Documentation: C1C Snyder and I worked on the initial code for making the robot move together. We also shared timing for the turns.

Basic Robot Motions

#include <msp430.h> #include "robotMotion.h" /*

• main.c */ void main(void) { WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer

  initTimerOutputSignals(); configureA0andA1Timers();

    __delay_cycles(1000000); //wait before the first instruciton so i have time to get away from the robot before it starts moving
  

  moveForward();

   __delay_cycles(1000000); //delays between each movement to differentiate which movement is which
  

  moveBackward();

   __delay_cycles(1000000);
  

  turnSmallRight();

   __delay_cycles(1000000);
  

  turnSmallLeft();

   __delay_cycles(1000000);
  

  turnBigLeft();

   __delay_cycles(1000000);
  

  turnBigRight();

   __delay_cycles(1000000);
  

Notes: -Difference between the turns (big and small) is only one of timing. I change the time they are allowed to turn. -moveForward has a longer time and a larger duty cycle than moveBakcward because there is a knob which slows the robot down as it moves forward. I want to make their distances closer to even.