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source: vis_dev/vis-2.1/examples/production_cell/prodcell.v @ 11

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1	/*
2	* prodcell.v
3	*
4	* Model of the production cell circuit. Based on the description given in:
5	*
6	* @InBook{Lindne94,
7	* author = {Thomas Lindner},
8	* title = {Case Study "Production Cell": A Comparative Study in Formal
9	* Software Development},
10	* chapter = 2,
11	* publisher = {FZI},
12	* year = 1994,
13	* pages = {9,21}
14	* }
15	*
16	* author: Abelardo Pardo (abel@vlsi.colorado.edu)
17	* date: 96/8/16
18	*
19	*
20	*/
21
22	/* Types */
23	typedef enum {Y, N} sensor;
24	typedef enum {on, off} switch;
25	typedef enum {GoLeft, GoRight, Stop} craneHorizontalMovement;
26	typedef enum {GoUp, GoDown, Stop} craneVerticalMovement;
27	typedef enum {Grab, Free} craneGrip;
28	typedef enum {OverFB, Middle, OverDB} tcHorizontalPosition;
29	typedef enum {UpMost, DBHight, FBHight} tcVerticalPosition;
30	typedef enum {E, F} unitInBelt;
31	typedef enum {S, SSE, SE} rtAnglePosition;
32	typedef enum {Top, Mid, Bot} rtVerticalPosition;
33	typedef enum {CWise, Stop, CCWise} rtAngleMovement;
34	typedef enum {GoUp, GoDown, Stop} rtVerticalMovement;
35	typedef enum {GoUp, GoDown, Stop} pressVerticalMovement;
36	typedef enum {Top, Mid, Bot} pressVerticalPosition;
37	typedef enum {Extend, Retract, Stop} armHorizontalMovement;
38	typedef enum {OverRT, OverLoadedPress, OverDB, OverUnLoadedPress} armAnglePosition;
39	typedef enum {CWise, Stop, CCWise} armAngleMovement;
40	typedef enum {Extended, Retracted, Middle} armPosition;
41
42	/*
43	*
44	* MAIN MODULE: The production cell
45	*
46	*/
47	module ProductionCell(clk);
48	input clk;
49
50	sensor wire PieceOutDB;
51	sensor wire PieceOutFB;
52	sensor wire PieceGrabbedFromDB;
53	sensor wire PieceGrabbedFromRT;
54	sensor wire PieceGrabbedFromFB;
55	sensor wire FBReady;
56	sensor wire PieceOutArm;
57	sensor wire PieceReleasedOnFB;
58	sensor wire DBReady;
59	sensor wire ArmUnLoadedPress;
60	sensor wire PressReadyToBeUnLoaded;
61	sensor wire ArmLoadedPress;
62	sensor wire PressReadyToBeLoaded;
63	sensor wire RTOutReady;
64
65	TravellingCraneSet TC(clk, PieceOutDB, FBReady, PieceGrabbedFromDB,
66	PieceReleasedOnFB);
67
68	DepositBeltSet DB(clk, PieceGrabbedFromDB, PieceOutArm, PieceOutDB,
69	DBReady);
70
71	FeedBeltSet FB(clk, PieceGrabbedFromFB, PieceReleasedOnFB, FBReady,
72	PieceOutFB);
73
74	RotaryTableSet RT(clk, PieceOutFB, PieceGrabbedFromRT,
75	PieceGrabbedFromFB, RTOutReady);
76
77	PressSet PR(clk, ArmLoadedPress, ArmUnLoadedPress,
78	PressReadyToBeLoaded, PressReadyToBeUnLoaded);
79
80	ArmSet AR(clk, DBReady, PressReadyToBeUnLoaded, PressReadyToBeLoaded,
81	RTOutReady, PieceOutArm, ArmUnLoadedPress, ArmLoadedPress,
82	PieceGrabbedFromRT);
83
84	endmodule // ProductionCell
85
86	/*
87	*
88	* TRAVELLING CRANE SET
89	*
90	*/
91	module TravellingCraneSet(clk, PieceOutDB, FBReady, PieceGrabbedFromDB,
92	PieceReleasedOnFB);
93	input clk;
94	input PieceOutDB;
95	input FBReady;
96	output PieceGrabbedFromDB;
97	output PieceReleasedOnFB;
98
99	sensor wire PieceOutDB;
100	sensor wire FBReady;
101	sensor wire PieceGrabbedFromDB;
102	sensor wire PieceReleasedOnFB;
103
104	craneHorizontalMovement wire HorizontalMove;
105	craneVerticalMovement wire VerticalMove;
106
107	sensor wire CraneOnTheLeft;
108	sensor wire CraneOnTheRight;
109
110	tcVerticalPosition wire VerticalPos;
111
112	TravellingCrane Crane(clk, HorizontalMove, VerticalMove,
113	CraneOnTheLeft, CraneOnTheRight, VerticalPos);
