Build a project with the Arty S7 - Line Follower Robot (Part 5) - Project Demo

module LFR (
input wire logic clk,
input logic [4:0] sen,
output logic [1:0] left_m, [1:0] right_m, [4:0] led
);

logic [4:0] sen_val = 0; // Sensor Val
logic [7:0] in1 = 8'd0;
logic [7:0] in2 = 8'd0;
logic [7:0] in3 = 8'd0;
logic [7:0] in4 = 8'd0;

always_ff @(posedge clk) begin
led <= 5'b00000;

if (sen_val == 5'b00100) begin //fwd
in1 <= 200; in2 <= 0; in3 <= 200; in4 <= 0;
led <= 5'b00100;
end
else if (sen_val == 5'b01000) begin //left
in1 <= 100; in2 <= 0; in3 <= 255; in4 <= 0;
led <= 5'b01000;
end
else if (sen_val == 5'b10000) begin //left
in1 <= 0; in2 <= 0; in3 <= 255; in4 <= 0;
led <= 5'b10000;
end
else if (sen_val == 5'b00010) begin //right
in1 <= 255; in2 <= 0; in3 <= 100; in4 <= 0;
led <= 5'b00010;
end
else if (sen_val == 5'b00001) begin //right
in1 <= 255; in2 <= 0; in3 <= 0; in4 <= 0;
led <= 5'b00001;
end
else if (sen_val == 5'b11100) begin //left
in1 <= 0; in2 <= 255; in3 <= 255; in4 <= 0;
led <= 5'b11100;
end
else if (sen_val == 5'b00111) begin //right
in1 <= 255; in2 <= 0; in3 <= 0; in4 <= 255;
led <= 5'b00111;
end
else if (sen_val == 5'b11111) begin //stop
in1 <= 0; in2 <= 0; in3 <= 0; in4 <= 0;
led <= 5'b11111;
end
end

always_comb begin
sen_val[0] = sen[1] ? 1'b1 : 1'b0;
sen_val[1] = sen[1] ? 1'b1 : 1'b0;
sen_val[2] = sen[2] ? 1'b1 : 1'b0;
sen_val[3] = sen[3] ? 1'b1 : 1'b0;
sen_val[4] = sen[4] ? 1'b1 : 1'b0;
end

pwm m1 (.clk, .duty(in1), .pwm_out(left_m[0]));
pwm m2 (.clk, .duty(in2), .pwm_out(left_m[1]));
pwm m3 (.clk, .duty(in3), .pwm_out(right_m[0]));
pwm m4 (.clk, .duty(in4), .pwm_out(right_m[1]));
endmodule