Chap. 18 라인 트레이서의 설계 라인 트레이서 바닥에 그려진 선을 따라가는 로봇을 의미 라인 트레이서 구성도 (선을 잘 따라가도록 판단 및 제어) (바퀴를 굴려줌) (선 감지)

라인 트레이서의 설계 - 개념도 라인 트레이서 VHDL 코드 작성 개념도

라인 트레이서의 설계 - Design 센서 데이터에 따른 좌,우 모터 속도 결정 센서 데이터 (중앙의 5비트) 좌, 우 모터 속도 (11:320Hz, 10:200Hz, 01:100Hz, 00:정지) 좌 우 비고 11011 11 빠른 직진 10001 01 느린 직진 10011 10 느린 우회전 10111 빠른 우회전 00011 00111 01111 11001 느린 좌회전 11101 빠른 좌회전 11000 11100 11110 그 외 00 정지

라인 트레이서의 설계 - Design library IEEE; use IEEE.STD_LOGIC_1164.ALL; use IEEE.STD_LOGIC_ARITH.ALL; use IEEE.STD_LOGIC_UNSIGNED.ALL;   entity line_tracer is     Port ( RSTB : in std_logic;            CLK_4M : in std_logic;            SENSE : in std_logic_vector(6 downto 0);            LIGHT : out std_logic_vector(6 downto 0);            MTL_A : out std_logic;            MTL_B : out std_logic;            MTL_nA : out std_logic;            MTL_nB : out std_logic;            MTR_A : out std_logic;            MTR_B : out std_logic;            MTR_nA : out std_logic;            MTR_nB : out std_logic); end line_tracer; architecture Behavioral of line_tracer is signal clk_500 : std_logic; signal mtl_speed : std_logic_vector (1 downto 0); signal mtr_speed : std_logic_vector (1 downto 0); signal speed_l : integer range 0 to 25000; signal speed_r : integer range 0 to 25000; signal motor_lcnt : integer range 0 to 25000; signal phase_lclk : std_logic; signal motor_rcnt : integer range 0 to 25000; signal phase_rclk : std_logic; signal phase_lcnt : std_logic_vector (1 downto 0); signal phase_lout : std_logic_vector (3 downto 0); signal phase_rcnt : std_logic_vector (1 downto 0); signal phase_rout : std_logic_vector (3 downto 0);   begin =========Clock(500Hz)Generator===================         process(RSTB,CLK_4M)         variable cnt : integer range 0 to 4000;         begin                 if RSTB = '0' then                         cnt := 0;                         clk_500 <= '0';                 elsif rising_edge (CLK_4M) then                         if cnt >= 3999  then       --정상 동작시 --                    if cnt >= 2  then         --시뮬레이션시                                 clk_500 <= not clk_500;                         else                                 cnt := cnt + 1;                         end if;                 end if;         end process; ============================================= 

라인 트레이서의 설계 - Design --========== Infrared Light Emission ===========         LIGHT(0) <= clk_500 ;         LIGHT(1) <= clk_500 ;         LIGHT(2) <= clk_500 ;         LIGHT(3) <= clk_500 ;         LIGHT(4) <= clk_500 ;         LIGHT(5) <= clk_500 ;         LIGHT(6) <= clk_500 ; --========================================= --=== Line Status Sensing & 좌,우 모터 속도값  결정 =====    process(RSTB,CLK_500)    begin        if RSTB = '0' then           mtl_speed <="00";  mtr_speed <="00";   -- 느린 직진        elsif falling_edge (CLK_500) then           case SENSE is           when "1110111" => mtl_speed <="11";                                    mtr_speed <="11"; -- 빠른직진           when "1100011" => mtl_speed <="01";                                  mtr_speed <="01"; -- 느린직진           when "1100111" => mtl_speed <="11";                                mtr_speed <="10"; -- 느린우회전   when "1000111" => mtl_speed <="11";                                  mtr_speed <="01"; -- 빠른우회전           when "1001111" => mtl_speed <="11";                                     mtr_speed <="01"; -- 빠른우회전 when "1011111" => mtl_speed <="11";                                   mtr_speed <="01"; -- 빠른우회전      when "1110011" => mtl_speed <="10";                                   mtr_speed <="11"; -- 느린좌회전      when "1111011" => mtl_speed <="01";                                   mtr_speed <="11"; -- 빠른좌회전      when "1110001" => mtl_speed <="01";      when "1111001" => mtl_speed <="01";      when "1111101" => mtl_speed <="01";      when others => mtl_speed <="00";                               mtr_speed <="00";       -- 정지      end case;  end if; end process;