114
115	TravellingCraneCNTR CraneCNTR(clk, FBReady, PieceOutDB, CraneOnTheLeft,
116	CraneOnTheRight, VerticalPos, HorizontalMove,
117	VerticalMove, PieceReleasedOnFB,
118	PieceGrabbedFromDB);
119	endmodule // TravellingCraneSet
120
121	/*
122	*
123	* TRAVELLING CRANE
124	*
125	*/
126	module TravellingCrane(clk, HorizontalMove, VerticalMove, CraneOnTheLeft,
127	CraneOnTheRight, VerticalPos);
128	input clk;
129	input HorizontalMove; /* Signal controlling the horizontal movement */
130	input VerticalMove; /* Signal controlling the vertical movement */
131	output CraneOnTheLeft; /* Crane is on the left most position */
132	output CraneOnTheRight; /* Crane is on the right most position */
133	output VerticalPos; /* Which vertical position the crane is */
134
135	craneHorizontalMovement wire HorizontalMove;
136	craneVerticalMovement wire VerticalMove;
137
138	sensor wire CraneOnTheLeft;
139	sensor wire CraneOnTheRight;
140
141	tcHorizontalPosition reg HorizontalPos;
142	tcVerticalPosition reg VerticalPos;
143
144	assign CraneOnTheLeft = (HorizontalPos == OverFB) ? Y : N;
145	assign CraneOnTheRight = (HorizontalPos == OverDB) ? Y : N;
146
147	initial
148	begin
149	HorizontalPos = $ND(Middle, OverDB, OverFB);
150	VerticalPos = UpMost;
151	end // initial
152
153	always @(posedge clk) begin
154
155	/* Horizontal Movement evolution */
156	if (HorizontalMove == GoLeft) begin
157	if (HorizontalPos == Middle) begin
158	HorizontalPos = OverFB;
159	end // if (HorizontalPos == Middle)
160	else if (HorizontalPos == OverDB) begin
161	HorizontalPos = Middle;
162	end // if (HorizontalPos == OverDB)
163	end // if (HorizontalMove == GoLeft)
164
165	if (HorizontalMove == GoRight) begin
166	if (HorizontalPos == Middle) begin
167	HorizontalPos = OverDB;
168	end // if (HorizontalPos == Middle)
169	else if (HorizontalPos == OverFB) begin
170	HorizontalPos = Middle;
171	end // if (HorizontalPos == OverFB)
172	end // if (HorizontalMove == GoRight)
173
174	/* VerticalMovement Evolution */
175	if (VerticalMove == GoUp) begin
176	if (VerticalPos == DBHight) begin
177	VerticalPos = UpMost;
178	end // if (VerticalPos == DBHight)
179	else if (VerticalPos == FBHight) begin
180	VerticalPos = DBHight;
181	end // if (VerticalPos == FBHight)
182	end // if (VerticalMove == GoUp)
183
184	if (VerticalMove == GoDown) begin
185	if (VerticalPos == UpMost) begin
186	VerticalPos = DBHight;
187	end // if (VerticalPos == UpMost)
188	else if (VerticalPos == DBHight) begin
189	VerticalPos = FBHight;
190	end // else: !if(VerticalPos == UpMost)
191	end // if (VerticalMove == GoDown)
192
193	end
194	endmodule // TravellingCrane
195
196	/*
197	*
198	* TRAVELLING CRANE CONTROLER
199	*
200	*/
201	module TravellingCraneCNTR(clk, FBReady, PieceOutDB, CraneOnTheLeft,
202	CraneOnTheRight, VerticalPos, HorizontalMove,
203	VerticalMove, PieceReleasedOnFB, PieceGrabbedFromDB);
204	input clk;
205	input FBReady; /* FBBelt is ready to receive a piece */
206	input PieceOutDB; /* Deposit Belt has a piece to be picked up */
207	input CraneOnTheLeft; /* Crane is on the left most position */
208	input CraneOnTheRight; /* Crane is on the right most position */
209	input VerticalPos; /* Register storing crane's vertical position */
210	output HorizontalMove; /* Register controlling the horizontal motor */
211	output VerticalMove; /* Register controlling the vertical motor */
212	output PieceReleasedOnFB; /* A piece was dropped on FB */
213	output PieceGrabbedFromDB; /* A piece has been grabbed from DB */
214
215	sensor wire FBReady;
216	sensor wire CraneOnTheLeft;
