Robot Control Library

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.