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Example: RoboAnt

Example: RoboAnt. Let’s build an Ant Sensors: Antennae (L,R) – 1 when in contact Actuators: Legs Forward step F Ten degree turns TL, TR Goal: make our ant smart enough to get out of a maze Strategy: keep right antenna on wall

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Example: RoboAnt

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  1. Example: RoboAnt Let’s build an Ant Sensors: Antennae (L,R) – 1 when in contact Actuators: Legs Forward step F Ten degree turns TL, TR Goal: make our ant smart enough to get out of a maze Strategy: keep right antenna on wall (RoboAnt adapted from MIT 6.004 2002 OpenCourseWare by Ward and Terman) L R CAMS, ROMs and PLAs

  2. Lost in space • Action: go forward until we hit something • Initial state CAMS, ROMs and PLAs

  3. Bonk!!! • Action: turn left (rotate counterclockwise) • Until we don’t touch anymore CAMS, ROMs and PLAs

  4. A little to the right • Action: step forward and turn right a little • Looking for wall CAMS, ROMs and PLAs

  5. Then a little to the right • Action: step and turn left a little, until not touching CAMS, ROMs and PLAs

  6. Whoops – a corner! • Action: step and turn right until hitting next wall CAMS, ROMs and PLAs

  7. Simplification • Merge equivalent states where possible CAMS, ROMs and PLAs

  8. State Transition Table Lost RCCW Wall1 Wall2 CAMS, ROMs and PLAs

  9. ROM Implementation • 16-word x 5 bit ROM CAMS, ROMs and PLAs

  10. ROM Implementation • 16-word x 5 bit ROM CAMS, ROMs and PLAs

  11. PLAs • A Programmable Logic Array performs any function in sum-of-products form. • Literals: inputs & complements • Products / Minterms: AND of literals • Outputs: OR of Minterms • Example: Full Adder CAMS, ROMs and PLAs

  12. NOR-NOR PLAs • ANDs and ORs are not very efficient in CMOS • Dynamic or Pseudo-nMOS NORs are very efficient • Use DeMorgan’s Law to convert to all NORs CAMS, ROMs and PLAs

  13. PLA Schematic & Layout CAMS, ROMs and PLAs

  14. PLAs vs. ROMs • The OR plane of the PLA is like the ROM array • The AND plane of the PLA is like the ROM decoder • PLAs are more flexible than ROMs • No need to have 2n rows for n inputs • Only generate the minterms that are needed • Take advantage of logic simplification CAMS, ROMs and PLAs

  15. Example: RoboAnt PLA • Convert state transition table to logic equations CAMS, ROMs and PLAs

  16. RoboAnt Dot Diagram CAMS, ROMs and PLAs

  17. RoboAnt Dot Diagram CAMS, ROMs and PLAs

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