907 Obstacle Avoider State Machine :: Quicker, easier and cheaper to make your own chip!

907 : Obstacle Avoider State Machine

How it works

This chip implements a 3-state finite state machine for obstacle avoidance. It reads two sensor inputs (obstacle detected, too close) and transitions between FORWARD, TURNING, and STOPPED states. State is stored in a 2-bit register updated on each clock rising edge. Each output pin corresponds directly to one active state.

How to test

Apply clock signal to clk pin. Set ui[0] HIGH to simulate an obstacle in range — chip transitions from FORWARD to TURNING. Set ui[1] HIGH to simulate a dangerously close obstacle chip transitions to STOPPED regardless of current state. Pull both LOW to return to FORWARD. Monitor uo[0], uo[1], uo[2] for current state only one will be HIGH at a time.

Input

Output

Bidirectional

obstacle - object in range

motor_forward - drive straight

too_close - object dangerously close

motor_turn - turning

motor_stop - stopped

Chip location

907 Obstacle Avoider State Machine