output ArmUnLoadedPress; |
---|
| 1504 | output ArmLoadedPress; |
---|
| 1505 | output PieceGrabbedFromRT; |
---|
| 1506 | |
---|
| 1507 | sensor wire DBReady; |
---|
| 1508 | sensor wire PressReadyToBeUnLoaded; |
---|
| 1509 | sensor wire PressReadyToBeLoaded; |
---|
| 1510 | sensor wire RTOutReady; |
---|
| 1511 | sensor wire RALoadArmExtended; |
---|
| 1512 | sensor wire RALoadArmRetracted; |
---|
| 1513 | sensor wire RAUnLoadArmExtended; |
---|
| 1514 | sensor wire RAUnLoadArmRetracted; |
---|
| 1515 | sensor wire RAArmOverRT; |
---|
| 1516 | sensor wire RAArmOverUnLoadedPress; |
---|
| 1517 | sensor wire RAArmOverLoadedPress; |
---|
| 1518 | sensor wire RAArmOverDB; |
---|
| 1519 | |
---|
| 1520 | armHorizontalMovement reg RAExtendLoadArm; |
---|
| 1521 | armHorizontalMovement reg RAExtendUnLoadArm; |
---|
| 1522 | armAngleMovement reg RARotaryMotor; |
---|
| 1523 | sensor reg PieceOutArm; |
---|
| 1524 | sensor reg ArmUnLoadedPress; |
---|
| 1525 | sensor reg ArmLoadedPress; |
---|
| 1526 | sensor reg PieceGrabbedFromRT; |
---|
| 1527 | sensor reg LoadArmLoaded; |
---|
| 1528 | sensor reg UnLoadArmLoaded; |
---|
| 1529 | |
---|
| 1530 | initial |
---|
| 1531 | begin |
---|
| 1532 | RAExtendLoadArm = Stop; |
---|
| 1533 | RAExtendUnLoadArm = Stop; |
---|
| 1534 | RARotaryMotor = Stop; |
---|
| 1535 | PieceOutArm = N; |
---|
| 1536 | ArmUnLoadedPress = N; |
---|
| 1537 | ArmLoadedPress = N; |
---|
| 1538 | PieceGrabbedFromRT = N; |
---|
| 1539 | LoadArmLoaded = N; |
---|
| 1540 | UnLoadArmLoaded = N; |
---|
| 1541 | end // initial |
---|
| 1542 | |
---|
| 1543 | always @(posedge clk) begin |
---|
| 1544 | if (LoadArmLoaded == N && UnLoadArmLoaded == N) begin |
---|
| 1545 | if (RAArmOverRT == Y) begin |
---|
| 1546 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1547 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1548 | RARotaryMotor == Stop) begin |
---|
| 1549 | if (RTOutReady == Y) begin |
---|
| 1550 | RAExtendLoadArm = Extend; |
---|
| 1551 | end // if (RTOutReady == Y) |
---|
| 1552 | else begin |
---|
| 1553 | if (PressReadyToBeUnLoaded == Y) begin |
---|
| 1554 | RARotaryMotor = CCWise; |
---|
| 1555 | end // if (PressReadyToBeUnLoaded == Y) |
---|
| 1556 | end // else: !if(RTOutReady == Y) |
---|
| 1557 | end |
---|
| 1558 | else begin |
---|
| 1559 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1560 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1561 | RARotaryMotor == CCWise) begin |
---|
| 1562 | if (PressReadyToBeUnLoaded == Y) begin |
---|
| 1563 | RARotaryMotor = Stop; |
---|
| 1564 | RAExtendUnLoadArm = Extend; |
---|
| 1565 | end // if (PressReadyToBeUnLoaded == Y) |
---|
| 1566 | end |
---|
| 1567 | else begin |
---|
| 1568 | if (RALoadArmRetracted == N && RALoadArmExtended == N && |
---|
| 1569 | RAUnLoadArmRetracted == Y && |
---|
| 1570 | RAExtendLoadArm == Extend && RAExtendUnLoadArm == Stop && |
---|
| 1571 | RARotaryMotor == Stop) begin |
---|
| 1572 | RAExtendLoadArm = Retract; |
---|
| 1573 | LoadArmLoaded = Y; |
---|
| 1574 | PieceGrabbedFromRT = Y; |
---|
| 1575 | end |
---|
| 1576 | end |
---|
| 1577 | end // else: !if(RALoadArmRetracted == Y &&... |
---|
| 1578 | end // if (RAArmOverRT == Y) |
---|
| 1579 | if (RAArmOverLoadedPress == Y) begin |
---|