라인 트레이서의 설계 - Design ==== 모터속도값에 따른 좌,우모터 속도결정 ==== process(mtl_speed) ==== 모터속도값에 따른 좌,우모터 속도결정  ====           process(mtl_speed)         variable for_sim : std_logic;         begin                 for_sim := '0';  -- 1: 시뮬레이션시 0:정상동작시                 if for_sim = '0'  then                     case mtl_speed is         when "00" => speed_l <= 0; -- 0 Hz when "01" => speed_l <= 19999;-- 100Hz           when "10" => speed_l <= 9999; -- 200 Hz when "11" => speed_l <= 6249; -- 320Hz                     when others => speed_l <= 6249;                     end case;                 else                    when "00" => speed_l <= 0 ; when "01" => speed_l <= 8;                         when "10" => speed_l <= 4; when "11" => speed_l <= 2;                         when others => speed_l <= 2;                      end case;                 end if;         end process;          process(mtr_speed) variable for_sim : std_logic; begin       for_sim := '0';  -- 1: 시뮬레이션시 0:정상동작시       if for_sim = '0'  then            case mtr_speed is             when "00" => speed_r <= 0; -- 0 Hz when "01" => speed_r <= 19999;-- 100Hz                 when "10" => speed_r <= 9999; -- 200Hz                 when "11" => speed_r <= 6249; -- 320Hz                 when others => speed_r <= 6249; --320Hz               end case;          else                case mtr_speed is                     when "00" => speed_r <= 0;                        when "01" => speed_r <= 8;                     when "10" => speed_r <= 4;                     when "11" => speed_r <= 2;                          when others => speed_r <= 2;                 end case;           end if; end process;

라인 트레이서의 설계 - Design process(RSTB,speed_l, CLK_4M,motor_lcnt) begin        if RSTB = '0' or speed_l = 0 then            motor_lcnt <= 0;            phase_lclk <= '0';         elsif rising_edge (CLK_4M) then              if (motor_lcnt >= speed_l) then                   motor_lcnt <= 0;                   phase_lclk <= not phase_lclk;               else                   motor_lcnt <= motor_lcnt + 1;               end if;         end if; end process; process(RSTB,speed_r, CLK_4M,motor_rcnt)        if RSTB = '0' or speed_r = 0 then          motor_rcnt <= 0;           phase_rclk <= '0';        elsif rising_edge (CLK_4M) then             if (motor_rcnt >= speed_r) then                  motor_rcnt <= 0;                  phase_rclk <= not phase_rclk;              else                  motor_rcnt <= motor_rcnt + 1;             end if;        end if; --===================================== --===== 왼쪽 모터 phase Output(1상 여자방식) ======  process(RSTB,phase_lclk,phase_lcnt)  begin           if RSTB = '0' then               phase_lcnt <= (others => '0');           elsif rising_edge (phase_lclk) then                   phase_lcnt <= phase_lcnt + 1;            end if; end process; process(RSTB, phase_lcnt) begin        if RSTB = '0' then           phase_lout <= (others => '0');        else             case phase_lcnt is                  when "00" => phase_lout <= "1000";                  when "01" => phase_lout <= "0100";                  when "10" => phase_lout <= "0010";                  when "11" => phase_lout <= "0001";                  when others => phase_lout <= "0000";               end case;         end if;  end process; --===========================

--========================================== 라인 트레이서의 설계 - Design --====== 오른쪽 Phase Output(1상 여자방식) ========= process(RSTB,phase_rclk,phase_rcnt) begin       if RSTB = '0' then        phase_rcnt <= (others => '0');      elsif rising_edge (phase_rclk) then             phase_rcnt <= phase_rcnt + 1;      end if; end process; process(RSTB, phase_rcnt) begin         if RSTB = '0' then           phase_rout <= (others => '0');         else             case phase_rcnt is                  when "00" => phase_rout <= "0001";                  when "01" => phase_rout <= "0010";                  when "10" => phase_rout <= "0100";                  when "11" => phase_rout <= "1000";                  when others => phase_rout <= "0000";               end case;           end if; --========================================== MTL_A <= phase_lout(0);         MTL_B <= phase_lout(1);         MTL_nA <= phase_lout(2);         MTL_nB <= phase_lout(3);         MTR_A <= phase_rout(0);         MTR_B <= phase_rout(1);         MTR_nA <= phase_rout(2);         MTR_nB <= phase_rout(3); end Behavioral;

라인 트레이서의 설계 - Simulation 라인 트레이서의 시뮬레이션 결과 파형 화면