element14 Community
element14 Community
    Register Log In
  • Site
  • Search
  • Log In Register
  • Members
    Members
    • Benefits of Membership
    • Achievement Levels
    • Members Area
    • Personal Blogs
    • Feedback and Support
    • What's New on element14
  • Learn
    Learn
    • Learning Center
    • eBooks
    • STEM Academy
    • Webinars, Training and Events
    • More
  • Technologies
    Technologies
    • 3D Printing
    • FPGA
    • Industrial Automation
    • Internet of Things
    • Power & Energy
    • Sensors
    • More
  • Challenges & Projects
    Challenges & Projects
    • Design Challenges
    • element14 presents
    • Project14
    • Arduino Projects
    • Raspberry Pi Projects
    • More
  • Products
    Products
    • Arduino
    • Dev Tools
    • Manufacturers
    • Raspberry Pi
    • RoadTests & Reviews
    • Avnet Boards Community
    • More
  • Store
    Store
    • Visit Your Store
    • Choose Another Store
      • Europe
      •  Austria (German)
      •  Belgium (Dutch, French)
      •  Bulgaria (Bulgarian)
      •  Czech Republic (Czech)
      •  Denmark (Danish)
      •  Estonia (Estonian)
      •  Finland (Finnish)
      •  France (French)
      •  Germany (German)
      •  Hungary (Hungarian)
      •  Ireland
      •  Israel
      •  Italy (Italian)
      •  Latvia (Latvian)
      •  
      •  Lithuania (Lithuanian)
      •  Netherlands (Dutch)
      •  Norway (Norwegian)
      •  Poland (Polish)
      •  Portugal (Portuguese)
      •  Romania (Romanian)
      •  Russia (Russian)
      •  Slovakia (Slovak)
      •  Slovenia (Slovenian)
      •  Spain (Spanish)
      •  Sweden (Swedish)
      •  Switzerland(German, French)
      •  Turkey (Turkish)
      •  United Kingdom
      • Asia Pacific
      •  Australia
      •  China
      •  Hong Kong
      •  India
      •  Korea (Korean)
      •  Malaysia
      •  New Zealand
      •  Philippines
      •  Singapore
      •  Taiwan
      •  Thailand (Thai)
      • Americas
      •  Brazil (Portuguese)
      •  Canada
      •  Mexico (Spanish)
      •  United States
      Can't find the country/region you're looking for? Visit our export site or find a local distributor.
  • Translate
  • Profile
FPGA
  • Technologies
  • More
FPGA
Blog Build a project with the Arty S7 - Line Follower Robot (Part 5) - Project Demo
  • Blog
  • Forum
  • Documents
  • Events
  • Members
  • Mentions
  • Sub-Groups
  • Tags
  • More
  • Cancel
  • New
FPGA requires membership for participation - click to join
Blog Post Actions
  • Subscribe by email
  • More
  • Cancel
  • Share
  • Subscribe by email
  • More
  • Cancel
Group Actions
  • Group RSS
  • More
  • Cancel
Engagement
  • Author Author: rahulkhanna
  • Date Created: 5 Aug 2022 8:22 PM Date Created
  • Views 92 views
  • Likes 3 likes
  • Comments 0 comments
  • arty-s7
  • 7 Ways to Leave Your Spartan-6
  • spartan-7
  • Spartan_Migration
Related
Recommended

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

rahulkhanna
rahulkhanna
5 Aug 2022
Reasons to switch from Spartan-6 to Spartan-7 FPGAs #1
Build a project with the Arty S7 - Line Follower Robot (Part 1) - Introduction
Build a project with the Arty S7 - Line Follower Robot (Part 2) - Setting up Vivado 2019.2 and Demo program 
Build a project with the Arty S7 - Line Follower Robot (Part 3) - Interfacing Sensors and Logic Implementation
Build a project with the Arty S7 - Line Follower Robot (Part 4) - Hardware Assembly 
Build a project with the Arty S7 - Line Follower Robot (Part 5) - Project Demo
Build a project with the Arty S7 - Line Follower Robot (Part 6) - Adding sensors to the LFR
Build a project with the Arty S7 - Line Follower Robot (Part 7) - Summary

Project Demo

Before the Hardware assembly, We had connected the IR sensors and their functionality separately. We had connected the IR sensors and motors as shown below: 

Arty S7-50 Motor
IO3 in0
IO5 in1
IO6 in2
IO11 in3

You don't have permission to edit metadata of this video.
Edit media
x
Upload Preview

Arty S7-50 Sensors   
IO0 sen[0]
IO1 sen[1]
IO2 sen[2]
IO4 sen[3]
IO7 sen[4]

Now let's run the IR logic to switch the LEDs. 

You don't have permission to edit metadata of this video.
Edit media
x
Upload Preview

The hardware is ready to be programmed. Create the file named LFR.sv and implemented the following logic. 

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

You don't have permission to edit metadata of this video.
Edit media
x
Upload Preview

Finally, we implemented a line follower using Arty S7-50. We will be adding a component to this line follower in the next blog. 

Anonymous
element14 Community

element14 is the first online community specifically for engineers. Connect with your peers and get expert answers to your questions.

  • Members
  • Learn
  • Technologies
  • Challenges & Projects
  • Products
  • Store
  • About Us
  • Feedback & Support
  • FAQs
  • Terms of Use
  • Privacy Policy
  • Legal and Copyright Notices
  • Sitemap
  • Cookies

An Avnet Company © 2022 Premier Farnell Limited. All Rights Reserved.

Premier Farnell Ltd, registered in England and Wales (no 00876412), registered office: Farnell House, Forge Lane, Leeds LS12 2NE.

ICP 备案号 10220084.

Follow element14

  • Facebook
  • Twitter
  • linkedin
  • YouTube