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Slm arkadaşlar ekte xilinx spartan 3e fpga' i ile yapmış olduğum sumo robot uygulamasını bulabilirsiniz. Uygulama için gereken bütün dosyalar ekte mevcuttur.

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library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;

entity SSMACH2 is
port (sh,solcny,sagcny :in std_logic; -- system input to start the system
solmi,solmg,sagmi,sagmg:out std_logic; -- system output
clk, reset : in std_logic); -- clock and reset inputs
end SSMACH2;
-- purpose: Implement main architecture for SSMACH2
architecture BEHAVIOR of SSMACH2 is
type STATES is (ilkhareket,solgeridon,duzgit,saggeridon,wait1,wait2,wait3,wait4,solgeridon2,solgeridon3,saggeridon2,saggeridon3); -- possible states
signal PRESENT_STATE : STATES; -- present state
signal x,y,z,a:integer;
begin -- BEHAVIOR
-- purpose: Main process
process (clk, reset)
begin -- process

-- activities triggered by asynchronous reset (active high)
if reset = '1' then
PRESENT_STATE <= ilkhareket; -- default state
solmi<='0';
solmg<='1';
sagmi<='1';
sagmg<='0';
-- activities triggered by rising edge of clock
elsif clk'event and clk = '1' then

PRESENT_STATE <= ilkhareket; -- default state
case PRESENT_STATE is

when ilkhareket =>
solmi<='0';
solmg<='1';
sagmi<='1';
sagmg<='0';
if sh='1' and solcny='1' and sagcny='1' then PRESENT_STATE<= duzgit;
elsif sh='1' and solcny='1' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='1' and solcny='0' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='0' and solcny='1' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='0' and solcny='0' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='1' and solcny='0' and sagcny='1' then PRESENT_STATE<=solgeridon;
elsif sh='0' and solcny='0' and sagcny='1' then PRESENT_STATE<=solgeridon;
elsif sh='0' and solcny='1' and sagcny='1' then PRESENT_STATE<= ilkhareket;
end if;

when duzgit =>
solmi<='1';
solmg<='0';
sagmi<='1';
sagmg<='0';
if sh='1' and solcny='1' and sagcny='1' then PRESENT_STATE<= duzgit;
else PRESENT_STATE<= ilkhareket;
end if;

when solgeridon =>
solmi<= '0';
solmg<= '1';
sagmi<= '0';
sagmg<= '1';
x<=25000000;
PRESENT_STATE<= wait1;
--wait for 1000ms;

when solgeridon2=>
solmi <= '0';
solmg <= '1';
sagmi <= '0';
sagmg <= '0';
y<=12500000;
PRESENT_STATE<= wait2;
--wait for 500ms;

when solgeridon3=>
if sh='1' and solcny='0' and sagcny='1' then PRESENT_STATE<=solgeridon;
elsif sh='0' and solcny='0' and sagcny='1' then PRESENT_STATE<=solgeridon;
else PRESENT_STATE<= ilkhareket;
end if;

when saggeridon=>

solmi<='0';
solmg<='1';
sagmi<='0';
sagmg<='1';
z<=25000000;
PRESENT_STATE<= wait3;
--wait for 1000ms;
when saggeridon2=>
solmi<='0';
solmg<='0';
sagmi<='0';
sagmg<='1';
a<=12500000;
PRESENT_STATE<= wait4;
--wait for 500ms;

When saggeridon3=>
if sh='1' and solcny='1' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='1' and solcny='0' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='0' and solcny='1' and sagcny='0' then PRESENT_STATE<= saggeridon;
elsif sh='0' and solcny='0' and sagcny='0' then PRESENT_STATE<= saggeridon;
else PRESENT_STATE<= ilkhareket ;
end if;

When wait1=>
if (x>0) then
x<=x-1;
PRESENT_STATE<= wait1;
else PRESENT_STATE<= solgeridon2;
end if;
When wait2=>
if(y>0) then
y<=y-1;
PRESENT_STATE<= wait2;
else PRESENT_STATE<= solgeridon3;
end if;
When wait3=>
if (z>0) then
z<=z-1;
PRESENT_STATE<= wait3;
else PRESENT_STATE<= saggeridon2;
end if;

When wait4=>
if (a>0) then
a<=a-1;
PRESENT_STATE<= wait4;
else PRESENT_STATE<= saggeridon3;
end if;
end case;
end if;
end process;
end BEHAVIOR;

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