Robotics platform

Robotics platform Git Source Tree

1	`timescale 1ns / 1ps
2
3	module PWM(clk, enable, PWM_in, PWM_out);
4	input clk, enable;
5	input [7:0] PWM_in;
6	output PWM_out;
7
8	reg [7:0] PWM_in_reg=0; //Registro temporal para reiniciar el acumulador
9	reg [7:0] PWM_accum=0; //Acumulador
10	reg [8:0] ClkCount=0; //Para dividir la frecuencia en 2^VAL
11
12	//Divisor de frecuencia
13	always @(posedge clk) if(enable) ClkCount <= ClkCount + 1;
14
15	//Contador para el PWM
16	always @(posedge clk)
17	begin
18	PWM_in_reg<=PWM_in;
19	if(PWM_in_reg==PWM_in) PWM_accum<=PWM_accum+1; else PWM_accum<=0;
20	end
21
22	//Salida para el PWM
23
24	assign PWM_out=(PWM_accum<PWM_in);
25
26	endmodule
27

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