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Programa en VHDL del proyecto
-- Company:
-- Engineer:
UDLAP
Jose Juan Vazquez Montaño
--- Create Date:
20:53:42 02/24/2008
-- Design Name:
PWM1 a 50Hz
-- Module Name:
Gen_Pwm - Behavioral
-- Project Name: JJ_TESIS
-- Target Devices: SPARTAN 3
-- Tool versions: Xilinx ISE 9.1
-- Description:
--
prograama que genera PWM a50Hz a partir de la señal de los sensores
en la patas para escalar un nivel.
--- Dependencies:
--- Revision:
-- Revision 0.01 - File Created
-- Additional Comments:
----------------------------------------------------------------------------------88
library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;
---- Uncomment the following library declaration if instantiating
---- any Xilinx primitives in this code.
--library UNISIM;
--use UNISIM.VComponents.all;
entity Gen_Pwm1 is
Port ( s1,s2,s3,s4,s5,s6,s7,s8,s9,s10 : out STD_LOGIC;-- salida de PWM1 para servo1
sdii : in STD_LOGIC;--entrada de sdii sensor delantero izquierdo
sdd : in STD_LOGIC;--entrada de sdd sensor delantero derecho
sdii2 : in STD_LOGIC;--entrada de sdii sensor delantero izquierdo
sdd2 : in STD_LOGIC;--entrada de sdd sensor delantero derecho
reset : in STD_LOGIC;-- reset
C_D1 : out STD_LOGIC;
C_D2 : out STD_LOGIC;
C_I1 : out STD_LOGIC;
C_I2 : out STD_LOGIC;
SW_AD : in STD_LOGIC;
SW_AT : in STD_LOGIC;
SW_DE : in STD_LOGIC;
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SW_IZ : in STD_LOGIC;
clock : in STD_LOGIC);--entrada de reloj a 50MHz
end Gen_Pwm1;
architecture Behavioral of Gen_Pwm1 is
signal cont: integer:=0; --1000000
signal cont2: integer:= 0; --50
signal P_b: integer:=30000; --50
signal P_b2: integer:=30000; --50
signal P_b3: integer:=120000; --50
signal P_b4: integer:=120000; --50
signal P_b5: integer:=120000; --50
signal P_b6: integer:=30000; --50
signal P_b7: integer:=30000; --50
signal P_b8: integer:=120000; --50
signal P_b9: integer:=120000; --50
signal P_b10: integer:=30000; --50
--signal cont3: integer:= 0; --50
begin
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process (clock,reset,SW_AD,SW_AT,SW_DE,SW_IZ,sdd,sdii,sdd2,sdii2)
begin
if(reset='1' ) then -- resetea todos los valores
C_D1<= '0';
C_D2<= '0';
C_I1 <= '0';
C_I2 <= '0';
elsif(sdd='0' or sdii='0' or sdd2='0' or sdii2='0' ) then -- resetea todos los valores
C_D1<= '0';
C_D2<= '0';
C_I1 <= '0';
C_I2 <= '0';
elsif(clock'event and clock='1' ) then --cada que susede el evento transicion a 1 del reloj
if(SW_AD='1')then
C_D1<= '1';
C_D2<= '0';
C_I1 <= '1';
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C_I2 <= '0';
elsif(SW_AT='1')then
C_D1<= '0';
C_D2<= '1';
C_I1 <= '0';
C_I2 <= '1';
elsif(SW_DE='1')then
C_D1<= '1';
C_D2<= '0';
C_I1 <= '0';
C_I2 <= '1';
elsif(SW_IZ='1')then
C_D1<= '0';
C_D2<= '1';
C_I1 <= '1';
C_I2 <= '0';
else
C_D1<= '0';
C_D2<= '0';
C_I1 <= '0';
C_I2 <= '0';
end if;--de(SW1='1')
end if;--(clock'event and clock='1' )
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end process;
process (clock,reset,sdd)
variable flag: integer:= 1; --50
variable flag2: integer:= 0; --50
variable Pas1: integer:= 0; --50
variable Pas2: integer:= 0; --50
variable Pas3: integer:= 0; --50
variable Pas4: integer:= 0; --50
variable Pas5: integer:= 0; --50
variable Pas6: integer:= 0; --50
variable Pas7: integer:= 0; --50
variable Pas8: integer:= 0; --50
variable Pas9: integer:= 0; --50
variable Pas10: integer:= 0; --50
variable Pas11: integer:= 0; --50
variable Pas12: integer:= 0; --50
variable Pas13: integer:= 0; --50
variable Pas14: integer:= 0; --50
variable Pas15: integer:= 0; --50
variable b2: integer:= 0; --50
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begin
if(reset='1' ) then -- resetea todos los valores
s1 <= '0';
s2 <= '0';
s3 <= '0';
s4 <= '0';
cont
<= 0;
cont2 <= 0;
flag := 1;
flag2 := 0;
P_b <= 30000;
P_b2 <= 30000;
P_b3 <= 120000;
P_b4 <= 120000;
P_b5 <= 120000;
P_b6 <= 30000;
P_b7 <= 120000;
P_b8 <= 120000;
P_b9 <= 30000;
P_b10 <= 30000;
Pas1:= 0; --50
Pas2:= 0; --50
Pas3:= 0; --50
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Pas4:= 0; --50
Pas5:= 0; --50
Pas6:= 0; --50
Pas7:= 0; --50
Pas8:= 0; --50
Pas9:= 0; --50
Pas10:= 0; --50
Pas11:= 0; --50
