Jeff Shelton – 12 February 2015

1

Jeff Shelton – 12 February 2015 2

Jeff Shelton – 12 February 2015

3

Jeff Shelton – 12 February 2015

4

LS

RS

CLOSE

Jeff Shelton – 12 February 2015

LEFT

RIGHT

FORWARD

5

Jeff Shelton – 12 February 2015

6

LEFT

RIGHT

FORWARD

LS

RS

CLOSE

Jeff Shelton – 12 February 2015

7

LEFT

RIGHT

FORWARD

LS

RS

CLOSE

Jeff Shelton – 12 February 2015

8

Jeff Shelton – 12 February 2015

Sx (xxx)

L R F Inputs: LS RS CL

9

Jeff Shelton – 12 February 2015

Sx (xxx)

L R F Inputs: LS RS CL

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

10

Jeff Shelton – 12 February 2015

Sx (xxx)

L R F Inputs: LS RS CL

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

11

By convention, the initial (starting) state is typically named S0. If this is not the

case, you should indicate the initial state for your FSM.

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100

12

Object detected to left of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

13

Object detected to right of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

14

Object still present to left

of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

15

Object directly ahead

of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

16

Object now on right side

of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

17

Object detected on both sides of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

18

Object directly ahead

of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

19

Object still present to

right of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

20

Object now on left side of

robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

21

Object detected on both sides of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

22

Object detected on both sides of robot

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

23

Object directly ahead

of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

xx1

24

Object directly ahead

of robot!

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

xx1

000

25

Default movement is to move forward…

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

xx1

000

000

26

… and make right hand turns

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

xx1

000

000 000

27

… until one of the sensors detects an

object.

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1 010

100

110

110

xx1

xx1

000

000 000

28

We can merge two inputs for S2…

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

29

Are we done?

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

30

Are all the input combinations

handled?

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

31

001 011 101 111

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

32

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

33

001 011 101 111

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

34

001 011 101 111

Oops! We missed one!

000

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

35

000

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

36

001 011 101 111

000 000 010

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

37

000

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

000 0x0

38

000

001 011 101 111

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

0x0 0x0

39

000

001 011 101 111

000 010

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

0x0 0x0

40

000

001 011 101 111

000 010

100

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

0x0 0x0

41

000

001 011 101 111

000 010

100

110

Jeff Shelton – 12 February 2015

1 0 1

0 0 1

0 1 1

S1 (LT) S2 (RT)

S0 (STOP)

0 0 0

S3 (FOR)

Sx (xxx)

L R F Inputs: LS RS CL

100 010

100

xx1

010

110

xx1

100

110

110

xx1

xx1

000

0x0 0x0

42

000

100

110

Jeff Shelton – 12 February 2015

Jeff Shelton – 12 February 2015 44

P

N

Jeff Shelton – 12 February 2015

45

P

N

Jeff Shelton – 12 February 2015 46

P Start N P

Jeff Shelton – 12 February 2015 47

P N Start

Jeff Shelton – 12 February 2015 48

P N Start

Jeff Shelton – 12 February 2015 49

P N Start

Jeff Shelton – 12 February 2015 50

Start P N

Jeff Shelton – 12 February 2015 51

P N

Jeff Shelton – 12 February 2015 52

P N

Jeff Shelton – 12 February 2015 53

P N

Jeff Shelton – 12 February 2015 54

N P

Jeff Shelton – 12 February 2015 55

P N

Jeff Shelton – 12 February 2015

56

P

N

Jeff Shelton – 12 February 2015

57

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

58

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

59

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

00 Exactly on target…

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

60

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

01

00

Beyond target position

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

61

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00

Not yet to target position

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

62

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

Treat as either a "don't care," condition or as an

error… maybe create an emergency

shutdown state?

We shouldn't get a 7/8ths signal when

we are stopped

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

63

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

64

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00 Exactly on target…

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

65

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

Again, either a "don't care," or an error…

We're not able to jump to the other side of the target without passing through the

7/8ths zone

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

66

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10 Not yet to target…

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

67

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 7/8ths of way to target

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

68

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11

Jeff Shelton – 12 February 2015

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

69

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

Exactly on target…

Jeff Shelton – 12 February 2015

01

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

70

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X"

Another "don't care," or an error…

Shouldn't be able to jump to other side of

the target without passing through

target

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

71

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10

00 11 "X"

00

"X"

01

10

11 00

"X" 01

01

Shouldn't get a "P" signal when already in

7/8ths zone

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

72

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

01

Still in 7/8ths zone

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

73

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

01

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

74

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00 Exactly on target…

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

75

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01

Approaching target from

negative side

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

76

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

Another "don't care" or error

state

Can't jump to opposite side of

7/8ths zone

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

77

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 Inside 7/8ths zone

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

78

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

79

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 00

Exactly on target…

Jeff Shelton – 12 February 2015

01

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

80

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 00

"X" Can't jump away from target while moving towards it

"Don't care" or error

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

81

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 00

10 "X"

01 Can't jump to other side of

target

"Don't care" or error

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

82

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 00

10 "X"

01

11

Still in 7/8ths zone

Jeff Shelton – 12 February 2015

10

Sx (xxx)

F R S

Q1 Q2 Q3

Inputs: P N

83

S0 (STOP)

0 0 0

0 0 0

S2 (REVERSE)

0 1 0

0 1 0

0 1 1

S4 (SLOW REV)

0 1 1

S3 (SLOW FOR)

