274 Microrobotics FSM

274 : Microrobotics FSM

Design render
  • Author: Lucas Irribarra, Felipe Rifo
  • Description: Simple FSM for Micro-srobots
  • GitHub repository
  • Clock: 10000000 Hz

How it works

A simple FSM controls the direction of a micro-robot based on sensors placed around the robot. The speed is driven by a PWM signal with an 8-bit resolution that can be set through input pins when the RESET pin is active.

The design also supports the use of an H bridge to allow the motors bidirectional rotation.

How to test

After reset, the PWM value should be setted by the input pins and the signal is on one of the output pins for testing. Experiment by changing the inputs to change the states of the FSM and the motor directions.

IO

#InputOutputBidirectional
0motor B leftpwm resolution bit 0
1motor B Rightpwm resolution bit 1
2motor A Leftpwm resolution bit 2
3motor A Rightpwm resolution bit 3
40pwm resolution bit 4
5Front sensor0pwm resolution bit 5
6Left sensor0pwm resolution bit 6
7Rigt sensorpwm signalpwm resolution bit 7

Chip location

Controller Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux tt_um_chip_rom (Chip ROM) tt_um_factory_test (TinyTapeout 04 Factory Test) tt_um_vga_clock (VGA clock) tt_um_seven_segment_seconds (7 segment seconds) tt_um_marno_factorize (Number Factorizer) tt_um_sorter (Odd even sorter) tt_um_bulls_and_cows (The Bulls and Cows game) tt_um_loopback (TinyTapeout 04 Loopback Test Module) tt_um_devinatkin_arduino_vga (VGA Output for Arduino) tt_um_wokwi_371604537887211521 (Digital Cipher & Interlock System) tt_um_urish_simon (Simon Says game) tt_um_wokwi_372184284115580929 (YKM 7-seg driver) tt_um_currymottled (Configurable PID Block) tt_um_yeokm1_pwm_audio (PWM audio) tt_um_dcb277_ALU (4-bit ALU) tt_um_rgb_mixer (RGB Mixer) tt_um_loopback (TinyTapeout 04 Loopback Test Module) tt_um_algofoogle_raybox_zero (raybox-zero) tt_um_morningjava_top (ChipTune) tt_um_loopback (TinyTapeout 04 Loopback Test Module) tt_um_eldritch_pwm_peripheral (OpenSource PWM Peripheral) tt_um_phansel_laplace_lut (Experiment Number Six: Laplace LUT) tt_um_ks_pyamnihc (Karplus-Strong String Synthesis) tt_um_dlmiles_tt04_poc_usbdev (USB Device) tt_um_thorkn_pwmaudio (Audio-PWM-Synth) tt_um_wokwi_374029622762967041 (German Traffic Light) tt_um_dandy_dance (Dandy VGA) tt_um_robojan_top (Tiny Breakout) tt_um_vc_cpu (VC 16-bit CPU) tt_um_MichaelBell_nanoV (Risc-V Nano V) tt_um_urish_usb_cdc (USB CDC (Serial)) tt_um_tiny_processor (Tiny processor) tt_um_f_hal_fft (fft-4-tt) tt_um_tomkeddie_a (LED Panel Driver) tt_um_wokwi_370722051572189185 (OSU Counter) tt_um_wokwi_370796071922577409 (Even digits) tt_um_wokwi_370709383347782657 (Traffic light) tt_um_wokwi_371425977920989185 (Tutorial4) tt_um_riceshelley_tinyFPGA (Grain-Flex-FPGA) tt_um_mgyenik_bfcpu (BFCPU) tt_um_machinaut_systolic (AI Decelerator) tt_um_wokwi_374140166551523329 (Tiny (3-bit) LFSR) tt_um_jk2102 (Pulsed Plasma Thruster (PPT) Controller) tt_um_jayraj4021_SAP1_cpu (SAP-1 CPU) tt_um_wokwi_370533670565165057 (Impulse counter) tt_um_ashleyjr_delay_line (Delay Line) tt_um_simplepiano (Simple Piano) tt_um_wokwi_374292646686728193 (Ripple-Carry Adder) tt_um_led_multiplexer_display (Led Multiplexer Display) tt_um_mjbella_led_matrix_driver (LED Matrix Driver) tt_um_fifo_stevej (8-bit FIFO with depth 16.) tt_um_robojan_pong_top (Pong) tt_um_wokwi_374962052813090817 (8 panel display"") tt_um_wokwi_370690644715216897 (Traffic Light) tt_um_wokwi_374494377414857729 (Model Railway turntable polarity controller) tt_um_wokwi_347144898258928211 (Customizable UART string tx) tt_um_wokwi_347497504164545108 (7-Seg 'Tiny Tapeout' Display) tt_um_wokwi_347140425276981843 (UART character tx) tt_um_wokwi_347417602591556180 (Padlock) tt_um_noritsuna_8bitcounter_AI (8bits Counter by AI) tt_um_fm_transmitter (FM Transmitter) tt_um_wokwi_369864099838656513 (Test 4x4 memory) tt_um_htfab_rotfpga2 (ROTFPGA v2) tt_um_losaias (Arithmetic logic unit of four operations between two 8-bit numbers) tt_um_fir_top (FIR