module whole(clk,btn1,btn2,btn3,CP_P,CP_N,CW_P,CW_N);
input clk,btn1,btn2,btn3;
output CP_P,CP_N,CW_P,CW_N;
reg CP_P=0,CP_N=0,CW_P=0,CW_N=0;
reg[24:0] count=0;
reg flag=0;
reg rst=0,dir=0;
reg btn1_en=0,btn2_en=0,btn3_en=0;
reg btn1_blk=0,btn2_blk=0,btn3_blk=0;
reg S1=0,S2=0;
integer Cn=0;
integer step=0;
integer distance=0;
always @(posedge btn1)
begin
if(btn2==0&&btn3==0)
begin
btn1_en=1;
end
end
always @(posedge btn2)
begin
if(btn1==0&&btn3==0)
begin
btn2_en=1;
end
end
always @(posedge btn3)
begin
if(btn1==0&&btn2==0)
begin
btn3_en=1;
end
end
always @(step or distance)
begin
if(btn1_en==1) btn1_blk=1 ; //move
if(btn1_blk==1)
begin
CW_P=0; ／／direction
if(btn1)
begin
if(step<200) //reallocate accelerate
begin
S1=1;
S2=0;
end
else //reallocate invariablenes speed
begin
S1=1;
S2=1;
end
end
else
if(step>0) //reallocate decelerate
begin
S1=0;
S2=1;
end
else
begin //stop
S1=0;
S2=0;
btn1_blk=0; end
end
if(btn2_en==1) btn2_blk=1;
if(btn2_blk==1)
begin
CW_P=0; //direction
if(btn2)
begin
if(step<333) //reallocate accelerate
begin
S1=1;
S2=0;
end
else //reallocate invariablenes speed
begin
S1=1;
S2=1;
end
end
else
if(step>0) //reallocate decelerate
begin
S1=0;
S2=1;
end
else
begin //stop
S1=0;
S2=0;
btn2_blk=0;
end
end
if(btn3_en==1) btn3_blk=1;
if(btn3_blk==1)
begin
CW_P=1; //direction
if(btn3)
begin
if(step<200) //reallocate accelerate
begin
S1=1;
S2=0;
end
else //reallocate invariablenes speed
begin
S1=1;
S2=1;
end
end
else
if(step>0) //reallocate decelerate
begin
S1=0;
S2=1;
end
else
begin //stop
S1=0;
S2=0;
btn3_blk=0;
end
end
end
always @(posedge clk)
begin
CP_N=0;
CW_N=0;
if(rst) //reset
begin
distance=0;
step=0;
end
if(S1==0&&S2==0) //stop
begin
CP_P=0;
step=0;
end
if(S1==1&&S2==0) //accelerate
begin
if(count<Cn)
begin
count=count+1;
begin
if(count<500)
begin CP_P=1;
end
else
begin CP_P=0;
end
end
end
else
begin
count=0;
step=step+1;
distance=distance+1;
end
end
if(S1==0&&S2==1) //decelerate
begin
if(count<Cn)
begin
count=count+1;
begin
if(count<500)
begin
CP_P=1;
end
else
begin
CP_P=0;
end
end
end
else
begin
count=0;
step=step-1;
distance=distance+1;
end
end
if(S1==1&&S2==1) //invariablenes speed
begin
if(count<Cn)
begin
count=count+1;
begin
if(count<500)
begin
CP_P=1;
end
else
begin
CP_P=0;
end
end
end
else
begin
count=0;
distance=distance+1;
end
end
case(step)
0 :Cn= 2738613 ;
1 :Cn= 1134371 ;
2 :Cn= 870433 ;
3 :Cn= 733809 ;
4 :Cn= 646499 ;
5 :Cn= 584480 ;
6 :Cn= 537484 ;
7 :Cn= 500278 ;
8 :Cn= 469872 ;
9 :Cn= 444416 ;
10 :Cn= 422697 ;
