core description:
	robotic arm controller core where stepper motor is used as arm driver,is developed in VHDL and it is fitted in  Cypress C341 PAL IC.(See report file for PAL IC Pin configuration)

	Synthesize Tool:Cypress Warp 4.0
	IC             :PAL C341
	clock          :
 For FPGA:
	Here i synthesis the core for ATMEL FPGA AT40K-2DQC .(see syn. files) 
	Synthesize Tool:ATMEL IDS 6.00
	IC             :AT40K-2DQC
	clock          :
Functionality:
	to control the stepping speed of stepper motor
			by full step mode
			   half step mode.
	to control the stepping direction of stepper motor
			by clockwise mode
			   anticlockwise mode.

Interfacing Card:
	to drive the stepper motor  the collector of 4 darlington pair transistors are connected to the windings of motor,a free-wheeling diode is connected across each winding for fast switching.It is necessary to develop a interfacing card for proper control.


NOTE:
	in future should develop DC motor  control.
	time delay between each switching sequence should be 1 to 5msec.
       for implementing this design in fpga use appropriate clock diveder.	




-----stepper motor control by output bit patterns---------
---counter clockwise pattern--         ----clockwise pattern-----

		--0011--             --1100--
		--0110--			--0110--	
		--1100--			--0011--
		--1001--			--1001--