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main.c
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main.c
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#include <msp430.h>
#include "Maze.h"
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
BCSCTL1 = CALBC1_8MHZ; // 8MHz clock
DCOCTL = CALDCO_8MHZ;
P2DIR |= BIT2; // P2.2 is associated with TACCTL1
P2SEL |= BIT2;
P2DIR |= BIT4; // P2.4 is associated with TACCTL2
P2SEL |= BIT4;
TA1CTL = ID_3 | TASSEL_2 | MC_1; //set duty cycle and MCLK
TA1CCR0 = 100;
TA1CCR1 = 50;
TA1CCTL1 = OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCR2 = 50; // set TACCTL2 to Set / Reset mode
TA1CCTL2 = OUTMOD_3;
ADC10CTL0 = ADC10SHT_3 + ADC10ON + ADC10IE; // ADC10ON, interrupt enabled
ADC10CTL1 = ADC10DIV_7;
ADC10CTL1 |= ADC10SSEL1|ADC10SSEL0; // Select SMCLK
for (;;){
stopMovement();
_delay_cycles(110000);
if(leftSensor() < 0x190) // two if statements to stay close to left wall
{
turnLeftLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if(leftSensor() >= 0x170)
{
turnRightLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() >=0x170 && leftSensor() >= 0x165) // statement to turn right if both left and center sensors triggered
{
turnRightBig();
_delay_cycles(7500);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() < 0x170 && leftSensor() >= 0x170) // has robot move forward when neither sensors are triggered
{
moveForward();
_delay_cycles(100000);
}
else if (centerSensor() < 0x190)
{
moveForward();
_delay_cycles(100000);
}
}
return 0;
}
// ADC10 interrupt service routine
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void)
{
__bic_SR_register_on_exit(CPUOFF); // Clear CPUOFF bit from 0(SR)
}
unsigned int leftSensor() { // code for left, right and center sensors using P1.3, P1.4 and P1.5 and the input channels //
ADC10CTL0 &= ~ENC; // that correspond to those pins
ADC10CTL1 = INCH_3;
ADC10AE0 |= BIT3;
ADC10CTL0 |= ENC + ADC10SC;
__bis_SR_register(CPUOFF + GIE);
return ADC10MEM;
}
unsigned int rightSensor() {
ADC10CTL0 &= ~ENC;
ADC10CTL1 = INCH_4;
ADC10AE0 |= BIT4;
ADC10CTL0 |= ENC + ADC10SC;
__bis_SR_register(CPUOFF + GIE);
return ADC10MEM;
}
unsigned int centerSensor() {
ADC10CTL0 &= ~ENC;
ADC10CTL1 = INCH_5;
ADC10AE0 |= BIT5;
ADC10CTL0 |= ENC + ADC10SC;
__bis_SR_register(CPUOFF + GIE);
return ADC10MEM;
}
void moveForward() {
P2DIR |= BIT5; // Left motor forward
P2OUT &= ~BIT5;
P2DIR |= BIT1; // Right motor forward
P2OUT &= ~BIT1;
}
void stopMovement(){
P2DIR |= BIT5; // Left motor stop forward
P2OUT |= BIT5;
P2DIR |= BIT1; // Right motor stop forward
P2OUT |= BIT1;
P2DIR |= BIT0; // Right motor stop reverse
P2OUT |= BIT0;
P2DIR |= BIT3; // Left motor stop forward
P2OUT |= BIT3;
}
void turnLeftLittle(){
P2DIR |= BIT1; // Right motor forward
P2OUT &= ~BIT1;
P2DIR |= BIT3; // Left motor reverse
P2OUT &= ~BIT3;
_delay_cycles(10000000/120); // implements turn less than 45 degrees
stopMovement();
}
void turnRightLittle(){
P2DIR |= BIT5; // Left motor forward
P2OUT &= ~BIT5;
_delay_cycles(10000000/120); // implements turn less than 45 degrees
stopMovement();
}
void turnLeftBig(){
P2DIR |= BIT1; // Right motor forward
P2OUT &= ~BIT1;
P2DIR |= BIT3; // Left motor reverse
P2OUT &= ~BIT3;
_delay_cycles(10000000/15); // implements turn greater than 45 degrees
stopMovement();
}
void turnRightBig(){
P2DIR |= BIT5; // Left motor forward
P2OUT &= ~BIT5;
P2DIR |= BIT0; // Right motor reverse
P2OUT &= ~BIT0;
_delay_cycles(10000000/10); // implements turn greater than 45 degrees
stopMovement();
}
void moveBackward(){
P2DIR |= BIT3; // Left motor reverse
P2OUT &= ~BIT3;
P2DIR |= BIT0; // Right motor reverse
P2OUT &= ~BIT0;
}