Using the dead zone settings from problem 1, design a motor speed controller. Settings within around .2ms of the dead zone will make the motor run slower. The closer to the dead zone the slower the motor will run. Include at least four speed settings for each motor. See if you can get the robot to move in a straight line at a slow speed.

problem 1

Develop a counter design to find the dead zone of a converted R/C servo motor. The dead or null zone is the time near 1.5ms that actually makes the servo motor stop moving. As in the example motor driver code, send a width adjusted pulse every 20ms. You will need a resolution of at least .01ms to find the dead zone, so a clock faster than the example code is required. For example, the motor might actually stop at 1.54ms instead of 1.50ms. Use the clk_div FPGAcore function to provide the clock. The design should increase the width of the timing pulse if one pushbutton is hit and decrease the width if the other pushbutton is hit. Display the width of the timing pulse in the seven-segment LEDs. Use a Cyclone DIP-switch input to select the motor to examine. By hitting the pushbuttons, you should be able to stop and reverse the motor. The dead zone will be between the settings where the drive wheel reverses direction. At the dead zone, the drive wheel should stop. Settings near the dead zone will make the motor run slower. Record the dead zone for both the left and right motor.