217	sensor wire CraneOnTheRight;
218	tcVerticalPosition wire VerticalPos;
219	sensor wire PieceOutDB;
220
221	craneHorizontalMovement reg HorizontalMove;
222	craneVerticalMovement reg VerticalMove;
223	craneGrip reg Grip;
224	sensor reg PieceReleasedOnFB;
225	sensor reg PieceGrabbedFromDB;
226
227
228	initial
229	begin
230	HorizontalMove = Stop;
231	VerticalMove = Stop;
232	Grip = Free;
233	PieceReleasedOnFB = N;
234	PieceGrabbedFromDB = N;
235	end // initial
236
237	always @(posedge clk) begin
238	case (Grip)
239	Grab: begin
240	case (VerticalPos)
241	UpMost: begin
242	Grip = Grab;
243	if (CraneOnTheLeft == Y) begin
244	HorizontalMove = Stop;
245	VerticalMove = GoDown;
246	end // if (CraneOnTheLeft)
247	else begin
248	if (CraneOnTheRight == N && CraneOnTheLeft == N) begin
249	if (HorizontalMove == GoLeft) begin
250	HorizontalMove = Stop;
251	VerticalMove = GoDown;
252	end // if (HorizontalMove == GoLeft)
253	else begin
254	HorizontalMove = GoLeft;
255	VerticalMove = Stop;
256	end // else: !if(HorizontalMove == GoLeft)
257	end // if (CraneOnTheRight == N && CraneOnTheLeft == N)
258	else begin
259	HorizontalMove = GoLeft;
260	VerticalMove = Stop;
261	end // else: !if(CraneOnTheRight == N && CraneOnTheLeft == Y)
262	end // else: !if(CraneOnTheLeft == Y)
263	end // case: UpMost
264	DBHight: begin
265	if (CraneOnTheLeft == Y) begin
266	if (VerticalMove == GoDown) begin
267	if (FBReady == Y) begin
268	Grip = Free;
269	HorizontalMove = Stop;
270	VerticalMove = GoUp;
271	PieceReleasedOnFB = Y;
272	end // if (FBReady == Y)
273	else begin
274	Grip = Grab;
275	HorizontalMove = Stop;
276	VerticalMove = Stop;
277	end // else: !if(FBReady == Y)
278	end // if (VerticalMove == GoDown)
279	else begin
280	Grip = Grab;
281	HorizontalMove = Stop;
282	VerticalMove = GoDown;
283	end // else: !if(VerticalMove == GoDown)
284	end // if (CraneOnTheLeft == Y)
285	if (CraneOnTheRight == Y) begin
286	Grip = Grab;
287	if (VerticalMove == GoUp) begin
288	HorizontalMove = GoLeft;
289	VerticalMove = Stop;
290	end // if (VerticalMove == GoUp)
291	else begin
292	HorizontalMove = Stop;
293	VerticalMove = GoUp;
294	end // else: !if(VerticalMove == GoUp)
295	end // if (CraneOnTheRight == Y)
296	end // case: DBHight
297	FBHight: begin
298	if (CraneOnTheLeft == Y) begin
299	if (FBReady == Y) begin
300	Grip = Free;
301	HorizontalMove = Stop;
302	VerticalMove = GoUp;
303	PieceReleasedOnFB = Y;
304	end // if (FBReady == Y)
305	else begin
306	Grip = Grab;
307	HorizontalMove = Stop;
308	VerticalMove = Stop;
309	end // else: !if(FBReady == Y)
310	end // if (CraneOnTheLeft == Y)
311	end // case: FBHight
312	endcase // _case (VerticalPos)
313	end // case: Grab
314	Free: begin
315	case (VerticalPos)
316	UpMost: begin
317	if (CraneOnTheLeft == Y) begin
318	Grip = Free;
319	HorizontalMove = GoRight;
320	VerticalMove = Stop;
321	end // if (CraneOnTheLeft == Y)
322	else begin
323	if (CraneOnTheRight == N) begin
324	if (HorizontalMove == GoRight) begin
325	Grip = Free;
326	HorizontalMove = Stop;
327	VerticalMove = GoDown;
328	end // if (HorizontalMove == GoRight)
329	else begin
330	Grip = Free;
331	HorizontalMove = GoRight;
332	VerticalMove = Stop;
333	end // else: !if(HorizontalMove = GoRight)
334	end // if (CraneOnTheRight == N)
335	else begin
336	if (PieceOutDB == Y) begin
337	if (VerticalMove == GoDown) begin
338	Grip = Grab;
339	HorizontalMove = Stop;
340	VerticalMove = GoUp;
341	PieceGrabbedFromDB = Y;
342	end // if (VerticalMove == GoDown)
343	else begin
344	Grip = Free;
345	HorizontalMove = Stop;
346	VerticalMove = GoDown;
