基于FPGA的手柄遥控排爆机器人

本文主要是介绍基于FPGA的手柄遥控排爆机器人，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

FPGA开发之游戏手柄遥控排爆机器人

使用对象：PS2游戏手柄，L298N电机驱动模块，履带底盘，6自由度机械臂
使用环境：ISE14.7和BASYS2开发板

1.排爆机器人展示

这里写图片描述

这里写图片描述
整体原理简介
该排爆机器人硬件部分为一个履带底盘和一个6自由度的机械臂，通过PS2游戏手柄遥控，fpga开发板接收遥控信号并控制机器人的运动，输出6路PWM波控制6自由度机械臂，还有2路pwm波控制底盘电机。

2.Verilog代码实现

所用PS2游戏手柄的SPI协议解析和输出PWM波的原理可以参考代码注释和我的前两篇博客

`timescale 1ns / 1ps
module spi_control_pwm(input clk,              //板载50Mhz时钟信号input reset,的output [7:0] ledout,       //板上八个LED灯亮，指示正常工作状态以及第四个接收到byteoutput spi_clk,         //SPI通讯时钟线output spi_cs,          //SPI通讯片选信号线output spi_mosi,        //SPI通讯写端口input spi_miso,         //SPI通讯读端口inout [7:0] pwm_out,    //八路PWM输出output [3:0] motor_io     //控制电机正反转);
reg [1:0] moto1=0;    //控制电机正反转，原理参考L298N电机驱动模块原理图
reg [1:0] moto2=0;
reg [7:0] data_out; 
reg [7:0] data_in1;    //接收到的数据，八位的字节
reg [7:0] data_in2;
reg [7:0] data_in3;
reg [7:0] data_in4;
reg [7:0] data_in5;
reg [7:0] data_in6;
reg sclk=1;          //SPI通讯时钟线  
reg smosi=1;           //SPI通讯写
reg smiso=0;           //SPI通讯读
reg scs;                //SPI通讯片选信号
reg [9:0] cnt_clk_6us=0;
reg clk_6us=1;
reg [15:0] cnt_1020us=0;
reg clk_1020us=0;
reg [7:0] led_set=0;
reg trig=1;
reg [3:0] count_for_trig=0;
reg [7:0] count_trig=0;
reg [3:0] motor_set=0;
reg [7:0] pwm_set=0;
reg [19:0] count_for_pwmclk=0;
reg pwm_clk=0;
always @(posedge clk)
beginif(cnt_clk_6us == 10'b00_1001_0110-1) begin     //产生6us信号cnt_clk_6us <= 0;clk_6us <= ~clk_6us;   //按位取反endelsecnt_clk_6us <= cnt_clk_6us + 1;if(cnt_1020us == 16'b0110_0011_1001_1100-1) begin    //周期1020uscnt_1020us <= 0;clk_1020us <= ~clk_1020us;  endelsecnt_1020us <= cnt_1020us + 1;if(count_for_pwmclk == 20'b0000_0000_0000_1111_1010-1) begin    // 0.01ms触发一次，故pwm波形精度为0.01mscount_for_pwmclk <= 0;pwm_clk <= ~pwm_clk;   //按位取反endelsecount_for_pwmclk <= count_for_pwmclk + 1;
endreg [11:0] count_pwm=0;
reg [11:0] pwm_compare1=12'b0000_1001_0110;  //初值定在150，即1.5ms，是舵机的中位
reg [11:0] pwm_compare2=12'b0000_1001_0110;
reg [11:0] pwm_compare3=12'b0000_1001_0100;   //初值148，控制360度舵机  
reg [11:0] pwm_compare4=12'b0000_1001_0110;
reg [11:0] pwm_compare5=12'b0000_1001_0110;
reg [11:0] pwm_compare6=12'b0000_1001_0110;
reg [11:0] pwm_compare7=12'b0000_1001_0110;
reg [11:0] pwm_compare8=12'b0000_1001_0110;
reg [11:0] speed_temp;reg pwm_flag1=0;
reg pwm_flag2=0;
reg pwm_flag3=0;
reg pwm_flag4=0;
reg pwm_flag5=0;
reg pwm_flag6=0;
reg pwm_flag7=0;
reg pwm_flag8=0;always @( posedge clk_1020us)
begin
led_set<=data_in1;
count_for_trig<=count_for_trig+1;if (count_for_trig==4'b0001)trig<=0;else if (count_for_trig==4'b0010)trig<=1;else    if (count_for_trig==4'b1010)count_for_trig<=4'b0000;
end控制pwm信号/
always @(posedge scs)    //每10ms跟新一次PWM输出和电机驱动状态
