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Blog Build a project with the Arty S7 - Line Follower Robot (Part 6) - Adding sensors to the LFR
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  • Author Author: rahulkhanna
  • Date Created: 5 Aug 2022 8:26 PM Date Created
  • Views 65 views
  • Likes 2 likes
  • Comments 0 comments
  • 7 Ways to Leave Your Spartan-6
  • fpga
  • vivado
  • Spartan_Migration
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Build a project with the Arty S7 - Line Follower Robot (Part 6) - Adding sensors to the LFR

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

Adding sensors to the LFR

I wanted to add a robotic arm - gripper to pick an object which is placed on the black line. A 3D printed gripper is assembled to the MG995 servo motor. 

       

Arty S7-50 Servo Motor
IO9 Pulse (Orange)

Add this line to the constraint file (Arty-S7-Master.xdc) 

#set_property -dict { PACKAGE_PIN T15   IOSTANDARD LVCMOS33 } [get_ports { MG995 }]; #IO_L17N_T2_A13_D29_14   Sch=ck_io[9]

module gripper(
 input wire logic clk,
 output logic MG995
 );

 logic [7:0] speed = 8'd0;
 
 pwm arm (.clk, .duty(speed), .pwm_out(MG995));
 
end module

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