module Rover$($

input clk$,$

input $[3$:$0]$ SW$,$

input $[2$:$0]$ IPS,

input sw$\_$ON$,$

input FREQ,

output $[3$:$0]$ IN$,$

output $[1$:$0]$ EN

$)$;

wire $[3$:$0]$ speed; $//$ For rover use. Sent to main$\_$stateMachine

reg $[11$:$0]$ motor$\_$duty; $//$ For rover use. PWM

wire pwm$\_$pulse; $//$ Pulse signal from PWM

assign speed $=$ SW; $//$ Map switches directly to speed

always @$*$

begin

case$($speed$)$

$4\text{'}$b$0000$: motor$\_$duty $=12\text{'}$b$0000\_0000\_0000$; $//0\%$ duty cycle

$4\text{'}$b$0001$: motor$\_$duty $=12\text{'}$b$0000\_0000\_0001$; $//25\%$ duty cycle $($approx$.1/4)$

$4\text{'}$b$0010$: motor$\_$duty $=12\text{'}$b$0000\_0000\_0100$; $//50\%$ duty cycle $($approx$.2/4)$

$4\text{'}$b$0100$: motor$\_$duty $=12\text{'}$b$0000\_0000\_1100$; $//75\%$ duty cycle $($approx$.3/4)$

$4\text{'}$b$1000$: motor$\_$duty $=12\text{'}$b$0000\_0001\_1111$; $//100\%$ duty cycle $($full$)$

default: motor$\_$duty $=12\text{'}$b$0000\_0000\_0000$; $//$ Default to $0\%$ duty cycle

endcase

end

$//$ PWM for rover motors use. Has a freq of $25$kHz$.$

PWM$1$ #$(12,4095)$

motors $($

$.$clk $($clk$),$

$.$width $($motor$\_$duty$),$

$.$pulse $($pwm$\_$pulse$)//$ Connect pulse to pwm$\_$pulse

$)$;

$//$ Keeps rover on alum tape track

IPS$\_$sensor pathfinding$($

$.$clk$($clk$),$

$.$IPS$($IPS$),$

$.$IN$($IN$)$

$)$;

$//$ Main state machine

mainStateMachine main$\_$stateMachine$($

$.$clk$($clk$),$

$.$sw$\_$ON$($sw$\_$ON$),$

$.$pulse$($pwm$\_$pulse$),//$ Pass PWM pulse to main state machine

$.$EN$($EN$),$

$.$state$($MSM$\_$state$)$

$)$;

endmodule

module PWM$1$ #$($parameter SIZE $=12,$ PERIOD $=4095)$

$($input clk$,$

input $[$SIZE$-1$:$0]$ width,

output reg pulse$)$;

reg $[$SIZE$-1$:$0]$ count;

initial

begin

count $<=0$;

pulse $<=0$;

end

always @ $($posedge clk$)$

begin

count $<=($count $<$ PERIOD$)?$ count $+1$ : $0$;

pulse $<=($count $<$ width$)?1$ : $0$;

end

endmodule

$`$timescale $1$ns $/1$ps

$//////////////////////////////////////////////////////////////////////////////////$

$//$ Company:

$//$ Engineer:

$//$

$//$ Create Date: $06/25/202411$:$54$:$10$ AM

$//$ Design Name:

$//$ Module Name: IPS$\_$sensor

$//$ Project Name:

$//$ Target Devices:

$//$ Tool Versions:

$//$ Description:

$//$

$//$ Dependencies:

$//$

$//$ Revision:

$//$ Revision $0\mathrm{.}01-$ File Created

$//$ Additional Comments:

$//$

$//////////////////////////////////////////////////////////////////////////////////$

module IPS$\_$sensor$($

input clk$,$

input $[2$:$0]$ IPS,

output $[3$:$0]$ IN $//$motor inputs

$)$;

reg $[3$:$0]$ IN$\_$Last;

assign IN$[3$:$0]=$

$($~IPS$[2]$ & ~IPS$[1]$ & ~IPS$[0])?4\text{'}$b$0000$ : $//$ If all IPS lit turnoff

$($~IPS$[0])?4\text{'}$b$0100$ : $//$ go straight

$($~IPS$[2])?4\text{'}$b$0110$ : $//$ go right

$($~IPS$[1])?4\text{'}$b$0001$ : $//$ Go left.

$($IPS$[2]$ & IPS$[1]$ & IPS$[0])?4\text{'}$b$0000$ : $//$ If all IPS not lit

IN$\_$Last; $//$If right IPS lit, go right. If none lit stop.

$//$Latch to retain last value.

always @ $($posedge clk$)$

IN$\_$Last $<=$ IN;

endmodule

why are my switches not activating the pwm for the motor control to slow the motors down.