🤖 RoboMotion-FPGA

FPGA-Based Omnidirectional Mobile Manipulator Control System

4-Wheel Omni Chassis · 6-DOF Servo Arm · CORDIC Kinematics
Multi-UART Control · Sensor Suite · PID Motor Driver

📖 中文文档 · 🏗️ Architecture · 🧱 Modules · 📡 UART Protocol · 🚀 Quick Start

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📖 Overview

⚡ RoboMotion-FPGA is a complete Verilog HDL control system for a mobile manipulation robot targeting Xilinx FPGA platforms. It integrates an omnidirectional four-wheel chassis, a six-servo robotic arm subsystem, sensor and display peripherals, and multiple UART command interfaces into a single, unified top-level hardware design — purpose-built for autonomous mobile grasping applications. 🎯

🤖   🏃💨   📡   🦾   🚗 🚗 🚗 🚗 🚗 🚗

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✨ Highlights

What makes this project ✨ Awesome ✨?

🚗 Mobile Chassis 4-channel DC motor drive with encoder feedback, PWM output, and speed PID closed-loop control. Smooth and precise motion guaranteed! 🏎️💨	🧮 Kinematics Engine Three motion models: Mecanum 🔄, 4-wheel omni ➕, and 3-wheel omni 🔺 — selectable at runtime via UART. Pick your wheels, pick your moves! 😎	🦾 Robotic Arm 6-channel servo PWM with CORDIC-based inverse kinematics for arm positioning and gripper control. Reach, grab, conquer! 🎯✊
📡 Multi-Protocol UART Bluetooth control 📱, machine-vision input 👁️, configuration ACK TX ✅, and FSM-based command parsing — all over configurable UART channels. Talk to your robot your way! 💬	🌡️ Sensor Suite DHT11 temperature & humidity 🌤️, UART-based distance inputs (×3) 📏, push-button inputs 🔘, and 74HC595-driven 7-segment display 🔢. Your robot has senses! 👃	🔧 Developer Friendly Modular hierarchy 🧩 and clean top-level integration — easy to understand, easy to extend. Clone it, tweak it, make it yours! 🚀😝

🚗 ────── 🧮 ────── 🦾 ────── 📡 ────── 🌡️ ────── 🔧
✨ ────────────────── 🎉 ────────────────── ✨

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🏗️ Architecture

📐 System Block Diagram 🔍

Click to expand & zoom — it all starts with robot_top!

flowchart LR
  classDef external fill:#f8fafc,stroke:#94a3b8,color:#0f172a;
  classDef top fill:#e0f2fe,stroke:#0284c7,color:#0c4a6e;
  classDef core fill:#ecfdf5,stroke:#059669,color:#064e3b;
  classDef output fill:#fff7ed,stroke:#ea580c,color:#7c2d12;
  classDef feedback fill:#fefce8,stroke:#ca8a04,color:#713f12;

  subgraph IN["🌐 External Interfaces"]
    command_in["🎮 Command Inputs<br/>BLE UART / MV UART / Stop"]
    sensor_in["🌡️ Sensor Inputs<br/>Range UARTs / DHT11 / Key"]
    enc["🔄 Motor Feedback<br/>Encoder A/B ×4"]
  end

  robot_top["🧩 robot_top<br/>System Integration"]

  subgraph CHASSIS["⚙️ motor_chip_top — Chassis Control"]
    chassis_uart["📡 uart_ctrl<br/>Speed + Config Decode"]
    wheel_ctrl["🔄 wheel_ctrl<br/>Kinematics + Motor Targets"]
    motor_driver["🔌 dc_motor_driver_top ×4<br/>PID + Encoder + PWM"]
  end

  subgraph ARM["🦾 arm_top — 6-Channel Servo Arm"]
    arm_uart["📡 uart_arm_mv / uart_arm_ble<br/>Target + Action Decode"]
    arm_motion["📐 motion<br/>CORDIC Inverse Kinematics"]
    servo_pwm["⚡ steer_pwm ×6<br/>Servo Pulse Generation"]
  end

  subgraph DISPLAY["📟 disp_top — Sensors & Display"]
    sensing["📏 distance ×3 + dht11_ctrl<br/>Sensor Sampling"]
    display["🔢 hex_top + hc595_driver<br/>7-Segment Display"]
    guard["🛡️ distance_en / direction_en<br/>Chassis Assist Signals"]
  end