11 :Cn= 403882 ;
12 :Cn= 387376 ;
13 :Cn= 372742 ;
14 :Cn= 359651 ;
15 :Cn= 347849 ;
16 :Cn= 337139 ;
17 :Cn= 327360 ;
18 :Cn= 318386 ;
19 :Cn= 310112 ;
20 :Cn= 302452 ;
21 :Cn= 295332 ;
22 :Cn= 288693 ;
23 :Cn= 282482 ;
24 :Cn= 276656 ;
25 :Cn= 271176 ;
26 :Cn= 266009 ;
27 :Cn= 261127 ;
28 :Cn= 256504 ;
29 :Cn= 252119 ;
30 :Cn= 247951 ;
31 :Cn= 243983 ;
32 :Cn= 240199 ;
33 :Cn= 236587 ;
34 :Cn= 233132 ;
35 :Cn= 229825 ;
36 :Cn= 226655 ;
37 :Cn= 223612 ;
38 :Cn= 220688 ;
39 :Cn= 217877 ;
40 :Cn= 215170 ;
41 :Cn= 212561 ;
42 :Cn= 210046 ;
43 :Cn= 207617 ;
44 :Cn= 205271 ;
45 :Cn= 203003 ;
46 :Cn= 200808 ;
47 :Cn= 198683 ;
48 :Cn= 196624 ;
49 :Cn= 194627 ;
50 :Cn= 192690 ;
51 :Cn= 190810 ;
52 :Cn= 188984 ;
53 :Cn= 187210 ;
54 :Cn= 185484 ;
55 :Cn= 183806 ;
56 :Cn= 182172 ;
57 :Cn= 180581 ;
58 :Cn= 179030 ;
59 :Cn= 177519 ;
60 :Cn= 176046 ;
61 :Cn= 174609 ;
62 :Cn= 173206 ;
63 :Cn= 171837 ;
64 :Cn= 170500 ;
65 :Cn= 169193 ;
66 :Cn= 167916 ;
67 :Cn= 166668 ;
68 :Cn= 165447 ;
69 :Cn= 164252 ;
70 :Cn= 163083 ;
71 :Cn= 161939 ;
72 :Cn= 160818 ;
73 :Cn= 159720 ;
74 :Cn= 158644 ;
75 :Cn= 157590 ;
76 :Cn= 156557 ;
77 :Cn= 155544 ;
78 :Cn= 154550 ;
79 :Cn= 153575 ;
80 :Cn= 152618 ;
81:Cn=151678;
82:Cn=150756;
83:Cn=149851;
84:Cn=148962;
85:Cn=148088;
86:Cn=147229;
87:Cn=146386;
88:Cn=145556;
89:Cn=144741;
90:Cn=143939;
91:Cn=143150;
92:Cn=142374;
93:Cn=141611;
94:Cn=140860;
95:Cn=140120;
96:Cn=139392;
97:Cn=138676;
98:Cn=137970;
99:Cn=137275;
100:Cn=136590;
101:Cn=135915;
102:Cn=135251;
103:Cn=134596;
104:Cn=133950;
105:Cn=133314;
106:Cn=132687;
107:Cn=132068;
108:Cn=131458;
109:Cn=130856;
110:Cn=130263;
111 :Cn= 129677 ;
112 :Cn= 129100 ;
113 :Cn= 128530 ;
114 :Cn= 127967 ;
115 :Cn= 127412 ;
116 :Cn= 126864 ;
117 :Cn= 126323 ;
118 :Cn= 125789 ;
119 :Cn= 125262 ;
120 :Cn= 124741 ;
121 :Cn= 124226 ;
122 :Cn= 123718 ;
123 :Cn= 123216 ;
124 :Cn= 122720 ;
125 :Cn= 122231 ;
126 :Cn= 121746 ;
127 :Cn= 121268 ;
128 :Cn= 120795 ;
129 :Cn= 120328 ;
130 :Cn= 119866 ;
131 :Cn= 119409 ;
132 :Cn= 118958 ;
133 :Cn= 118512 ;
134 :Cn= 118070 ;
135 :Cn= 117634 ;
136 :Cn= 117202 ;
137 :Cn= 116775 ;
138 :Cn= 116353 ;
139 :Cn= 115935 ;
140 :Cn= 115522 ;
141 :Cn= 115113 ;
142 :Cn= 114708 ;
143 :Cn= 114308 ;
144 :Cn= 113911 ;
145 :Cn= 113519 ;
146 :Cn= 113131 ;
147 :Cn= 112747 ;
148 :Cn= 112367 ;
149 :Cn= 111990 ;
150 :Cn= 111618 ;
151 :Cn= 111249 ;
152 :Cn= 110883 ;
153 :Cn= 110522 ;
154 :Cn= 110163 ;
155 :Cn= 109809 ;
156 :Cn= 109457 ;
157 :Cn= 109109 ;
