【发布时间】：2017-01-22 22:59:09
【问题描述】：
我正在尝试开发自动驾驶汽车。我有一个传感器，可以计算我们汽车车轮的圈数。当圈数达到特定输入数时，它应该改变状态，但 if 语句似乎不起作用。它不比较两个数字，而是进入 else 语句，直到输入的 vueltas 全部为“1”。如果我更改代码并编写 if (vueltas
注意：vueltas = 西班牙语中的圈数
library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.NUMERIC_STD.ALL;
--use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;
entity Circuito is Port (
clk : in STD_LOGIC;
ir1 : in STD_LOGIC;
ir2 : in STD_LOGIC;
moverCoche : in STD_LOGIC;
angulo : in STD_LOGIC_VECTOR(4 downto 0);
vMaxCurva : in STD_LOGIC_VECTOR(4 downto 0);
posInicial : in STD_LOGIC_VECTOR(9 downto 0);
vueltasCurva : in STD_LOGIC_VECTOR(9 downto 0);
vueltasRecta : in STD_LOGIC_VECTOR(9 downto 0);
obst : in STD_LOGIC;
servoOut : out STD_LOGIC;
motorOut : out STD_LOGIC;
vueltasLed : out STD_LOGIC_VECTOR(9 downto 0);
vueltasDentroDeCircuito : out STD_LOGIC_VECTOR(11 downto 0);
revolucionesPorSeg : out STD_LOGIC_VECTOR(11 downto 0));
end Circuito;
architecture Behavioral of Circuito is
component motor_pwm_clk32kHz is Port (
clk : in STD_LOGIC;
entrada : in STD_LOGIC_VECTOR(4 downto 0);
salida : out STD_LOGIC);
end component;
component servo_pwm_clk32kHz is Port (
clk : in STD_LOGIC;
pos : in STD_LOGIC_VECTOR(4 downto 0);
servo : out STD_LOGIC);
end component;
component Contador_Vueltas is Port (
out1 : in STD_LOGIC; --Negro: 1 Blanco: 0
out2 : in STD_LOGIC; --Negro: 1 Blanco: 0
vueltas : out STD_LOGIC_VECTOR (9 downto 0);
rst : in STD_LOGIC;
clk : in STD_LOGIC);
end component;
component revoluciones is Port (
clk : in STD_LOGIC;
vueltasDentroDeCircuito : in STD_LOGIC_VECTOR(11 downto 0);
revoluciones : out STD_LOGIC_VECTOR(11 downto 0));
end component;
signal posServo, posMotor: STD_LOGIC_VECTOR(4 downto 0);
signal vueltas : STD_LOGIC_VECTOR(9 downto 0);
signal primeraVuelta : STD_LOGIC := '1';
signal sigReiniciarVueltas : STD_LOGIC;
signal sigVueltasDentroDeCircuito : STD_LOGIC_VECTOR(11 downto 0);
signal sigVueltasInicioEstado : STD_LOGIC_VECTOR(11 downto 0);
--signal sigVueltasRecta : unsigned := to_integer(unsigned(vueltasRecta));
--constant sigVueltasRecta : STD_LOGIC_VECTOR(9 downto 0) := "0000011110";
--constant sigVueltasCurva : STD_LOGIC_VECTOR(9 downto 0) := "0000011110";
signal flag : STD_LOGIC := '0';
signal Qt: STD_LOGIC_VECTOR(3 downto 0);
SUBTYPE STATE_TYPE IS STD_LOGIC_VECTOR(3 downto 0);
SIGNAL STATE: STATE_TYPE;
CONSTANT s0 : STATE_TYPE := "0000";
CONSTANT s1 : STATE_TYPE := "0001";
CONSTANT s2 : STATE_TYPE := "0010";
CONSTANT s3 : STATE_TYPE := "0011";
CONSTANT s4 : STATE_TYPE := "0100";
CONSTANT s5 : STATE_TYPE := "0101";
CONSTANT s6 : STATE_TYPE := "0110";
CONSTANT s7 : STATE_TYPE := "0111";