  command_in --> robot_top
  sensor_in --> robot_top
  enc --> robot_top

  robot_top --> chassis_uart
  chassis_uart --> wheel_ctrl
  wheel_ctrl --> motor_driver
  motor_driver --> motors["🚗 M1–M4<br/>H-Bridge + PWM"]
  enc -. ↩ feedback .-> motor_driver
  chassis_uart --> uart_tx["📤 uart_tx<br/>Config ACK"]

  robot_top --> arm_uart
  arm_uart --> arm_motion
  arm_motion --> servo_pwm
  servo_pwm --> servos["🦾 steera–steerf<br/>Servo PWM"]

  robot_top --> sensing
  sensing --> display
  display --> panel["📟 shcp / stcp / ds"]
  sensing --> guard -. 🛡️ safety feedback .-> wheel_ctrl

  class command_in,sensor_in external;
  class robot_top top;
  class chassis_uart,wheel_ctrl,motor_driver,arm_uart,arm_motion,servo_pwm,sensing,display,guard core;
  class motors,uart_tx,servos,panel output;
  class enc,guard feedback;

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🧱 Modules

📦 What's Inside the Toolbox? 🔧

🏷️ Subsystem	⚡ Top Module	🔑 Key Files
🧩 System Integration	robot_top.v	Connects chassis, arm, display, sensors, and UART channels
⚙️ Chassis Control	motor_chip_top.v	wheel_ctrl.v, dc_motor_driver_top.v, uart_ctrl.v
🔄 Wheel Kinematics	wheel_ctrl.v	Mcknum_wheel_calculate.v, all_direction_wheel_four_calculate.v, all_direction_wheel_three_calculate.v
🔌 Motor Driver	dc_motor_driver_top.v	controller.v, controller_PID.v, encoder.v, pwm_generate.v
🦾 Robotic Arm	arm_top.v	motion.v, steer_pwm.v, uart_arm_ble.v, uart_arm_mv.v
📐 CORDIC Math	motion.v	cordic_sincos.v, cordic_arctan.v, cordic_arccos.v, cordic_arctanh.v
📟 Sensors & Display	disp_top.v	dht11_ctrl.v, distance.v, hc595_driver.v, hex_top.v

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📡 UART Protocol

💬 How to Talk to Your Robot 🤖

💡 Tip: Successful configuration commands return Set Successful! over UART. 🎉

Command parsing is a mix of ASCII keyword commands and fixed binary frames.

🎛️ Category	⌨️ Command	📝 Description	📋 Example / Range
🔧 System	baud+<n>	Set UART baud preset	baud+0 – baud+4
🚗 Motion	wheel+<n>	Select wheel kinematics model	wheel+0 Mecanum 🔄, wheel+1 4-wheel omni ➕, wheel+2 3-wheel omni 🔺
⚙️ Config	gr+<value>	Set gear ratio	gr+30
⚙️ Config	Ppr+<value>	Set encoder PPR	Ppr+13
⚙️ Config	alen+<mm>	Set chassis dimension A 📏	alen+200
⚙️ Config	blen+<mm>	Set chassis dimension B 📏	blen+150
🎮 Control	55 A5 sx x sy y sz z F0	Chassis speed frame with sign bytes sx/sy/sz and magnitudes x/y/z 🏎️	sx/sy/sz: 00 positive ✅, 01 negative ❌
💃 Action	55 C5 mode F0	Preset dance control frame 🕺	mode=01 start ▶️, mode=00 clear/reset ⏹️
🦾 Arm BLE	DD EE ... FF	Arm action frame for observe 👀 / move 🎯 / pack 📦 / put 🫳 / catch ✊	Parsed by uart_arm_ble.v
🦾 Arm MV	AA BB ... CC	Vision target frame carrying color 🎨, signed X/Y 📍, and theta 🧭	Parsed by uart_arm_mv.v