347	end // else: !if(VerticalMove == GoDown)
348	end // if (PieceOutDB == Y)
349	else begin
350	Grip = Free;
351	HorizontalMove = Stop;
352	if (VerticalMove == GoDown) begin
353	VerticalMove = Stop;
354	end // if (VerticalMove == GoDown)
355	else begin
356	VerticalMove = GoDown;
357	end // else: !if(VerticalMove == GoDown)
358	end // else: !if(PieceOutDB == Y)
359	end // else: !if(CraneOnTheRight == N)
360	end // else: !if(CraneOnTheLeft == Y)
361	end // case: UpMost
362	DBHight: begin
363	if (CraneOnTheLeft == Y) begin
364	Grip = Free;
365	if (VerticalMove == GoUp) begin
366	HorizontalMove = GoRight;
367	VerticalMove = Stop;
368	end // if (VerticalMove == GoUp)
369	else begin
370	HorizontalMove = Stop;
371	VerticalMove = GoUp;
372	end // else: !if(VerticalMove == GoUp)
373	end // if (CraneOnTheLeft == Y)
374	if (CraneOnTheRight == Y) begin
375	if (PieceOutDB == Y) begin
376	Grip = Grab;
377	HorizontalMove = Stop;
378	VerticalMove = GoUp;
379	PieceGrabbedFromDB = Y;
380	end // if (PieceOutDB == Y)
381	else begin
382	Grip = Free;
383	HorizontalMove = Stop;
384	VerticalMove = Stop;
385	end // else: !if(PieceOutDB == Y)
386	end // if (CraneOnTheRight == Y)
387	end // case: DBHight
388	FBHight: begin
389	if (CraneOnTheLeft == Y) begin
390	Grip = Free;
391	HorizontalMove = Stop;
392	VerticalMove = GoUp;
393	end // if (CraneOnTheLeft == Y)
394	end // case: FBHight
395	endcase // _case (VerticalPos)
396	end // case: Free
397	endcase // _case (Grip)
398
399	/* Complete the handshake with both belts */
400	if (PieceOutDB == N && PieceGrabbedFromDB == Y) begin
401	PieceGrabbedFromDB = N;
402	end // if (PieceOutDB == N && PieceGrabbedFromDB == Y)
403
404	if (FBReady == N && PieceReleasedOnFB == Y) begin
405	PieceReleasedOnFB = N;
406	end // if (FBReady == N && PieceReleasedOnFB == Y)
407
408
409	end // always @ (posedge clk)
410	endmodule // TravellingCraneCNTR
411
412	/*
413	*
414	* DEPOSIT BELT SET
415	*
416	*/
417	module DepositBeltSet(clk, PieceGrabbedFromDB, PieceOutArm,
418	PieceOutDB, DBReady);
419	input clk;
420	input PieceGrabbedFromDB;
421	input PieceOutArm;
422	output PieceOutDB;
423	output DBReady;
424
425	sensor wire PieceGrabbedFromDB;
426	sensor wire PieceOutArm;
427	sensor wire PieceOutDB;
428	sensor wire DBReady;
429
430	switch wire DBMotorSwitch;
431	unitInBelt wire DBelt0, DBelt1, DBelt2, DBelt3;
432
433	DepositBelt DBelt(clk, DBMotorSwitch, PieceOutArm, PieceGrabbedFromDB,
434	DBReady, DBelt0, DBelt1, DBelt2, DBelt3);
435
436	DepositBeltCNTR DBeltCNTR(clk, DBelt0, DBelt1, DBelt2, DBelt3,
437	PieceGrabbedFromDB, PieceOutArm, DBMotorSwitch,
438	DBReady, PieceOutDB);
439	endmodule // DepositBeltSet
440
441	/*
442	*
443	* DEPOSIT BELT
444	*
445	*/
446	module DepositBelt(clk, DBMotorSwitch, PieceOutArm, PieceGrabbedFromDB,
447	DBReady, DBelt0, DBelt1, DBelt2, DBelt3);
448	input clk;
449	input DBMotorSwitch; /* Signal controlling the motor */
450	input PieceOutArm; /* Presence of a piece in the arm */
451	input PieceGrabbedFromDB; /* Piece was grabbed from the DB */
452	input DBReady; /* The belt is ready to accept another piece */
453	output DBelt0, DBelt1, DBelt2, DBelt3; /* Positions on the belt */
454
455	switch wire DBMotorSwitch;
456	sensor wire PieceOutArm;
457	sensor wire PieceGrabbedFromDB;
458	sensor wire DBReady;
459
460	unitInBelt reg DBelt0, DBelt1, DBelt2, DBelt3;
461
462	initial
463	begin
464	DBelt0 = F;
465	DBelt1 = $ND(E,F);
466	DBelt2 = $ND(E,F);
467	DBelt3 = $ND(E,F);
468	end // initial
469
470	always @(posedge clk) begin
471
472	/* Motion produced by the motor */