beginif ((data_in1[4]==0)&(pwm_compare1<250))    //control pwm1pwm_compare1<=pwm_compare1+1;else if((data_in1[6]==0)&(pwm_compare1>50))pwm_compare1<=pwm_compare1-1;if ((data_in1[7]==0)&(pwm_compare2<250))    //control pwm2pwm_compare2<=pwm_compare2+1; else if((data_in1[5]==0)&(pwm_compare2>50))pwm_compare2<=pwm_compare2-1;if ((data_in2[2]==0)&(pwm_compare3<250))    //control pwm3  1.48ms控制360度舵机pwm_compare3<=pwm_compare3+1;else if((data_in2[3]==0)&(pwm_compare3>50))pwm_compare3<=pwm_compare3-1;if ((data_in2[6]==0)&(pwm_compare4<250))    //control pwm4pwm_compare4<=pwm_compare4+1;else if((data_in2[4]==0)&(pwm_compare4>50))pwm_compare4<=pwm_compare4-1;if ((data_in2[0]==0)&(pwm_compare5<250))        //control pwm5pwm_compare5<=pwm_compare5+1;else if((data_in2[1]==0)&(pwm_compare5>50))pwm_compare5<=pwm_compare5-1;if ((data_in2[7]==0)&(pwm_compare6<250))        //control pwm6pwm_compare6<=pwm_compare6+1;else if((data_in2[5]==0)&(pwm_compare6>50))pwm_compare6<=pwm_compare6-1;if ((data_in4<127)|(data_in4>132))      //检测左摇杆Y方向是否拨动beginif (data_in4<123)  //前进beginspeed_temp<=((~data_in4)&7'b01111111)<<4;if ((data_in5>126)&(data_in5<135)) //偏向拨杆没有拨动  beginpwm_compare7<=speed_temp;pwm_compare8<=speed_temp;endelse if (data_in5<127)beginpwm_compare8<=speed_temp-(((~data_in5)&7'b01111111)<<4);   //左右偏航pwm_compare7<=speed_temp;endelse if (data_in5>132)beginpwm_compare7<=speed_temp-((data_in5-128)<<4);pwm_compare8<=speed_temp;endmoto1<=2'b10;moto2<=2'b10;endelse if(data_in4>132) //后退beginmoto1<=2'b01;moto2<=2'b01;pwm_compare7<=(data_in4-128)<<3;pwm_compare8<=pwm_compare7;endendelse if((data_in4>126)&(data_in4<132))beginmoto1<=2'b00;moto2<=2'b00;if((data_in3<123)|(data_in3>132))    //原地左右转beginif (data_in3<123)beginpwm_compare7<=((~data_in3)&7'b01111111)<<3;pwm_compare8<=((~data_in3)&7'b01111111)<<3;moto1<=2'b10;moto2<=2'b01;endelse if (data_in3>132)beginpwm_compare7<=(data_in3-128)<<3;pwm_compare8<=(data_in3-128)<<3;moto1<=2'b01;moto2<=2'b10;endendendendalways @(posedge pwm_clk)    //控制八路pwm信号输出
begincount_pwm<=count_pwm+1;if (count_pwm < pwm_compare1)   //pwm1pwm_flag1<=1;elsepwm_flag1<=0;if (count_pwm < pwm_compare2)   //pwm2pwm_flag2<=1;elsepwm_flag2<=0;if (count_pwm < pwm_compare3)   //pwm3pwm_flag3<=1;elsepwm_flag3<=0;if (count_pwm < pwm_compare4)   //pwm4pwm_flag4<=1;elsepwm_flag4<=0;   if (count_pwm < pwm_compare5)   //pwm5pwm_flag5<=1;elsepwm_flag5<=0;if (count_pwm < pwm_compare6)   //pwm6pwm_flag6<=1;elsepwm_flag6<=0;if (count_pwm < pwm_compare7)   //pwm7pwm_flag7<=1;elsepwm_flag7<=0;if (count_pwm < pwm_compare8)   //pwm8pwm_flag8<=1;elsepwm_flag8<=0;   if (count_pwm ==12'b0111_1101_0000-1)count_pwm<=0;endalways @(negedge clk_6us)
beginif (trig==0)beginscs<=0;count_trig<=count_trig+1;//spi_clk波形产生if ((0<count_trig)&(count_trig<17))   //byte1sclk<=~sclk;else if ((19<count_trig)&(count_trig<36))  //byte2sclk<=~sclk;else if ((38<count_trig)&(count_trig<55))  //byte3sclk<=~sclk;else if ((57<count_trig)&(count_trig<74))  //byte4sclk<=~sclk;else if ((76<count_trig)&(count_trig<93))  //byte5sclk<=~sclk;else if ((95<count_trig)&(count_trig<112))  //byte6sclk<=~sclk;else if ((114<count_trig)&(count_trig<131))  //byte7sclk<=~sclk;else if ((133<count_trig)&(count_trig<150))  //byte8sclk<=~sclk;else if ((152<count_trig)&(count_trig<169))  //byte9sclk<=~sclk;///mosi波形产生///if (count_trig<2)smosi<=1;else if ((20<count_trig)&(count_trig<23))smosi<=1;else if ((30<count_trig)&(count_trig<33))smosi<=1;else smosi<=0;//读取misoif (count_trig==58)    //读byte4data_in1[0]<=spi_miso;else if (count_trig==60)data_in1[1]<=spi_miso;else if (count_trig==62)data_in1[2]<=spi_miso;else if (count_trig==64)data_in1[3]<=spi_miso;else if (count_trig==66)data_in1[4]<=spi_miso;else if (count_trig==68)data_in1[5]<=spi_miso;else if (count_trig==70)data_in1[6]<=spi_miso;else if (count_trig==72)data_in1[7]<=spi_miso;  if (count_trig==77)    //读byte5data_in2[0]<=spi_miso;else if (count_trig==79)data_in2[1]<=spi_miso;else if (count_trig==81)data_in2[2]<=spi_miso;else if (count_trig==83)data_in2[3]<=spi_miso;else if (count_trig==85)data_in2[4]<=spi_miso;else if (count_trig==87)data_in2[5]<=spi_miso;else if (count_trig==89)data_in2[6]<=spi_miso;else if (count_trig==91)data_in2[7]<=spi_miso;  if (count_trig==96)    //读byte6data_in3[0]<=spi_miso;else if (count_trig==98)data_in3[1]<=spi_miso;else if (count_trig==100)data_in3[2]<=spi_miso;else if (count_trig==102)data_in3[3]<=spi_miso;else if (count_trig==104)data_in3[4]<=spi_miso;else if (count_trig==106)data_in3[5]<=spi_miso;else if (count_trig==108)data_in3[6]<=spi_miso;else if (count_trig==110)data_in3[7]<=spi_miso;  if (count_trig==115)    //读byte7data_in4[0]<=spi_miso;else if (count_trig==117)data_in4[1]<=spi_miso;else if (count_trig==119)data_in4[2]<=spi_miso;else if (count_trig==121)data_in4[3]<=spi_miso;else if (count_trig==123)data_in4[4]<=spi_miso;else if (count_trig==125)data_in4[5]<=spi_miso;else if (count_trig==127)data_in4[6]<=spi_miso;else if (count_trig==129)data_in4[7]<=spi_miso;if (count_trig==134)    //读byte8data_in5[0]<=spi_miso;else if (count_trig==136)data_in5[1]<=spi_miso;else if (count_trig==138)data_in5[2]<=spi_miso;else if (count_trig==140)data_in5[3]<=spi_miso;else if (count_trig==142)data_in5[4]<=spi_miso;else if (count_trig==144)data_in5[5]<=spi_miso;else if (count_trig==146)data_in5[6]<=spi_miso;else if (count_trig==148)data_in5[7]<=spi_miso;if (count_trig==153)    //读byte8data_in6[0]<=spi_miso;else if (count_trig==155)data_in6[1]<=spi_miso;else if (count_trig==157)data_in6[2]<=spi_miso;else if (count_trig==159)data_in6[3]<=spi_miso;else if (count_trig==161)data_in6[4]<=spi_miso;else if (count_trig==163)data_in6[5]<=spi_miso;else if (count_trig==165)data_in6[6]<=spi_miso;else if (count_trig==167)data_in6[7]<=spi_miso;  endelse if(trig==1)beginscs<=1;sclk<=1;count_trig<=0;endendassign pwm_out[0]=pwm_flag1;
assign pwm_out[1]=pwm_flag2;
assign pwm_out[2]=pwm_flag3;
assign pwm_out[3]=pwm_flag4;
assign pwm_out[4]=pwm_flag5;
assign pwm_out[5]=pwm_flag6;
assign pwm_out[6]=pwm_flag7;
assign pwm_out[7]=pwm_flag8;
assign motor_io[0]=moto1[1];
assign motor_io[1]=moto1[0];
assign motor_io[2]=moto2[1];
assign motor_io[3]=moto2[0];
assign ledout = led_set;
assign spi_clk=sclk;
assign spi_cs=scs;
assign spi_cs=scs;
assign spi_mosi=smosi;endmodule