| 1580 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1581 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1582 | RARotaryMotor == Stop) begin |
---|
| 1583 | RARotaryMotor = CWise; |
---|
| 1584 | end // if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y ... |
---|
| 1585 | if (RALoadArmRetracted == N && RALoadArmExtended == N && |
---|
| 1586 | RAUnLoadArmRetracted == Y && |
---|
| 1587 | RAExtendLoadArm == Retract && RAExtendUnLoadArm == Stop && |
---|
| 1588 | RARotaryMotor == Stop) begin |
---|
| 1589 | RAExtendLoadArm = Stop; |
---|
| 1590 | RARotaryMotor = CWise; |
---|
| 1591 | end // if (RALoadArmRetracted == N && RALoadArmExtended == N &&... |
---|
| 1592 | end // if (RAArmOverLoadedPress == Y) |
---|
| 1593 | if (RAArmOverUnLoadedPress == Y) begin |
---|
| 1594 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1595 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1596 | RARotaryMotor == Stop) begin |
---|
| 1597 | if (PressReadyToBeUnLoaded == Y) begin |
---|
| 1598 | RAExtendLoadArm = Extend; |
---|
| 1599 | end // if (RTOutReady == Y) |
---|
| 1600 | else begin |
---|
| 1601 | RARotaryMotor = CWise; |
---|
| 1602 | end // else: !if(RTOutReady == Y) |
---|
| 1603 | end // if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y ... |
---|
| 1604 | else begin |
---|
| 1605 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1606 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1607 | RARotaryMotor == CWise) begin |
---|
| 1608 | RARotaryMotor = Stop; |
---|
| 1609 | if (RTOutReady == Y) begin |
---|
| 1610 | RAExtendLoadArm = Extend; |
---|
| 1611 | end // if (RTOutReady == Y) |
---|
| 1612 | end // if (RALoadArmRetracted == Y && ... |
---|
| 1613 | else begin |
---|
| 1614 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == N && |
---|
| 1615 | RAUnLoadArmExtended == N && |
---|
| 1616 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Extend && |
---|
| 1617 | RARotaryMotor == Stop) begin |
---|
| 1618 | RAExtendUnLoadArm = Retract; |
---|
| 1619 | ArmUnLoadedPress = Y; |
---|
| 1620 | UnLoadArmLoaded = Y; |
---|
| 1621 | end // if (RALoadArmRetracted == Y && RAUnLoadArmRetr... |
---|
| 1622 | end // else: !if(RALoadArmRetracted == Y && RAUnLoadArmRetr... |
---|
| 1623 | end // else: !if(RALoadArmRetracted == Y && RAUnLoadArmRetract... |
---|
| 1624 | end // if (RAArmOverUnLoadedPress == Y) |
---|
| 1625 | if (RAArmOverDB == Y) begin |
---|
| 1626 | if (RALoadArmRetracted == Y && RAUnLoadArmRetracted == Y && |
---|
| 1627 | RAExtendLoadArm == Stop && RAExtendUnLoadArm == Stop && |
---|
| 1628 | RARotaryMotor == Stop) begin |
---|
| 1629 | RARotaryMotor = CWise; |
---|
| 1630 | end // if (RALoadArmRetracted == Y && RAUnLoadArmRetracte... |
---|
| 1631 | if (RAExtendUnLoadArm == Retract && RAUnLoadArmExtended == N && |
---|
| 1632 | RAUnLoadArmRetracted == N) begin |
---|
| 1633 | RAExtendUnLoadArm = Stop; |
---|
| 1634 | RARotaryMotor = CWise; |
---|
| 1635 | end |
---|
| 1636 | if (RARotaryMotor == CWise) begin |
---|
| 1637 | if (PressReadyToBeUnLoaded == Y && RTOutReady == N) begin |
---|
| 1638 | RARotaryMotor = Stop; |
---|
| 1639 | RAExtendUnLoadArm = Extend; |
---|
| 1640 | end // if (PressReadyToBeUnLoaded == Y && RTOutReady == N) |
---|
| 1641 | end // if (RARotaryMotor == CWise) |
---|
| 1642 | end // if (RAArmOverDB == Y) |
---|
| 1643 | end // if (LoadArmLoaded == N && UnLoadArmLoaded == N) |
---|
