Midterm review session tomorrow 4:15 EEB125 Midterm 2 in class (45min long, starts at 10:35am) Today Abi bigger example: Hungry Robot Ant in Maze
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1 ecture 19 ogistics HW7 due now A few days off before HW8 kicks in Midterm review session tomorrow 4:15 EEB125 Midterm 2 in class (45min long, starts at 10:35am) ast lecture Moore and Mealy machines Today Abi bigger example: Hungry obot Ant in Maze 1 obotic ant in a maze obot ant, physical maze Maze has no islands Corridors are wider than ant Design the robotic ant s brain to get to the food! Food! start 2
2 obot ant specifics Sensors: and antennae, 1 if touching wall Actuators: F - forward step, T/T - turn left/right Goal: find way out of maze to get to food. Strategy: keep the wall on the right 3 Example: ant brain (special case 1) eft () Antenna touching the wall 4
3 Example: ant brain (special case 2) Ant ost 5 Example: ant brain (special case 2) Ant ost (another example) 6
4 obot Ant behavior A: Following wall, touching Go forward, turning left slightly B: Following wall, not touching Go forward, turning right slightly l C: Break in wall Go forward, turning right slightly D: Hit wall again Back to state A E: Wall in front F:...we are here, same as Turn left until... state B OST: Forward until we touch something G: Turn left until... 7 Notes & strategy Notes Maze has no islands Corridors are wider than ant Don t worry about startup Assume a Moore machine Assume D flip-flops Strategy Keep the wall on the right 8
5 Design the ant-brain FSM 1. State diagram 2. State-transition table 3. State minimization 4. State encoding 5. Next-state logic minimization 6. Implement the design 9 obot Ant behavior A: Following wall, touching Go forward, turning left slightly B: Following wall, not touching Go forward, turning right slightly l C: Break in wall Go forward, turning right slightly D: Hit wall again Back to state A E: Wall in front F:...we are here, same as Turn left until... state B OST: Forward until we touch something G: Turn left until... 10
6 Notations Sensors on and antennae Sensor = 1 if touching wall; 0 if not touching wall '' no wall ' wall on right ' wall on left wall in front Movement F forward one step T turn left slightly T turn right slightly State Diagram + OST (F) + E/G (T) A (T, F) B (T, F) C (T, F) 12
7 2. State Transition Table Using symbolic states and outputs state next state outputs OST 0 0 OST F OST 1 E/G F OST 1 E/G F E/G 0 0 B T E/G 1 E/G T E/G 1 E/G T B 0 C T, F B 1 A T, F A 0 0 B T, F A 0 1 A T, F A 1 E/G T, F C 0 C T, F C 1 A T, F OST (F) + E/G (T) + A (T, F) B (T, F) C (T, F) State minimization Any equivalent states? + OST (F) + E/G (T) A (T, F) B (T, F) C (T, F) 14
8 Sure! Now you can represent states with 2 bits + OST (F) + E/G (T) A (T, F) B/C (T, F) State encoding state next state outputs OST 0 0 OST F OST 1 E/G F OST 1 E/G F E/G 0 0 B/C T E/G 0 1 E/G T E/G 1 E/G T A 0 0 B T, F A 1 A T, F A 1 E/G T, F B/C 0 B/C T, F B/C 1 A T, F state inputs next state outputs X,Y X+,Y+ F T T
9 5. Next state logic minimization state inputs next state outputs X,Y X',Y' F T T Y F X Y X+ X Y+ X Y T X T X Y Y 6. Circuit Implementation Outputs are a function of the current state only - Moore machine output logic next state logic Next State X + Y + F T T Current State X Y 18
10 Extra credit (worth 15pts equivalent in a midterm) Design the robotic ant s brain with virtual maze representation Due last day in class, Friday, June 6; printouts only Graded on clarity and completeness of explanation No questions will be answered Food! 0, ,127 start 0,0 127,0 19 The maze Virtual maze grid Stored in memory bit words YX is maze addresses X is the ant s horizontal position (7 bits) Y is the ant s vertical position (7 bits) Each memory location says No wall North wall Can have multiple walls West wall Example: South wall Walls on South and East East wall Exit 20
11 Design of different components Predesigned: Ant-Brain FSM Forward Turn right Turn left SAM Maze Data Submit the designs for: Forward East West Preload Forward North South Preload X counter Y counter SAM Address Antennae logic Heading (shift register) North South East West 21 ecommendations Memory controller Move horizontally: Increment or decrement X Move vertically: Increment or decrement Y Shift register for heading N: 0001 W: 0010 S: 0100 E: 1000 otate right when ant turns right otate left when ant turns left Combinational logic for antennae logic 22
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