Filter) tt_um_santacrc_tamagotchi (Tamagotchi) tt_um_4_LUT_Baungarten (LFMPDM (Lightning Fast Matrix Programmable Design Module)) tt_um_RELOG_10M_Juan_Garcial (7 SEGMENTS CLOCK) tt_um_MultiPatternLEDSequencer_RSYO3000 (Multi Pattern LED Sequencer) tt_um_pwm (Generador de PWM) tt_um_chip_SP_measure_delay (Multi stage path for delay measurements.) tt_um_chip_SP_Soy_de_Zacapa (ASCII Text Printer Circuit) tt_um_fing_synchronizer_hga (Clock synchronizer) tt_um_db_PWM (Simple PWM Generator) tt_um_RS_Vfreq (CLK Frequency Divider) tt_um_ja_TrafficLight (UIS Traffic Light) tt_um_adder_NestorMatajira (4 bit adder ) tt_um_ALU_NicolasOrcasitas (8-bit ALU) tt_um_ccollatz_SergioOliveros (Collatz Conjecture) tt_um_wokwi_370011087462055937 (8 bit 4 data sorting network) tt_um_wokwi_374968111036708865 (BCD to 7 segments) tt_um_wokwi_374967675785369601 (4 bit full adder) tt_um_wokwi_374974793636964353 (Circuito Religioso) tt_um_wokwi_374815911155542017 (Demultiplexor NAND) tt_um_wokwi_374903567624066049 (Sumador/Sustractor de 3 bit con acarreo y prestamo) tt_um_wokwi_374515580784897025 (Hardware Lock) tt_um_wokwi_374909346558831617 (Custom falling and rising edge detection) tt_um_alu (4-bit-alu) tt_um_pong_neopixel (Angardo's pong) tt_um_LEOGLM_hamming_code_top ((11,7) hamming code encoder and decoder with UART) tt_um_adriannovosel_top (Impulse counter) tt_um_wokwi_374969806854695937 (State machine of an impulse counter) tt_um_wokwi_375061599421794305 (Logic Circuit 1) tt_um_biased_trng (Variable Duty-Cycle TRNG) tt_um_top (Modem Multimodo) tt_um_wokwi_372347167704674305 (SAR ADC Backend) tt_um_wokwi_375176944142127105 (FCFM 7-segment display) tt_um_rodrigomunoz1_rotempsensor_top (another ring oscillator based temperature sensor) tt_um_USM_temp_sens_hyst (RO-based temperature sensor with hysteresis) tt_um_FSM (Microrobotics FSM) tt_um_wokwi_375042398768251905 (MINI ALU) tt_um_wokwi_374778387606763521 (PWM Quisquilloso) tt_um_CPU (CPU 8 bit) tt_um_simple_processor_pablopabota (A Risc-V Instruction memory i2c programmer) tt_um_wokwi_375246321309880321 (IFSC 6-bit Locker) tt_um_wokwi_375217288209912833 (Randomizer and status checker) tt_um_wokwi_375245713375900673 (Simulador de cruzamento de semáforo) tt_um_wokwi_374636462642973697 (Full_adder_carry_juang_garzons) tt_um_ternaryPC_radixconvert (4-trit balanced ternary program counter and convertor) tt_um_darkfsegura_collatz (uDATAPATH_Collatz) tt_um_wokwi_375174630101280769 (Adder) tt_um_wokwi_375163050120587265 (Binary to 7 segment) tt_um_wokwi_375165100039571457 (Neuron) tt_um_silva (Later) tt_um_shift (serializer) tt_um_alu4_alonso59 (4-bits 1-channel PWM and ALU 4 bits) tt_um_mod_u_cnt_BCD (up-down counter with parallel load and BCD output) tt_um_ciro (Later) tt_um_control (Contador con carga) tt_um_onehot (onehot_decoder) tt_um_santiago (CDMA Transmitter/Receiver) tt_um_divider_urielcho (clock divider) tt_um_pwl_RaulprTech (reciprocal) tt_um_fabian (Later) tt_um_thezoq2_tmng (Time Multiplexed Nand-gate) tt_um_uninorte (Octal classifier) tt_um_dlmiles_muldiv4 (MULDIV unit (4-bit signed/unsigned)) tt_um_rs_write_decodifier_fjrn_cinvestav (RS Write Decodifier) tt_um_BounceFSM_RSX92 (Password FSM) tt_um_priority_decoder_Juan_Garcial (Priority e) tt_um_FreqMeter_Juan_Garcial (frecuencimeter) tt_um_sahrdayalfsr (lfsr random number generator) tt_um_i2c (i2c_6 bits) tt_um_wokwi_375227079413963777 (Fastest Finger) tt_um_wokwi_375300958229329921 (Fastest Finger (Clocked)) tt_um_zeptobars (Oscillators II) tt_um_rebot449_lingret_ALU_Top (Simple ALU) tt_um_loopback (TinyTapeout 04 Loopback Test Module) tt_um_wokwi_375288605206694913 (Adjustable Frequency LED Chaser) tt_um_wokwi_375310871188385793 (Simple QSPI DAC) tt_um_quardinlyttle_top (AQALU) tt_um_wokwi_375326293008530433 (Simple TMR) tt_um_chiplet_jtag (Poor Person's Boundary Scan) tt_um_wokwi_375248885704300545 (Probador de lógica básico) tt_um_rejunity_telluride2023_neuron (LIF Neuron, Telluride 2023) tt_um_kpwebb_adder (rusty_adder) Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available Available