| 1644 | else begin |
---|
| 1645 | if (LoadArmLoaded == N && UnLoadArmLoaded == Y) begin |
---|
| 1646 | if (RAArmOverUnLoadedPress == Y) begin |
---|
| 1647 | if (RARotaryMotor == CCWise) begin |
---|
| 1648 | RARotaryMotor = Stop; |
---|
| 1649 | RAExtendUnLoadArm = Extend; |
---|
| 1650 | end // if (RARotaryMotor == CCWise) |
---|
| 1651 | if (RAExtendUnLoadArm == Retract && RAUnLoadArmExtended == N |
---|
| 1652 | && RAUnLoadArmRetracted == N) begin |
---|
| 1653 | RAExtendUnLoadArm = Stop; |
---|
| 1654 | RARotaryMotor = CCWise; |
---|
| 1655 | end |
---|
| 1656 | end // if (RAArmOverUnloadedPress == Y) |
---|
| 1657 | if (RAArmOverDB == Y) begin |
---|
| 1658 | if (RAExtendUnLoadArm == Extend && RAUnLoadArmExtended == N && |
---|
| 1659 | RAUnLoadArmRetracted == N) begin |
---|
| 1660 | if (DBReady == Y) begin |
---|
| 1661 | RAExtendUnLoadArm = Retract; |
---|
| 1662 | PieceOutArm = Y; |
---|
| 1663 | UnLoadArmLoaded = N; |
---|
| 1664 | end // if (DBReady == Y) |
---|
| 1665 | else begin |
---|
| 1666 | RAExtendUnLoadArm = Stop; |
---|
| 1667 | end // else: !if(DBReady == Y) |
---|
| 1668 | end |
---|
| 1669 | if (RAExtendUnLoadArm == Stop && RAUnLoadArmExtended == Y && |
---|
| 1670 | DBReady == Y) begin |
---|
| 1671 | RAExtendUnLoadArm = Retract; |
---|
| 1672 | PieceOutArm = Y; |
---|
| 1673 | UnLoadArmLoaded = N; |
---|
| 1674 | end |
---|
| 1675 | end // if (RAArmOverDB == Y) |
---|
| 1676 | end // if (LoadArmLoaded == N && UnLoadArmLoaded == Y) |
---|
| 1677 | else begin |
---|
| 1678 | if (LoadArmLoaded == Y && UnLoadArmLoaded == N) begin |
---|
| 1679 | if (RAArmOverRT == Y) begin |
---|
| 1680 | if (RARotaryMotor == CCWise) begin |
---|
| 1681 | if (PressReadyToBeUnLoaded == Y) begin |
---|
| 1682 | RARotaryMotor = Stop; |
---|
| 1683 | RAExtendUnLoadArm = Extend; |
---|
| 1684 | end // if (PressReadyToBeUnLoaded == Y) |
---|
| 1685 | end // if (RARotaryMotor == CCWise) |
---|
| 1686 | if (RAExtendLoadArm == Retract && RALoadArmExtended == N && |
---|
| 1687 | RALoadArmRetracted == N) begin |
---|
| 1688 | RAExtendLoadArm = Stop; |
---|
| 1689 | RARotaryMotor = CCWise; |
---|
| 1690 | end |
---|
| 1691 | end // if (RAArmOverUnLoadedPress == Y) |
---|
| 1692 | if (RAArmOverLoadedPress == Y) begin |
---|
| 1693 | if (RAExtendLoadArm == Stop && RARotaryMotor == Stop && |
---|
| 1694 | RAExtendUnLoadArm == Stop && |
---|
| 1695 | RALoadArmRetracted == Y) begin |
---|
| 1696 | if (PressReadyToBeLoaded == Y) begin |
---|
| 1697 | RAExtendLoadArm = Extend; |
---|
| 1698 | end // if (PressReadyToBeLoaded == Y) |
---|
| 1699 | end |
---|
| 1700 | if (RAExtendLoadArm == Extend && RALoadArmExtended == N && |
---|
| 1701 | RALoadArmRetracted == N) begin |
---|
| 1702 | RAExtendLoadArm = Retract; |
---|
| 1703 | ArmLoadedPress = Y; |
---|
| 1704 | LoadArmLoaded = N; |
---|
| 1705 | end |
---|
| 1706 | end // if (RAArmOverLoadedPress == Y) |
---|
| 1707 | if (RAArmOverUnLoadedPress == Y) begin |
---|
| 1708 | if (RAExtendUnLoadArm == Extend && RAUnLoadArmExtended == N |
---|
| 1709 | && RAUnLoadArmRetracted == N) begin |
---|
| 1710 | if (PressReadyToBeUnLoaded == Y) begin |
---|
| 1711 | ArmUnLoadedPress = Y; |
---|
| 1712 | UnLoadArmLoaded = Y; |
---|
| 1713 | RAExtendUnLoadArm = Retract; |
---|
| 1714 | end // if (PressReadyToBeUnLoaded == Y) |
---|
| 1715 | end |
---|
