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robot.c
129 lines (108 loc) · 2.64 KB
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robot.c
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/*
* robot.c
*
* Created on: Nov 19, 2013
* Author: C15Geoffrey.Novakows
* Description: The purpose of this code is to write the basic
* functionality required to move the wheels of the robot
* simultaneously.
*/
#include "robot.h"
void initializePinOuts(){
P1DIR |= BIT2;
P1SEL |= BIT2;
P1DIR |= BIT1;
P1SEL |= BIT1;
P2DIR |= BIT0;
P2SEL |= BIT0;
P2DIR |= BIT1;
P2SEL |= BIT1;
}
void configureTimer(){
TA0CTL &= ~(MC1|MC0); // stop timer A0
TA1CTL &= ~(MC1|MC0); // stop timer A0
TA0CTL |= TACLR; // clear timer A0
TA1CTL |= TACLR;
TA0CTL |= TASSEL1; // configure for SMCLK
TA1CTL |= TASSEL1;
TA0CCR0 = 100; // set signal period to 100 clock cycles (~100 microseconds)
TA0CCR1 = 50;
TA1CCR0 = 100;
TA1CCR1 = 50;
TA0CCTL0 |= OUTMOD2|OUTMOD0;
TA0CCTL1 |= OUTMOD2|OUTMOD0;
TA1CCTL0 |= OUTMOD2|OUTMOD0;
TA1CCTL1 |= OUTMOD2|OUTMOD0;
TA0CTL |= MC0;
TA1CTL |= MC0;
}
void leftMotorForward() {
TA0CCTL1 &= ~OUTMOD1;
TA0CCTL1 |= OUTMOD2|OUTMOD0;
__delay_cycles(20000);
TA0CCTL0 &= ~OUTMOD0;
TA0CCTL0 |= OUTMOD2;
}
void leftMotorBackward() {
TA0CCTL0 &= ~OUTMOD1;
TA0CCTL0 |= OUTMOD2|OUTMOD0;
__delay_cycles(40000);
TA0CCTL1 &= ~OUTMOD0;
TA0CCTL1 |= OUTMOD2;
}
void rightMotorForward(){
TA1CCTL0 &= ~OUTMOD1;
TA1CCTL0 |= OUTMOD2|OUTMOD0;
__delay_cycles(40000);
TA1CCTL1 &= ~OUTMOD0;
TA1CCTL1 |= OUTMOD2;
}
void rightMotorBackward(){
TA1CCTL1 &= ~OUTMOD1;
TA1CCTL1 |= OUTMOD2|OUTMOD0;
__delay_cycles(20000);
TA1CCTL0 &= ~OUTMOD0;
TA1CCTL0 |= OUTMOD2;
}
void moveRobotForward(){
leftMotorForward();
rightMotorForward();
}
void moveRobotBackward(){
leftMotorBackward();
rightMotorBackward();
}
void turnRobotLeft(){
leftMotorBackward();
rightMotorForward();
}
void turnRobotRight(){
leftMotorForward();
rightMotorBackward();
}
void stopLeftMotor(){
TA0CCR1 = 0;
TA1CCR2 = 0;
}
void stopRightMotor(){
TA1CCR1 = 0;
TA1CCR2 = 0;
}
void stop() {
TA0CTL &= ~(MC1 | MC0);
TA0CCTL0 &= ~OUTMOD_4;
TA0CCTL0 &= ~OUTMOD_5;
TA0CCTL1 &= ~OUTMOD_5;
TA0CCTL1 &= ~OUTMOD_7;
TA0CCTL0 |= OUTMOD_5; //set to reset to stop
TA0CCTL1 |= OUTMOD_5;
TA0CTL |= MC0;
TA1CTL &= ~(MC1 | MC0);
TA1CCTL0 &= ~OUTMOD_4;
TA1CCTL0 &= ~OUTMOD_5;
TA1CCTL1 &= ~OUTMOD_5;
TA1CCTL1 &= ~OUTMOD_7;
TA1CCTL0 |= OUTMOD_5; //set to reset to stop
TA1CCTL1 |= OUTMOD_5;
TA1CTL |= MC0;
}