#Lab6 Library for simple robot movement using the MSP430. Example code included in main.c.

##Functions

• void initPinOuts()

  • Initializes the pins on the MSP430 for signals to be used in driving the motors
    • Ports 0.0 and 0.1 use Timer A0
    • Ports 1.0 and 1.1 use Timer A1

• void timersConfig()

  • Sets the TA0 and TA1 timers to ~100 milliseconds

• void leftMotorForward()

  • Powers the left motor to move it forward using the signal from Port 0.1

• void leftMotorBackward()

  • Powers the left motor to move it backward using the signal from Port 0.0

• void rightMotorForward()

  • Powers the right motor to move it forward using the signal from Port 1.1

• void rightMotorBackward()

  • Powers the right motor to move it backward using the signal from Port 1.0

• void leftTurn()

  • Executes the void leftMotorBackward() and void rightMotorForward() functions to make the robot turn left

• void rightTurn()

  • Executes the void leftMotorForward() and void rightMotorBackward() functions to make the robot turn right

• void moveForward()

  • Executes the void leftMotorForward() and void rightMotorForward() functions to make the robot move forward

• void moveBackward()

  • Executes the void leftMotorBackward() and void rightMotorBackward() functions to make the robot move backward