Asynchronous control of stepper motors on a load transfer robot realized on an FPGA assembly

The heart of the robot is a microcontroller board Arduino Mega 2560 which is programmed over the Arduino IDE interface. The Arduino board is connected to the author’s sensor board whose purpose is to expand the use of the Arduino board. Power motors and the motor for the lift are also controlled over an authors board, which enables the external microcontroller to control the stepper motor independently of the process rhythm of the Arduino board. The microcontroller (FPGA) enters the amount of step data, direction, and speed of stepping. Control is realized through asynchronous digital logic. The author’s works are also sensors for line following and IR sensors for measuring distance (“collision sensor”).