1 0 1

1 0 1

S1 (FORWARD)

1 0 0

1 0 0

10 01

00 11 "X"

00

"X"

01

10

11 00

"X" 01

11

00

01 10

11 00

10 "X"

01

11

Jeff Shelton – 12 February 2015 84

Input Current State Next State Output

P N F R S

0 0 S0 S0 0 0 0

0 0 S1 S0 1 0 0

0 0 S2 S0 0 1 0

0 0 S3 S0 1 0 1

0 0 S4 S0 0 1 1

0 1 S0 S2 0 0 0

0 1 S1 X 1 0 0

0 1 S2 S2 0 1 0

0 1 S3 X 1 0 1

0 1 S4 X 0 1 1

1 0 S0 S1 0 0 0

1 0 S1 S1 1 0 0

1 0 S2 X 0 1 0

1 0 S3 X 1 0 1

1 0 S4 X 0 1 1

1 1 S0 X 0 0 0

1 1 S1 S3 1 0 0

1 1 S2 S4 0 1 0

1 1 S3 S3 1 0 1

1 1 S4 S4 0 1 1

Jeff Shelton – 12 February 2015 85

Input Current State Next State Output

P N Q0 Q1 Q2 Q0* Q1* Q2* F R S

0 0 0 0 0 0 0 0 0 0 0

0 0 0 1 0 0 0 0 0 1 0

0 0 0 1 1 0 0 0 0 1 1

0 0 1 0 0 0 0 0 1 0 0

0 0 1 0 1 0 0 0 1 0 1

0 1 0 0 0 0 1 0 0 0 0

0 1 0 1 0 0 1 0 0 1 0

0 1 0 1 1 X X X 0 1 1

0 1 1 0 0 X X X 1 0 0

0 1 1 0 1 X X X 1 0 1

1 0 0 0 0 1 0 0 0 0 0

1 0 0 1 0 X X X 0 1 0

1 0 0 1 1 X X X 0 1 1

1 0 1 0 0 1 0 0 1 0 0

1 0 1 0 1 X X X 1 0 1

1 1 0 0 0 X X X 0 0 0

1 1 0 1 0 0 1 1 0 1 0

1 1 0 1 1 0 1 1 0 1 1

1 1 1 0 0 1 0 1 1 0 0

1 1 1 0 1 1 0 1 1 0 1

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

86

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

87

0 0 X 0

0 0 X 1

0 0 X 0

1 1 1 X

0 0 0 X

0 0 1 X

X 0 X X

X 0 X X

X 0 X X

X X 1 X

X X 0 X

X X 1 X

0 X X X

0 X X X

0 X X X

X X X 1

X X X 1

X X X 0

0 X X 0

0 X X 1

0 X X 0

X X X 1

X X X 1

X X X 0

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

88

0 0 X 0

0 0 X 1

0 0 X 0

1 1 1 X

0 0 0 X

0 0 1 X

X 0 X X

X 0 X X

X 0 X X

X X 1 X

X X 0 X

X X 1 X

0 X X X

0 X X X

0 X X X

X X X 1

X X X 1

X X X 0

0 X X 0

0 X X 1

0 X X 0

X X X 1

X X X 1

X X X 0

𝑄0∗ = 𝑃 ⋅ 𝑄1

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

89

0 0 X 0

0 0 X 1

0 0 X 0

1 1 1 X

0 0 0 X

0 0 1 X

X 0 X X

X 0 X X

X 0 X X

X X 1 X

X X 0 X

X X 1 X

0 X X X

0 X X X

0 X X X

X X X 1

X X X 1

X X X 0

0 X X 0

0 X X 1

0 X X 0

X X X 1

X X X 1

X X X 0

𝑄0∗ = 𝑃 ⋅ 𝑄1 𝑄1∗ = 𝑁 ⋅ 𝑄0

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

90

0 0 X 0

0 0 X 1

0 0 X 0

1 1 1 X

0 0 0 X

0 0 1 X

X 0 X X

X 0 X X

X 0 X X

X X 1 X

X X 0 X

X X 1 X

0 X X X

0 X X X

0 X X X

X X X 1

X X X 1

X X X 0

0 X X 0

0 X X 1

0 X X 0

X X X 1

X X X 1

X X X 0

𝑄0∗ = 𝑃 ⋅ 𝑄1 𝑄1∗ = 𝑁 ⋅ 𝑄0 𝑄2∗ = 𝑃 ⋅ 𝑁

Jeff Shelton – 12 February 2015

Q1 Q2Q0*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q0*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 1) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q1*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 0) 00 01 11 10

00

01

11N Q0

10

Q1 Q2Q2*

(P = 1) 00 01 11 10

00

01

11N Q0

10

91

0 0 X 0

0 0 X 1

0 0 X 0

1 1 1 X

0 0 0 X

0 0 1 X

X 0 X X

X 0 X X

X 0 X X

X X 1 X

X X 0 X

X X 1 X

0 X X X

0 X X X

0 X X X

X X X 1

X X X 1

X X X 0

0 X X 0

0 X X 1

0 X X 0

X X X 1

X X X 1

X X X 0

𝑄0∗ = 𝑃 ⋅ 𝑄1 𝑄1∗ = 𝑁 ⋅ 𝑄0 𝑄2∗ = 𝑃 ⋅ 𝑁

𝐹 = 𝑄0 𝑅 = 𝑄1 𝑆 = 𝑄2

Jeff Shelton – 12 February 2015

92