From 77523166517ba95f945f554fb54dcbfbabb15418 Mon Sep 17 00:00:00 2001
From: xeovalyte <me+gitea@xeovalyte.dev>
Date: Thu, 20 Feb 2025 12:57:17 +0100
Subject: [PATCH] Fixed code not working

---
 ch4/controller.sv  | 16 ++++++++++++++++
 ch4/inputbuffer.sv |  2 ++
 ch4/robot.sv       |  2 ++
 ch4/robot_tb.sv    |  5 +++++
 4 files changed, 25 insertions(+)

diff --git a/ch4/controller.sv b/ch4/controller.sv
index 4719fdb..3f15abb 100644
--- a/ch4/controller.sv
+++ b/ch4/controller.sv
@@ -1,3 +1,5 @@
+`timescale 1ns/1ps
+
 module controller #(parameter N=21)
    (input logic clk,
     input logic reset,
@@ -25,6 +27,8 @@ always_ff @(posedge clk, posedge count_reset, posedge reset) begin
 		state <= next_state;
 end
 
+logic [2:0] sensors_lmr;
+
 assign sensors_lmr = {sensor_l, sensor_m, sensor_r};
 
 always_comb begin
@@ -54,36 +58,48 @@ always_comb begin
 			motor_l_direction = 1;
 			motor_r_reset = 0;
 			motor_r_direction = 0;
+
+			next_state = state;
 		end
 		Gentle_l: begin
 			motor_l_reset = 1;
 			motor_l_direction = 0;
 			motor_r_reset = 0;
 			motor_r_direction = 0;
+
+			next_state = state;
 		end
 		Sharp_l: begin
 			motor_l_reset = 0;
 			motor_l_direction = 0;
 			motor_r_reset = 0;
 			motor_r_direction = 0;
+
+			next_state = state;
 		end
 		Gentle_r: begin
 			motor_l_reset = 0;
 			motor_l_direction = 1;
 			motor_r_reset = 1;
 			motor_r_direction = 0;
+
+			next_state = state;
 		end
 		Sharp_r: begin
 			motor_l_reset = 0;
 			motor_l_direction = 1;
 			motor_r_reset = 0;
 			motor_r_direction = 1;
+
+			next_state = state;
 		end
 		default: begin
 			motor_l_reset = 1;
 			motor_l_direction = 0;
 			motor_r_reset = 1;
 			motor_r_direction = 0;
+
+			next_state = state;
 		end
 	endcase
 
diff --git a/ch4/inputbuffer.sv b/ch4/inputbuffer.sv
index d0a647c..ead5d1b 100644
--- a/ch4/inputbuffer.sv
+++ b/ch4/inputbuffer.sv
@@ -1,3 +1,5 @@
+`timescale 1ns/1ps
+
 module inputbuffer
    (input logic clk,
     input logic sensor_l_in,
diff --git a/ch4/robot.sv b/ch4/robot.sv
index ef8b055..d9f267f 100644
--- a/ch4/robot.sv
+++ b/ch4/robot.sv
@@ -1,3 +1,5 @@
+`timescale 1ns/1ps
+
 module robot
    (input logic clk,
     input logic reset,
diff --git a/ch4/robot_tb.sv b/ch4/robot_tb.sv
index 932d974..86280a6 100644
--- a/ch4/robot_tb.sv
+++ b/ch4/robot_tb.sv
@@ -29,6 +29,9 @@ module robot_tb();
    end
 
    initial begin
+    $dumpfile("output.vcd");
+    $dumpvars;
+
      #0ms;  sensors = 3'b000; // Forward
      #70ms; sensors = 3'b001; // Gentle left
      #40ms; sensors = 3'b010; // Forward
@@ -37,6 +40,8 @@ module robot_tb();
      #40ms; sensors = 3'b101; // Forward
      #40ms; sensors = 3'b110; // Sharp right
      #40ms; sensors = 3'b111; // Forward
+
+     #40ms; $finish;
    end
 
 endmodule