void moveForward()
{
clearModes();
TA0CCR1 = 50;
TA1CCR1 = 50;
TA1CCTL1 |= OUTMOD_7; //reset/set
TA0CCTL1 |= OUTMOD_7; //reset/set
__delay_cycles(900000);
clearModes();
}
void turnBigLeft()
{
clearModes();
TA0CCR1 = 30;
TA1CCR1 = 30;
TA1CCTL1 |= OUTMOD_5; // set TACCTL1 to Reset / Set mode
TA1CCTL0 |= OUTMOD_7; // set TACCTL0 to Reset
TA0CCTL1 |= OUTMOD_7;
__delay_cycles(300000);
clearModes();
}
void turnSmallRight()
{
clearModes();
TA0CCR1 = 30; //30%duty cycle, just to slow things down a bit
TA1CCR1 = 30;
TA0CCTL1 |= OUTMOD_5; // set TACCTL1 to Reset mode
TA0CCTL0 |= OUTMOD_7; // set TACCTL0 to Reset/Set
TA1CCTL1 |= OUTMOD_7; //reset/set
__delay_cycles(200000);
clearModes();
}
void moveBackward()
{
clearModes();
TA0CCR1 = 5; //this is because backward moves super fast
TA1CCR1 = 5;
TA1CCTL1 |= OUTMOD_5; // set TACCTL1 to Reset mode
TA1CCTL0 |= OUTMOD_7; // set TACCTL0 to Reset/Set
TA0CCTL1 |= OUTMOD_5; // set TACCTL1 to Reset mode
TA0CCTL0 |= OUTMOD_7; // set TACCTL0 to Reset/Set
__delay_cycles(500000);
clearModes();
}
void turnSmallLeft()
{
clearModes();
TA0CCR1 = 30;
TA1CCR1 = 30;
TA1CCTL1 |= OUTMOD_5;
TA1CCTL0 |= OUTMOD_7;
TA0CCTL1 |= OUTMOD_7;
__delay_cycles(200000);
clearModes();
}
void turnBigRight()
{
clearModes();
TA0CCR1 = 30;
TA1CCR1 = 30;
TA0CCTL1 |= OUTMOD_5; //Reset
TA0CCTL0 |= OUTMOD_7; //TACCTL0 to Reset/Set
TA1CCTL1 |= OUTMOD_7; //reset/set
__delay_cycles(300000);
clearModes();
}
void turnSmallRight()
{
clearModes();
TA0CCR1 = 30;
TA1CCR1 = 30;
TA0CCTL1 |= OUTMOD_5; // TACCTL1 Reset mode
TA0CCTL0 |= OUTMOD_7; // TACCTL0 Reset/Set
TA1CCTL1 |= OUTMOD_7; //reset/set
__delay_cycles(200000);
clearModes();
}
void moveBackward()
{
clearModes();
TA0CCR1 = 5;
TA1CCR1 = 5;
TA1CCTL1 |= OUTMOD_5;
TA1CCTL0 |= OUTMOD_7;
TA0CCTL1 |= OUTMOD_5;
TA0CCTL0 |= OUTMOD_7;
__delay_cycles(500000);
clearModes();
}