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Robot Control Library: Overview Details Name: robot_control_library Created: 02-Dec-2005 22:12:47 Updated: 14-Feb-2007 20:07:59 CVS: no files in cvs Other project properties Category :: Library Language :: VHDL Project maintainers Michael Jessen Jimmy Jorgensen Statistics view Opened bugs project has opened bugs General Robot Control library The aim of this project is to design and implement general control, sensor and actuator ip modules for robot applications. The modules will optionally connect to a opb or WishBone bus. Configuration of the individual modules are managed through the bus. A control loop is constructed by connecting the input/output of the individual modules together. This allows for parallel connection of multiple control loops. Features PWM encoder 32 bit OPB interface. Drivers for Microblaze. Supports 2-phase, 1-phase and enable chopping. Programmable frequency and variable PWM width. Quadrature decoder 32 bit OPB interface. Drivers for Microblaze. Outputs position, velocity and accelleration. Velocity and acceleration is output in clocks between each tick. Stepper control 32 bit OPB interface. Drivers for Microblaze. Full-step and Half-step. Programmable step speed. PID 32 OPB interface. Drivers for Microblaze. Up to 32 synchronous/pipelined instances. Sample rate from 0.4Mhz to 15Mhz on Xilinx Spartan3e. Fixed-point artihmetic. PS2 Joypad driver 32 OPB interface. Drivers for Microblaze. Connects to digital and analog Playstation2 compatible Joypads. SPI core None Status Spline module under development. WishBone interface for each module under development. Floating point arithmetic for PID unde development.