473	if (DBMotorSwitch == on) begin
474	DBelt0 = DBelt1;
475	DBelt1 = DBelt2;
476	DBelt2 = DBelt3;
477	DBelt3 = E;
478	end // if (DBMotorSwitch == on)
479	if (DBelt3 == E && PieceOutArm == Y && DBReady == Y) begin
480	DBelt3 = F;
481	end // if (DBelt3 == E && PieceOutArm == Y && DBReady == N)
482
483	/* The piece was grabbed by the crane */
484	if (PieceGrabbedFromDB == Y) begin
485	DBelt0 = E;
486	end // if (PieceGrabbedFromDB == Y)
487	end // always @ (posedge clk)
488	endmodule // DepositBelt
489
490
491	/*
492	*
493	* DEPOSIT BELT CONTROL
494	*
495	*/
496	module DepositBeltCNTR(clk, DBelt0, DBelt1, DBelt2, DBelt3,
497	PieceGrabbedFromDB, PieceOutArm, DBMotorSwitch,
498	DBReady, PieceOutDB);
499	input clk;
500	input DBelt0, DBelt1, DBelt2, DBelt3; /* Belt positions */
501	input PieceGrabbedFromDB; /* A piece was grabbed from the DB */
502	input PieceOutArm; /* A piece is ready to be picked up by the belt */
503	output DBMotorSwitch; /* Signal controlling the motor */
504	output DBReady; /* The belt is ready to accept another piece */
505	output PieceOutDB; /* Piece ready to be picked by the crane */
506
507	unitInBelt wire DBelt0, DBelt1, DBelt2, DBelt3;
508	sensor wire PieceGrabbedFromDB;
509	sensor wire PieceOutArm;
510
511	switch reg DBMotorSwitch;
512	sensor reg DBReady;
513	sensor reg PieceOutDB;
514
515	initial
516	begin
517	DBMotorSwitch = off;
518	DBReady = N;
519	PieceOutDB = N;
520	end
521
522	always @(posedge clk) begin
523
524	/* Control the handshake with the crane */
525	if ((DBelt0 == F && PieceOutDB == N && PieceGrabbedFromDB == N) \|\|
526	(DBelt0 == E && DBelt1 == F && DBMotorSwitch == on &&
527	PieceOutDB == N && PieceGrabbedFromDB == N)) begin
528	PieceOutDB = Y;
529	end // if (DBelt0 == F && PieceOutDB == N && PieceGrabbedFromDB == N)
530
531	if (PieceOutDB == Y && PieceGrabbedFromDB == Y) begin
532	PieceOutDB = N;
533	end // if (PieceOutDB == Y && PieceGrabbedFromDB == Y)
534
535
536	/* Control The handshake with the Arm */
537	if (DBelt3 == E && PieceOutArm == N && DBReady == N) begin
538	DBReady = Y;
539	end // if (DBelt3 == E && PieceOutArm == Y && DBReady == N)
540
541	if (PieceOutArm == Y && DBReady == Y) begin
542	DBReady = N;
543	DBMotorSwitch = on;
544	end // if (PieceOutArm == Y && DBReady == Y)
545
546	/* Control the motor */
547	if (DBelt0 == F) begin
548	DBMotorSwitch = off;
549	end // if (DBelt0 == F)
550
551	if (DBelt0 == E && DBMotorSwitch == off && (DBelt1 == F \|\| DBelt2 == F
552	\|\| DBelt3 == F)) begin
553	DBMotorSwitch = on;
554	end
555	else begin
556	if (DBelt0 == E && DBMotorSwitch == on && DBelt1 == F) begin
557	DBMotorSwitch = off;
558	end // if (DBelt0 == E && DBMotorSwitch == on && DBelt1 == F)
559	end
560
561	end // always @ (posedge clk)
562	endmodule // DepositBeltCNTR
563
564	/*
565	*
566	* FEED BELT SET
567	*
568	*/
569	module FeedBeltSet(clk, PieceGrabbedFromFB, PieceReleasedOnFB,
570	FBReady, PieceOutFB);
571	input clk;
572	input PieceGrabbedFromFB;
573	input PieceReleasedOnFB;
574	output FBReady;
575	output PieceOutFB;
576
577	sensor wire PieceGrabbedFromFB;
578	sensor wire PieceReleasedOnFB;
579	sensor wire FBReady;
580	sensor wire PieceOutFB;
581
582	switch wire FBMotorSwitch;
583	unitInBelt wire FBelt0, FBelt1, FBelt2, FBelt3;
584
585	FeedBelt FBelt(clk, FBMotorSwitch, PieceReleasedOnFB, PieceGrabbedFromFB,
586	FBReady, FBelt0, FBelt1, FBelt2, FBelt3);
587
588	FeedBeltCNTR FBeltCNTR(clk, FBelt0, FBelt1, FBelt2, FBelt3,
589	PieceGrabbedFromFB, PieceReleasedOnFB, FBMotorSwitch,
590	FBReady, PieceOutFB);
