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RESULTS & CONCLUSION
N64 Controller
The controllers digital hardware had problems with taking in serial data. Originally the
serial data capture was hooked up to a 1ms clock, which attempted to stay synchronized
with the N64’s 4us/bit response, then sample at exactly 2.5us into the response. This
didn’t work very well, so it was redesigned to detect a falling edge, then wait 2.5 us, then
sample.
The controller’s analog hardware had problems because the transistor and the original
controller didn’t work as expected. The line to connect the FPGA output is actually
inverted, so there were unexpected results there. Also, the controller was not responding
correctly to the output anyway, so it may have been incorrect.
Servos and DC motors with H-Bridge
Since the PWM was generated from the hardware controller, we could simulate the
functionalities of each component independently. When we tested them one by one, we
found that all of them were working properly. Once we connected all of the components
to the bread board through a ribbon cable, certain servo or motor was acting not the way
we expected. We found out that this is because of the power supply which was connected
through the ribbon cable.
Servo for triggering gun
The servo for triggering gun actually didn’t really do its proper functionality. This is due
to the fact the torque from the servo was not enough to trigger the gun.
Ultrasonic Sensor
The sensor war perfectly working as we had expected.
Difficulties
Time constrain
Lack of external interrupt lines and timers
We concluded that most of components were working as we had expected. The ribbon
cable which connected all of components from the FPGA board to the robot was a major
problem that we encountered. We had spent lots of time to solve the problem. For
instance, we tried a capacitance and also used a voltage regulator. However, none of them
could solve our problem. We actually could have solved the problem by separating the
power supply from the ribbon cable.