Pas12:= 0; --50
Pas13:= 0; --50
Pas14:= 0; --50
Pas15:= 0; --50
b2:= 0; --50
elsif(clock'event and clock='1' ) then --cada que susede el evento transicion a 1 del reloj
cont <= cont+1;
--contadores empiezan cuentas
cont2 <= cont2+1;
if(cont >= 1000000)then
cont<=0;
end if;--(cont >= 1000000)
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if(cont2 >= 10000000)then
cont2<=0;
b2:=1;
end if;--(cont >= 1000000)
if (cont >= P_b) THEN
-- si contador es mayor o igual a P_b se va a '0'
s1 <= '0';
else
s1 <= '1';
end if;
if(cont >= P_b2) THEN
s2 <= '0';
--si no se mantiene en '1'
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
s2 <= '1';
end if;
if(cont >= P_b3) THEN
s3 <= '0';
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
s3 <= '1';
end if;
if(cont >= P_b4) THEN
s4 <= '0';
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
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s4 <= '1';
end if;
if(cont >= P_b5) THEN
s5 <= '0';
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
s5 <= '1';
end if;
if (cont >= P_b6) THEN
-- si contador es mayor o igual a P_b se va a '0'
s6 <= '0';
else
s6 <= '1';
end if;
if(cont >= P_b7) THEN
s7 <= '0';
--si no se mantiene en '1'
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
s7 <= '1';
end if;
if(cont >= P_b8) THEN
s8 <= '0';
-- si contador es mayor o igual a P_b se va a '0'
--si no se mantiene en '1'
else
s8 <= '1';
end if;
if(cont >= P_b9) THEN
-- si contador es mayor o igual a P_b se va a '0'
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s9 <= '0';
--si no se mantiene en '1'
else
s9 <= '1';
end if;
if(cont >= P_b10) THEN
-- si contador es mayor o igual a P_b se va a '0'
s10 <= '0';
--si no se mantiene en '1'
else
s10 <= '1';
end if;
if(sdii='0' and sdd='0' and flag=1 and SW_AD and SW_ AT and SW_DE and
SW_IZ) then-pas1:=1;
end if;--(sdii='0' and sdd='0')
if (pas1=1 and b2=1)then
P_b5<=75000;
b2:=0;
flag:=0;
P_b<=P_b+250;
if(P_b >=48000)then
Pas1:=0;
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Pas2:=1;
end if;--(P_b >=85000)--90°
end if;--(pas1=1)
if (pas2=1 and b2=1)then
b2:=0;
P_b2<=P_b2+250;
if(P_b2 >=44000)then--15°
Pas2:=0;
Pas3:=1;
end if;--(P_b2 >=43333)
end if;--(pas2=1)
if (pas3=1 and b2=1)then
b2:=0;
P_b<=P_b-250;
if(P_b<=30000)then--15°
Pas3:=0;
Pas4:=1;
end if;--(P_b <=43333)
end if;--(pas3=1)
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if (pas4=1 and b2=1)then
b2:=0;
P_b3<=P_b3-250;
if(P_b3 <=105000)then--90°
Pas4:=0;
Pas5:=1;
end if;--(P_b3 >=85000)
end if;--(pas4=1)
if (pas5=1 and b2=1)then
b2:=0;
P_b4<=P_b4-250;
if(P_b4 <=105500)then--165°
Pas5:=0;
Pas6:=1;
end if;--(P_b4 >=126667)
end if;--(pas5=1)
if (pas6=1 and b2=1)then
b2:=0;
P_b3<=P_b3+250;
if(P_b3 >=120000)then--165°
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Pas6:=0;
Pas7:=1;
end if;--(P_b3 >=126667)
end if;--(pas6=1)
if (pas7=1 and b2=1)then
b2:=0;
P_b5<=120000;
flag2:=1;
pas7:=0;
pas8:=1;
end if;--(pas6=1)
if(sdii2='0' and sdd2='0' and pas8=1 )
pas9:=1;
pas8:=0;
end if;--(sdii='0' and sdd='0')
if (pas9=1 and b2=1)then
P_b10<=75000;
b2:=0;
flag2:=0;
P_b6<=P_b6+500;
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if(P_b6 >=75000)then
Pas9:=0;
Pas10:=1;
end if;--(P_b >=85000)--90°
end if;--(pas1=1)
if (pas10=1 and b2=1)then
b2:=0;
P_b7<=P_b7-500;
if(P_b7 <=95000)then--15°
Pas10:=0;
Pas11:=1;
end if;--(P_b2 >=43333)
end if;--(pas2=1)
if (pas11=1 and b2=1)then
b2:=0;
P_b6<=P_b6-500;
if(P_b6<=30000)then--15°
Pas11:=0;
Pas12:=1;
end if;--(P_b <=43333)
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end if;--(pas3=1)
if (pas12=1 and b2=1)then
b2:=0;
P_b8<=P_b8-500;
if(P_b8 <=75000)then--90°
Pas12:=0;
Pas13:=1;
end if;--(P_b3 >=85000)
end if;--(pas4=1)
if (pas13=1 and b2=1)then
b2:=0;
P_b9<=P_b9+500;
if(P_b9 >=60000)then--165°
Pas13:=0;
Pas14:=1;
end if;--(P_b4 >=126667)
end if;--(pas5=1)
if (pas14=1 and b2=1)then
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b2:=0;
P_b8<=P_b8+500;
if(P_b8 >=120000)then--165°
Pas14:=0;
Pas15:=1;
end if;--(P_b3 >=126667)
end if;--(pas6=1)
if (pas15=1 and b2=1)then
b2:=0;
P_b10<=30000;
flag2:=0;
pas15:=0;
end if;--(pas6=1)
end if;
end process;
end Behavioral;
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