The outputs will interface with two pair of relays which, in turn, will connect up to the robot claw motor. The two outputs will dictate the movement of the motor: Z1Z2 = 00 when the motor is stopped, Z1Z2 = 01 when the motor is clamping the claws down, Z1Z2 = 10 when the motor causes the claws to open up. Excess charge can possibly damage the internal fuses of the PLD. This will prevent any accumulation of excess charge inside the PLD. Because we are using a CMOS PLD, the switches must have pull-up resistors connected to them. X3 will detect pressure on the claws (X3 = 0, no pressure detected X3 = 1, pressure detected). X2 will detect whether an object has been detected between the claws (X2 = 0, object not detected X2 = 1, object detected). They will detect three different occurences: X1 will detect whether the claw is fully open (X1 = 0, claw not fully open X2 = 1, claw fully open). The inputs will come from sensors (actually switches) attached at various places on the robot claw. Our system will utilize three inputs (X1,X2, and X3) and two outputs (Z1 and Z2). It contains a total of five motors within the robot for five different forms of movement, however we will only be using the claw motor. We will be using a Robotic Arm Trainer, Model: OWI-007. When we finish, and if we have time left over, we will expand the functionality of our system. If an object is placed within the claws grasp then removed two times in a row, the robot claw will not respond afterwards until the pressure sensor is "tripped"Īt the present time, we are only going to design a system which can perform the above functionalities.
#Pld jed simulation full
#Pld jed simulation code
State diagram of our system, along with the state, input and output definitions.Ĭontroller.vhd VHDL code (derived from our state table)Ĭontroller.jed VHDL code (the fusemap file that will be used by the simulator and the PLD programmer)Ĭontroller.rpt VHDL code (a report of our PLD, including the pin layout of our part)Ĭlock mechanism. Links to the various parts of our project (in the order we completed them):
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