591	endmodule // FeedBeltSet
592
593
594	/*
595	*
596	* FEED BELT
597	*
598	*/
599	module FeedBelt(clk, FBMotorSwitch, PieceReleasedOnFB, PieceGrabbedFromFB,
600	FBReady, FBelt0, FBelt1, FBelt2, FBelt3);
601	input clk;
602	input FBMotorSwitch; /* Motor controlling the belt */
603	input PieceReleasedOnFB; /* Piece has been released in the belt */
604	input PieceGrabbedFromFB; /* Piece was picked from the belt */
605	input FBReady; /* Belt is ready to accept another piece */
606	output FBelt0, FBelt1, FBelt2, FBelt3; /* Belt positions */
607
608	switch wire FBMotorSwitch;
609	sensor wire PieceReleasedOnFB;
610	sensor wire PieceGrabbedFromFB;
611	sensor wire FBReady;
612
613	unitInBelt reg FBelt0, FBelt1, FBelt2, FBelt3;
614
615	initial
616	begin
617	FBelt0 = $ND(E,F);
618	FBelt1 = $ND(E,F);
619	FBelt2 = $ND(E,F);
620	FBelt3 = $ND(E,F);
621	end // initial
622
623	always @(posedge clk) begin
624
625	/* Motion produced by the motor */
626	if (FBMotorSwitch == on) begin
627	FBelt0 = FBelt1;
628	FBelt1 = FBelt2;
629	FBelt2 = FBelt3;
630	FBelt3 = E;
631	end // if (FBMotorSwitch == on)
632	if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == Y) begin
633	FBelt3 = F;
634	end // if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == N)
635
636	/* The piece was grabbed by the crane */
637	if (PieceGrabbedFromFB == Y) begin
638	FBelt0 = E;
639	end // if (PieceGrabbedFromFB == Y)
640	end // always @ (posedge clk)
641	endmodule // FeedBelt
642
643
644	/*
645	*
646	* FEED BELT CONTROL
647	*
648	*/
649	module FeedBeltCNTR(clk, FBelt0, FBelt1, FBelt2, FBelt3,
650	PieceGrabbedFromFB, PieceReleasedOnFB, FBMotorSwitch,
651	FBReady, PieceOutFB);
652	input clk;
653	input FBelt0, FBelt1, FBelt2, FBelt3; /* Belt Positions */
654	input PieceGrabbedFromFB; /* Piece was grabbed from the belt */
655	input PieceReleasedOnFB; /* Piece was deposited on the belt */
656	output FBMotorSwitch; /* Signal controlling the motor */
657	output FBReady; /* Belt is ready to receive another piece */
658	output PieceOutFB; /* Belt has a piece ready to be picked */
659
660	unitInBelt wire FBelt0, FBelt1, FBelt2, FBelt3;
661	sensor wire PieceGrabbedFromFB;
662	sensor wire PieceReleasedOnFB;
663
664	switch reg FBMotorSwitch;
665	sensor reg FBReady;
666	sensor reg PieceOutFB;
667
668	initial
669	begin
670	FBMotorSwitch = off;
671	FBReady = N;
672	PieceOutFB = N;
673	end
674
675	always @(posedge clk) begin
676
677	/* Control the handshake with the crane */
678	if ((FBelt0 == F && PieceOutFB == N && PieceGrabbedFromFB == N) \|\|
679	(FBelt0 == E && FBelt1 == F && FBMotorSwitch == on &&
680	PieceOutFB == N && PieceGrabbedFromFB == N)) begin
681	PieceOutFB = Y;
682	end // if (FBelt0 == F && PieceOutFB == N && PieceGrabbedFromFB == N)
683
684	if (PieceOutFB == Y && PieceGrabbedFromFB == Y) begin
685	PieceOutFB = N;
686	end // if (PieceOutFB == Y && PieceGrabbedFromFB == Y)
687
688
689	/* Control The handshake with the Arm */
690	if (FBelt3 == E && PieceReleasedOnFB == N && FBReady == N) begin
691	FBReady = Y;
692	end // if (FBelt3 == E && PieceReleasedOnFB == Y && FBReady == N)
693
694	if (PieceReleasedOnFB == Y && FBReady == Y) begin
695	FBReady = N;
696	FBMotorSwitch = on;
697	end // if (PieceReleasedOnFB == Y && FBReady == Y)
698
699	/* Control the motor */
700	if (FBelt0 == F) begin
701	FBMotorSwitch = off;
702	end // if (FBelt0 == F)
703
704	if (FBelt0 == E && FBMotorSwitch == off && (FBelt1 == F \|\| FBelt2 == F
705	\|\| FBelt3 == F)) begin
706	FBMotorSwitch = on;
707	end // if (FBelt0 == E && FBMotorSwitch == off &&...
