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moveRobot.c
98 lines (77 loc) · 1.37 KB
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moveRobot.c
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/*
* moveRobot.c
*
* Created on: Nov 19, 2013
* Author: C15Ryan.Turner
*/
#include <msp430.h>
#include "moveRobot.h"
void initPinOuts() {
P1DIR |= BIT1;
P1SEL |= BIT1;
P1DIR |= BIT2;
P1SEL |= BIT2;
P2DIR |= BIT0;
P2SEL |= BIT0;
P2DIR |= BIT1;
P2SEL |= BIT1;
}
void timersConfig() {
TA0CTL &= ~MC1 | MC0;
TA1CTL &= ~MC1 | MC0;
TA0CTL |= TACLR;
TA1CTL |= TACLR;
TA0CTL |= TASSEL1;
TA1CTL |= TASSEL1;
TA0CCR0 = 100; // set signal period to 100 clock cycles (~100 microseconds)
TA1CCR0 = 100;
TA0CCR1 = 0;
TA1CCR1 = 0;
TA0CCTL1 |= OUTMOD_7;
TA0CCTL0 |= OUTMOD_5;
TA1CCTL1 |= OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCTL0 |= OUTMOD_5;
TA0CTL |= MC0;
TA1CTL |= MC0; // count up
}
void leftMotorForward() {
TA0CCR1 = 75
;
TA0CCTL0 = OUTMOD_5;
}
void leftMotorBackward() {
TA0CCR1 = 0;
TA0CCTL0 = OUTMOD_4;
}
void rightMotorForward() {
TA1CCR1 = 0;
TA1CCTL0 = OUTMOD_4;
}
void rightMotorBackward() {
TA1CCR1 = 60;
TA1CCTL0 = OUTMOD_5;
}
void leftTurn() {
leftMotorBackward();
rightMotorForward();
}
void leftHairpin() {
TA0CCR1 = 35;
TA0CCTL0 = OUTMOD_5;
TA1CCR1 = 0;
TA1CCTL0 = OUTMOD_4;
}
void rightTurn() {
leftMotorForward();
rightMotorBackward();
}
void moveForward() {
leftMotorForward();
rightMotorForward();
}
void moveBackward() {
leftMotorBackward();
rightMotorBackward();
}
void pause() {
}