CONSTANT s8 : STATE_TYPE := "1000";
begin
UUT_Motor: motor_pwm_clk32kHz Port Map (
clk => clk,
entrada => posMotor,
salida => motorOut);
UUT_Servo: servo_pwm_clk32kHz Port Map (
clk => clk,
pos => posServo,
servo => servoOut);
UUT_ContadorVueltas: Contador_Vueltas Port Map (
clk => clk,
rst => sigReiniciarVueltas,
vueltas => vueltas,
out1 => ir1,
out2 => ir2);
UUT_Revoluciones: revoluciones Port Map(
clk => clk,
vueltasDentroDeCircuito => sigVueltasDentroDeCircuito,
revoluciones => revolucionesPorSeg
);
process(clk, moverCoche)
begin
if (moverCoche = '0') then
Qt <= s0;
sigReiniciarVueltas <= '1';
sigVueltasDentroDeCircuito <= (others => '0');
posServo <= "10000";
posMotor <= "10000";
elsif (clk'event and clk = '1') then
case Qt is
--Quieto
when s0 =>
posServo <= "10000";
posMotor <= "10000";
sigReiniciarVueltas <= '0';
Qt <= s1;
--Recta1
when s1 =>
sigReiniciarVueltas <= '0';
posServo <= "10000";
posMotor <= vMaxCurva; --Min: 10011
sigVueltasDentroDeCircuito <= ("00" & vueltas);
if (unsigned(vueltas) >= unsigned(vueltasRecta)) then
Qt <= s2;
sigReiniciarVueltas <= '1';
elsif (obst = '1') then
Qt <= s8;
else
-- sigVueltasRecta <= vueltasRecta;
Qt <= s1;
end if;
-- Curva1
when s2 =>
sigReiniciarVueltas <= '0';
posServo <= angulo;
posMotor <= vMaxCurva;
sigVueltasDentroDeCircuito <= posInicial + ("00" & vueltas);
if (unsigned(vueltas) >= unsigned(vueltasCurva)) then
sigReiniciarVueltas <= '1';
Qt <= s3;
elsif (obst = '1') then
Qt <= s8;
else
Qt <= s2;
end if;
--Recta2
when s3 =>
sigReiniciarVueltas <= '0';
posServo <= "10000";
posMotor <= vMaxCurva; --Min: 10011
sigVueltasDentroDeCircuito <= posInicial + vueltasCurva + ("00" & vueltas);
if (unsigned(vueltas) >= unsigned(vueltasRecta)) then
sigReiniciarVueltas <= '1';
Qt <= s4;
elsif (obst = '1') then
Qt <= s8;
else
Qt <= s3;
end if;
--Curva2
when s4 =>
sigReiniciarVueltas <= '0';
posServo <= angulo;
posMotor <= vMaxCurva;
sigVueltasDentroDeCircuito <= posInicial + vueltasCurva + vueltasRecta + ("00" & vueltas);
if (unsigned(vueltas) >= unsigned(vueltasCurva)) then
sigVueltasDentroDeCircuito <= (others => '0');
sigReiniciarVueltas <= '1';
Qt <= s4;
elsif (obst = '1') then
Qt <= s8;
else
Qt <= s1;
end if;
--Mantener Quieto
when s5 =>
posMotor <= "10000";
Qt <= s5;
when others =>
if(obst = '1') then
posMotor <= "00000";
--sigReiniciarVueltas <= '0';
Qt <= s8;
else
Qt <= s1;
end if;
end case;
vueltasDentroDeCircuito <= sigVueltasDentroDeCircuito;
vueltasLed <= vueltasRecta;
end if;
end process;
end Behavioral;
【问题讨论】：
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标签： if-statement integer signals vhdl