We tested the completed chips we received from MOSIS. Testing was done using the OMNILAB system, which interfaces with an IBM compatible personal computer. Our major functionality tests included 5 test vectors which tested all of the possible states and state transitions in the algorithm control unit, tested all ALU operations, and tested to make sure the robot never wandered beyond the boundaries of the world it was "exploring" (final_r7.cmd, north.cmd, south.cmd, east.cmd, and west.cmd). These vectors correspond to the previous IRSIM results.
According to our testing, 3 of the 4 chips we were issued are completely functional. The last chip is functional in almost all aspects, but one bit of one of the boundaries is stuck at 1. On review of the design of the latch storing this data, there do not appear to be any reasons for this failure. Additionally, since 127 other latches across the chips are operating correctly, we concluded that this was most likely a fabrication error.
Additionally, our chips operated correctly at up to 8.52 MHz, the fastest speed at which a non-overlapping two-phase clock can reliably be tested.
For more information, see the report we submitted to MOSIS for review.