158 :Cn= 108764 ;
159 :Cn= 108423 ;
160 :Cn= 108085 ;
161 :Cn= 107749 ;
162 :Cn= 107417 ;
163 :Cn= 107088 ;
164 :Cn= 106762 ;
165 :Cn= 106439 ;
166 :Cn= 106119 ;
167 :Cn= 105802 ;
168 :Cn= 105488 ;
169 :Cn= 105176 ;
170 :Cn= 104867 ;
171 :Cn= 104561 ;
172 :Cn= 104257 ;
173 :Cn= 103956 ;
174 :Cn= 103658 ;
175 :Cn= 103362 ;
176 :Cn= 103069 ;
177 :Cn= 102778 ;
178 :Cn= 102490 ;
179 :Cn= 102204 ;
180 :Cn= 101921 ;
181 :Cn= 101640 ;
182 :Cn= 101361 ;
183 :Cn= 101084 ;
184 :Cn= 100810 ;
185 :Cn= 100538 ;
186 :Cn= 100268 ;
187 :Cn= 100000 ;
188 :Cn= 99734 ;
189 :Cn= 99471 ;
190 :Cn= 99210 ;
191 :Cn= 98950 ;
192 :Cn= 98693 ;
193 :Cn= 98437 ;
194 :Cn= 98184 ;
195 :Cn= 97933 ;
196 :Cn= 97683 ;
197 :Cn= 97436 ;
198 :Cn= 97190 ;
199 :Cn= 96946 ;
200 :Cn= 96704 ;
201 :Cn= 96464 ;
202 :Cn= 96225 ;
203 :Cn= 95988 ;
204 :Cn= 95753 ;
205 :Cn= 95520 ;
206 :Cn= 95289 ;
207 :Cn= 95059 ;
208 :Cn= 94830 ;
209 :Cn= 94604 ;
210 :Cn= 94379 ;
211 :Cn= 94156 ;
212 :Cn= 93934 ;
213 :Cn= 93713 ;
214 :Cn= 93495 ;
215 :Cn= 93278 ;
216 :Cn= 93062 ;
217 :Cn= 92848 ;
218 :Cn= 92635 ;
219 :Cn= 92424 ;
220 :Cn= 92214 ;
221 :Cn= 92006 ;
222 :Cn= 91799 ;
223 :Cn= 91593 ;
224 :Cn= 91389 ;
225 :Cn= 91186 ;
226 :Cn= 90984 ;
227 :Cn= 90784 ;
228 :Cn= 90585 ;
229 :Cn= 90388 ;
230 :Cn= 90191 ;
231 :Cn= 89996 ;
232 :Cn= 89803 ;
233 :Cn= 89610 ;
234 :Cn= 89419 ;
235 :Cn= 89229 ;
236 :Cn= 89040 ;
237 :Cn= 88852 ;
238 :Cn= 88666 ;
239 :Cn= 88481 ;
240 :Cn= 88296 ;
241 :Cn= 88113 ;
242 :Cn= 87932 ;
243 :Cn= 87751 ;
244 :Cn= 87571 ;
245 :Cn= 87393 ;
246 :Cn= 87215 ;
247 :Cn= 87039 ;
248 :Cn= 86864 ;
249 :Cn= 86689 ;
250 :Cn= 86516 ;
251 :Cn= 86344 ;
252 :Cn= 86173 ;
253 :Cn= 86003 ;
254 :Cn= 85834 ;
255 :Cn= 85665 ;
256 :Cn= 85498 ;
257 :Cn= 85332 ;
258 :Cn= 85167 ;
259 :Cn= 85003 ;
260 :Cn= 84839 ;
261 :Cn= 84677 ;
262 :Cn= 84515 ;
263 :Cn= 84355 ;
264 :Cn= 84195 ;
265 :Cn= 84037 ;
266 :Cn= 83879 ;
267 :Cn= 83722 ;
268 :Cn= 83566 ;
269 :Cn= 83411 ;
270 :Cn= 83256 ;
271 :Cn= 83103 ;
272 :Cn= 82950 ;
273 :Cn= 82798 ;
274 :Cn= 82647 ;
275 :Cn= 82497 ;
276 :Cn= 82348 ;
277 :Cn= 82200 ;
278 :Cn= 82052 ;
279 :Cn= 81905 ;
280 :Cn= 81759 ;
281 :Cn= 81613 ;
282 :Cn= 81469 ;
283 :Cn= 81325 ;
284 :Cn= 81182 ;
285 :Cn= 81040 ;
286 :Cn= 80898 ;
287 :Cn= 80757 ;
288 :Cn= 80617 ;
289 :Cn= 80478 ;
290 :Cn= 80339 ;
291 :Cn= 80201 ;
292 :Cn= 80064 ;
293 :Cn= 79928 ;
294 :Cn= 79792 ;
295 :Cn= 79657 ;
296 :Cn= 79522 ;
297 :Cn= 79388 ;
298 :Cn= 79255 ;
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