| 1716 | end // if (RAArmOverUnLoadedPress == Y) |
---|
| 1717 | if (RAArmOverDB == Y) begin |
---|
| 1718 | if (RARotaryMotor == CCWise) begin |
---|
| 1719 | RARotaryMotor = Stop; |
---|
| 1720 | if (PressReadyToBeLoaded == Y) begin |
---|
| 1721 | RAExtendLoadArm = Extend; |
---|
| 1722 | end // if (PressReadyToBeLoaded == Y) |
---|
| 1723 | end // if (RARotaryMotor == CCWise) |
---|
| 1724 | if (RAExtendUnLoadArm == Retract && RAUnLoadArmExtended == N |
---|
| 1725 | && RAUnLoadArmRetracted == N)begin |
---|
| 1726 | RAExtendUnLoadArm = Stop; |
---|
| 1727 | RARotaryMotor = CCWise; |
---|
| 1728 | end |
---|
| 1729 | end // if (RAArmOverDB == Y) |
---|
| 1730 | end // if (LoadArmLoaded == Y && UnLoadArmLoaded == N) |
---|
| 1731 | else begin |
---|
| 1732 | if (LoadArmLoaded == Y && UnLoadArmLoaded == Y) begin |
---|
| 1733 | if (RAArmOverUnLoadedPress == Y) begin |
---|
| 1734 | if (RARotaryMotor == CCWise) begin |
---|
| 1735 | RARotaryMotor = Stop; |
---|
| 1736 | RAExtendUnLoadArm = Extend; |
---|
| 1737 | end // if (RARotaryMotor = CCWise) |
---|
| 1738 | if (RAExtendUnLoadArm == Retract && |
---|
| 1739 | RAUnLoadArmExtended == N && |
---|
| 1740 | RAUnLoadArmRetracted == N) begin |
---|
| 1741 | RAExtendUnLoadArm = Stop; |
---|
| 1742 | RARotaryMotor = CCWise; |
---|
| 1743 | end |
---|
| 1744 | end // if (RAArmOverUnLoadedPress == Y) |
---|
| 1745 | if (RAArmOverDB == Y) begin |
---|
| 1746 | if (RAExtendUnLoadArm == Extend && RAUnLoadArmExtended == N |
---|
| 1747 | && RAUnLoadArmRetracted == N) begin |
---|
| 1748 | RAExtendUnLoadArm = Stop; |
---|
| 1749 | if (DBReady == Y) begin |
---|
| 1750 | RAExtendUnLoadArm = Retract; |
---|
| 1751 | UnLoadArmLoaded = N; |
---|
| 1752 | PieceOutArm = Y; |
---|
| 1753 | end // if (DBReady == Y) |
---|
| 1754 | end |
---|
| 1755 | if (RAExtendUnLoadArm == Stop && |
---|
| 1756 | RAUnLoadArmExtended == Y) begin |
---|
| 1757 | if (DBReady == Y) begin |
---|
| 1758 | RAExtendUnLoadArm = Retract; |
---|
| 1759 | UnLoadArmLoaded = N; |
---|
| 1760 | PieceOutArm = Y; |
---|
| 1761 | end // if (DBReady == Y) |
---|
| 1762 | end |
---|
| 1763 | end // if (RAArmOverDB == Y) |
---|
| 1764 | end // if (LoadArmLoaded == Y && UnLoadArmLoaded == Y) |
---|
| 1765 | |
---|
| 1766 | end // else: !if(LoadArmLoaded == Y && UnLoadArmLoaded == N) |
---|
| 1767 | end // else: !if(LoadArmLoaded == N && UnLoadArmLoaded == Y) |
---|
| 1768 | end // else: !if(LoadArmLoaded == N && UnLoadArmLoaded == N) |
---|
| 1769 | |
---|
| 1770 | if (DBReady == N && PieceOutArm == Y) begin |
---|
| 1771 | PieceOutArm = N; |
---|
| 1772 | end // if (DBReady == N && PieceOutArm == Y) |
---|
| 1773 | |
---|
| 1774 | if (PressReadyToBeUnLoaded == N && ArmUnLoadedPress == Y) begin |
---|
| 1775 | ArmUnLoadedPress = N; |
---|
| 1776 | end // if (PressReadyToBeUnLoaded == N && ArmUnLoadedPress == Y) |
---|
| 1777 | |
---|
| 1778 | if (ArmLoadedPress == Y && PressReadyToBeLoaded == N) begin |
---|
| 1779 | ArmLoadedPress = N; |
---|
| 1780 | end // if (ArmLoadedPress == Y && PieceRecivedOnPress == N) |
---|
| 1781 | |
---|
| 1782 | if (RTOutReady == N && PieceGrabbedFromRT == Y) begin |
---|
| 1783 | PieceGrabbedFromRT = N; |
---|
| 1784 | end // if (RTOutReady == N && PieceGrabbedFromRT == Y) |
---|
| 1785 | end // always @ (posedge clk) |
---|
| 1786 | endmodule // RobotArmCNTR |
---|