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main.c
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main.c
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/*Robot Racer main.c
//Robot Racer Program
//Author: Christopher Boulanger
//Created: 6 December 2013
//Description: This program implements the open-space, collision-avoidance navigation algorithm to travel through the maze.
* */
#include <msp430.h>
#include "robot.h"
#include "sensor.h"
unsigned int leftSensorVoltage, rightSensorVoltage;
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initializeMotor();
initializeADC10();
P1DIR |= BIT0;
P1DIR |= BIT6;
for (;;){
leftSensorVoltage=getLeftSensorVoltage();
if(leftSensorVoltage < LEFTDISTANCE){
P1OUT &= ~BIT0;
moveRobot(SMALLRIGHT);
}
else{
P1OUT |= BIT0;
moveRobot(FORWARD);
}
rightSensorVoltage=getRightSensorVoltage();
if(rightSensorVoltage<RIGHTDISTANCE){
P1OUT &= ~BIT6;
moveRobot(SMALLLEFT);
}
else{
P1OUT |= BIT6;
moveRobot(FORWARD);
}
}
return 0;
}
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void){
__bic_SR_register_on_exit(CPUOFF);
}
/*int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
for(;;){
leftSensorVoltage=getLeftSensorVoltage();
rightSensorVoltage=getRightSensorVoltage();
// if(leftSensorVoltage < SMALLLEFTDISTANCE){
// moveRobot(BIGRIGHT)
// }
/*else*/ /*if (leftSensorVoltage < LEFTDISTANCE){
moveRobot(SMALLRIGHT);
}
if (rightSensorVoltage < RIGHTDISTANCE){
moveRobot(SMALLLEFT);
}
else{
moveRobot(FORWARD);
}
}
return 0;
}*/