708	else begin
709	if (FBelt0 == E && FBMotorSwitch == on && FBelt1 == F) begin
710	FBMotorSwitch = off;
711	end // if (FBelt0 == E && FBMotorSwitch == on && FBelt1 == F)
712	end
713
714	end // always @ (posedge clk)
715	endmodule // FeedBeltCNTR
716
717	/*
718	*
719	* ROTARY TABLE SET
720	*
721	*/
722	module RotaryTableSet(clk, PieceOutFB, PieceGrabbedFromRT,
723	PieceGrabbedFromFB, RTOutReady);
724	input clk;
725	input PieceOutFB;
726	input PieceGrabbedFromRT;
727	output PieceGrabbedFromFB;
728	output RTOutReady;
729
730	sensor wire PieceOutFB;
731	sensor wire PieceGrabbedFromRT;
732	sensor wire PieceGrabbedFromFB;
733	sensor wire RTOutReady;
734
735	rtAngleMovement wire RTRotaryMotor;
736	rtVerticalMovement wire RTVerticalMotor;
737
738	sensor wire RTOnFB;
739	sensor wire RTOnArm;
740	sensor wire RTOnTop;
741	sensor wire RTOnBottom;
742
743	RotaryTable RTable(clk, RTRotaryMotor, RTVerticalMotor,
744	RTOnFB, RTOnArm, RTOnTop, RTOnBottom);
745	RotaryTableCNTR RTableCNTR(clk, PieceOutFB, PieceGrabbedFromRT,
746	RTOnFB, RTOnArm, RTOnTop, RTOnBottom,
747	RTRotaryMotor, RTVerticalMotor,
748	PieceGrabbedFromFB, RTOutReady);
749	endmodule // RotarySet
750
751	/*
752	*
753	* ROTARY TABLE
754	*
755	*/
756	module RotaryTable(clk, RTRotaryMotor, RTVerticalMotor,
757	RTOnFB, RTOnArm, RTOnTop, RTOnBottom);
758	input clk;
759	input RTRotaryMotor;
760	input RTVerticalMotor;
761	output RTOnFB;
762	output RTOnArm;
763	output RTOnTop;
764	output RTOnBottom;
765
766	rtAngleMovement wire RTRotaryMotor;
767	rtVerticalMovement wire RTVerticalMotor;
768
769	sensor wire RTOnFB;
770	sensor wire RTOnArm;
771	sensor wire RTOnTop;
772	sensor wire RTOnBottom;
773
774	rtAnglePosition reg RTAngle;
775	rtVerticalPosition reg RTHight;
776
777	assign RTOnFB = (RTAngle == S) ? Y : N;
778	assign RTOnArm = (RTAngle == SE) ? Y : N;
779	assign RTOnTop = (RTHight == Top) ? Y : N;
780	assign RTOnBottom = (RTHight == Bot) ? Y : N;
781
782	initial
783	begin
784	RTAngle = $ND(S, SSE, SE);
785	RTHight = $ND(Top, Mid, Bot);
786	end // initial
787
788	always @(posedge clk) begin
789	/* Rotary movement of the table */
790	if (RTRotaryMotor == CWise) begin
791	case (RTAngle)
792	SE: begin
793	RTAngle = SSE;
794	end
795	SSE: begin
796	RTAngle = S;
797	end
798	endcase // _case (RTAngle)
799	end // if (RTRotaryMotor == CWise)
800
801	if (RTRotaryMotor == CCWise) begin
802	case (RTAngle)
803	S: begin
804	RTAngle = SSE;
805	end
806	SSE: begin
807	RTAngle = SE;
808	end
809	endcase // _case (RTAngle)
810	end // if (RTRotaryMotor == CCWise)
811
812	/* Vertical Movement of the table */
813	if (RTVerticalMotor == GoUp) begin
814	case (RTHight)
815	Mid: begin
816	RTHight = Top;
817	end
818	Bot: begin
819	RTHight = Mid;
820	end
821	endcase // _case (RTHight)
822	end // if (RTVerticalMotor == GoUp)
823
