Recommendations

• Use Moore machines

  • One-hot encoding
  • Output encoding

• Example: Shift register for heading

  • N: 0001
  • W: 0010
  • S: 0100
  • E: 1000
    • Rotate left when turning left; right when turning right

• Example: Counters for X, Y

  • Move horizontally: Either increment or decrement X
  • Move vertically: Either increment or decrement Y

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