q3-dsb-labs/ch4/robot.sv

`timescale 1ns/1ps

module robot
   (input logic clk,
    input logic reset,

    input logic sensor_l_in,
    input logic sensor_m_in,
    input logic sensor_r_in,

    output logic motor_l_pwm,
    output logic motor_r_pwm,
    output logic [20:0] count,
    output logic count_reset,

    output logic motor_l_reset,
    output logic motor_r_reset
);

//logic count;
logic motor_l_direction, motor_r_direction;
logic sensor_l, sensor_m, sensor_r;


inputbuffer inputbuffer_module(
	.clk(clk), 
	.sensor_l_in(sensor_l_in), .sensor_r_in(sensor_r_in), .sensor_m_in(sensor_m_in),
	.sensor_l_out(sensor_l), .sensor_m_out(sensor_m), .sensor_r_out(sensor_r)
);

timebase timebase_module(
	.clk(clk), .reset(count_reset), .count(count)
);

controller control_module(
	.clk(clk), .reset(reset),
	.sensor_l(sensor_l), .sensor_m(sensor_m), .sensor_r(sensor_r),
	.count_in(count), .count_reset(count_reset),
	.motor_l_reset(motor_l_reset), .motor_l_direction(motor_l_direction), .motor_r_reset(motor_r_reset), .motor_r_direction(motor_r_direction)
);

motorcontrol motorcontrol_l_module(
	.clk(clk),
	.rst(motor_l_reset), .direction(motor_l_direction),
	.count_in(count),
	.pwm(motor_l_pwm)
);

motorcontrol motorcontrol_r_module(
	.clk(clk),
	.rst(motor_r_reset), .direction(motor_r_direction),
	.count_in(count),
	.pwm(motor_r_pwm)
);

endmodule