824	if (RTVerticalMotor == GoDown) begin
825	case (RTHight)
826	Mid: begin
827	RTHight = Bot;
828	end
829	Top: begin
830	RTHight = Mid;
831	end
832	endcase // _case (RTHight)
833	end // if (RTVerticalMotor = GoDown)
834	end // always @ (posedge clk)
835	endmodule // RotaryTable
836
837	/*
838	*
839	* ROTARY TABLE CNTR
840	*
841	*/
842	module RotaryTableCNTR(clk, PieceOutFB, PieceGrabbedFromRT,
843	RTOnFB, RTOnArm, RTOnTop, RTOnBottom,
844	RTRotaryMotor, RTVerticalMotor,
845	PieceGrabbedFromFB, RTOutReady);
846	input clk;
847	input PieceOutFB;
848	input PieceGrabbedFromRT;
849	input RTOnFB;
850	input RTOnArm;
851	input RTOnTop;
852	input RTOnBottom;
853	output RTRotaryMotor;
854	output RTVerticalMotor;
855	output PieceGrabbedFromFB;
856	output RTOutReady;
857
858	sensor wire PieceOutFB;
859	sensor wire PieceGrabbedFromRT;
860	sensor wire RTOnFB;
861	sensor wire RTOnArm;
862	sensor wire RTOnBottom;
863	sensor wire RTOnTop;
864
865	rtAngleMovement wire CWiseChoice;
866	rtAngleMovement wire CCWiseChoice;
867	rtVerticalMovement wire UpChoice;
868	rtVerticalMovement wire DownChoice;
869
870	rtAngleMovement reg RTRotaryMotor;
871	rtVerticalMovement reg RTVerticalMotor;
872	sensor reg PieceGrabbedFromFB;
873	sensor reg RTOutReady;
874	sensor reg TableLoaded;
875
876	// assign CWiseChoice = $ND(Stop, CWise);
877	// assign CCWiseChoice = $ND(Stop, CCWise);
878	// assign UpChoice = $ND(Stop, GoUp);
879	// assign DownChoice = $ND(Stop, GoDown);
880	assign CWiseChoice = CWise;
881	assign CCWiseChoice = CCWise;
882	assign UpChoice = GoUp;
883	assign DownChoice = GoDown;
884
885	initial
886	begin
887	RTRotaryMotor = Stop;
888	RTVerticalMotor = Stop;
889	PieceGrabbedFromFB = N;
890	RTOutReady = N;
891	TableLoaded = N;
892	end // initial
893
894	always @(posedge clk) begin
895	case (TableLoaded)
896	Y: begin
897	if (RTOnTop == Y) begin
898	if (RTOnFB == Y) begin
899	RTRotaryMotor = CCWise;
900	RTVerticalMotor = Stop;
901	end // if (RTOnFB == Y)
902	if (RTOnFB == N && RTOnArm == N) begin
903	RTVerticalMotor = Stop;
904	if (RTRotaryMotor == CCWise) begin
905	RTRotaryMotor = Stop;
906	RTOutReady = Y;
907	end // if (RTRotaryMotor == CCWise)
908	else begin
909	if (RTRotaryMotor == Stop) begin
910	RTRotaryMotor = CCWise;
911	end // if (RTRotaryMotor == Stop)
912	end // else: !if(RTRotaryMotor == CCWise)
913	end // if (RTOnFB == N && RTOnArm == N)
914	if (RTOnArm == Y) begin
915	if (PieceGrabbedFromRT == Y) begin
916	RTOutReady = N;
917	RTRotaryMotor = CWiseChoice;
918	RTVerticalMotor = DownChoice;
919	TableLoaded = N;
920	end // if (PieceGrabbedFromRT == Y)
921	else begin
922	RTOutReady = Y;
923	RTRotaryMotor = Stop;
924	RTVerticalMotor = Stop;
925	end // else: !if(PieceGrabbedFromRT == Y)
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

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