1. Sensor Board and Driver Board
Krisys
Technology
Krisys Robot
Sensor Board and Driver Board
Dr. Joseph A. Morgan, P.E.

2. AIR FORCE 1

3. Krisys Functional Block Diagram
Battery
3.3V
Reg 5V
Power
Krysis Control Board
Intelligence
BASYS2
FPGA
SensorR 1
SensorM
SensorL 2 3
Sensor Board
Mode_select
3.3V
GND
Dual
H-Bridge
L_Motor_T
L_Motor_D
R_Motor_T
R_Motor_D
LED
LED_diag L
Motor
R Motor

4. Sensor
L M R
State Machine
Controller
BASYS 2 BOARD D D
n bits
n bits
Left PWM
Right PWM T T
Motor Driver

5. Control > L M R A<B<C<D State Machine L M R 3-bit Value
Condition
Action
Left D.C.
Right D.C. ? 1
Slightly Off Tape to Right
Easy Left A B
Way Off Tape to Right
Hard Left C
Slightly Off Tape to Left
Easy Right
On Tape
Go Straight
Way Off Tape to Left
Hard Right
Completely Off Tape
Loop
A/D
D/A
State Machine
> L M R
Mode
Mater
Clock
3-bit
Value L2 L1 L0
3-bit
Value R2 R1 R0

6. PWM Generator fx > GT 3-bit cntr 3-bit Comparator EQ LT
How should these be combined?
Want to be able to generate variable Duty Cycle up to and including 100%. Frequency needs to be 5kHz to Motors.
3-bit
Value
Both 3-bit Values are generated by State Machine to control PWM Duty Cycle for each Motor L2 L1 L0 R2 R1 R0
How is Fx determined?

7. Interim State Machine 010 000 Ignore 101 Straight L = 85 R = 85 110
Right
L = 85
R = 50
110
100
Left
L = 50
R = 85
001
011
111
111
Lost Right
L = 85
R = 0
Lost Left
L = 0
R = 85
111
111

8. Final State Machine Controller
Straight
L = 90
R = 90
101
Arc Left
L = 50
R = 90
001
Hard Right
Arc Right
L = 90
R = 50
R = 0
100
110
Hard Left
L = 0
R = 90
011
Ignore
010
000
Lost
L = 90
R = 0
111

9. Remember state P D Q S0 C P D Q S3 C DS0 DS3 QS0 QS3 P D Q S1 C P D Q
CLK

10. Generate Outputs
QS0 L2 L1 L0
QS1
Determine in what states you want to have the output set to a High and OR those Qxy signals together
EXAMPLE:
L2 =
QS2
QS3 R2 R1 R0
QS0
QS1
QS2
QS3
QS4
QS5

11. Generate Inputs
DS0
DS1
Determine what sensor inputs required to move into a particular state and AND those LMR signals together.
EXAMPLE:
DS2
DS3
DS0
= LM’R
DS4
DS5