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📦 Repository Layout

🗂️ File Tree — Where Everything Lives 🏡

📦 RoboMotion-FPGA/
├── 📂 verilog/                       📦 56 Hardware Source Files
│   ├── 📂 rtl/                       🔧 RTL Design Sources
│   │   ├── 📂 top/                   🧩 System Tops (robot_top, arm_top, motor_chip_top, ...)
│   │   ├── 📂 comm/                  📨 UART Communication (uart_*, fsm_baud)
│   │   ├── 📂 motion/                🔄 Kinematics & Motion Control
│   │   ├── 📂 motor/                 🔌 Motor Driver, PID, Encoder, PWM
│   │   ├── 📂 math/                  📐 CORDIC, Multiplier, Divider
│   │   ├── 📂 peripheral/            🌡️ Sensor, Display, Timer, Key Filter
│   │   └── 📂 protocol/              📋 FSM Protocol Parsers (fsm_gr, fsm_ppr, ...)
│   ├── 📂 filelists/                 📋 Legacy filelists (Windows absolute paths)
│   ├── 📂 tb/                        🚧 Testbench directory (currently empty)
│   └── 📂 sim/                       🚧 Simulation directory (currently empty)
├── 📂 constrain/                     📏 Pin Constraints
│   ├── 📄 robot_top_constrain.xdc
│   └── 📄 disp_top_constrain.xdc
└── 📄 README.md / README_CN.md       📖 Documentation

🔍 Expand Full Hardware Topology 🏗️

🧩 robot_top
├── 📟 disp_top
│   ├── 🔢 hex_top / hc595_driver
│   ├── 🌡️ dht11_ctrl
│   ├── 📏 distance ×3
│   ├── 📡 uart_ble
│   └── 🔘 switch_key_filter
├── ⚙️ motor_chip_top
│   ├── 🔄 wheel_ctrl
│   │   ├── 🛞 Mcknum_wheel_calculate
│   │   ├── ➕ all_direction_wheel_four_calculate
│   │   ├── 🔺 all_direction_wheel_three_calculate
│   │   └── 🔌 dc_motor_driver_top ×4
│   │       ├── 🧭 encoder / encoder_AB_detect
│   │       ├── 🧠 controller / controller_PID / controller_Speed_loop
│   │       ├── ⚡ pwm_generate
│   │       └── 🔩 dc_motor_driver
│   └── 📡 uart_ctrl
│       ├── 📋 fsm_gr / fsm_ppr / fsm_wheel / fsm_a_len / fsm_b_len / fsm_baud
│       ├── 🎮 uart_cmd / dance_cmd
│       ├── 🧮 multiplier / divider
│       └── 📤 uart_data_tx
└── 🦾 arm_top
    ├── 📐 motion
    │   ├── 🌀 cordic_sincos
    │   ├── 🧭 cordic_arctan
    │   └── 📏 cordic_arccos
    ├── ⚡ steer_pwm ×6
    ├── 👁️ uart_arm_mv
    └── 📶 uart_arm_ble

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🛠️ Development Environment

🖥️ Tool	🎯 Purpose
	Synthesis, implementation, timing analysis, and bitstream generation
	Target hardware; see .xdc files for package pin assignments

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🚀 Quick Start

⚡ Get Up and Running in 7 Steps! 🏁

1. 📁 Create a new project in Xilinx Vivado
2. 📥 Add all Verilog sources from verilog/rtl/
3. 📌 Add XDC constraints from constrain/
4. 🔄 Regenerate or replace the bundled filelists if your toolflow cannot use the legacy Windows absolute paths in verilog/filelists/
5. 🎯 Set robot_top.v as the system top module
6. ⚙️ Run Synthesis → Implementation → Generate Bitstream
7. 🔌 Download the bitstream to your FPGA board and power on ⚡

📁 ──→ 📥 ──→ 📌 ──→ 🔄 ──→ 🎯 ──→ ⚙️ ──→ 🔌 ✨ Done! ✨

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📊 Project Stats

📈 Metric	🔢 Count	🏁 Status
🧩 Verilog Modules	56	🏆
📏 XDC Constraints	2	✅
📐 CORDIC Operators	4	✅
🔄 Kinematic Models	3	✅
📡 UART Interfaces	4+	✅
🔌 Motor Channels	4	✅
⚡ Servo Channels	6	✅

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🙏 Acknowledgements

🤝 Special thanks to...	💝 Appreciation
Xilinx / AMD FPGA Ecosystem	🎯
The Open-Source HDL Community	🌍
All Contributors & Users	🫵😝

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📜 License

This project is intended for educational and research use. 📚🔬

📖 ──→ 🧠 ──→ 💡 ──→ 🤖