// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
void main(void) {
initMSP430(); // Setup MSP to process IR and buttons
int32 bitstring=0x00000000;
int32 i;
int8 packetIndex2=0;
stopRobot();
_enable_interrupt();
while(1) {
if (new_packet) {
_disable_interrupt();
packetIndex2=0; //this part consolidates the incoming packet
while (packetData[packetIndex2]!=2)
{
packetIndex2++;
}
packetIndex2++;
while (packetIndex2<33)
{
bitstring+=packetData[packetIndex2];
bitstring<<=1;
packetIndex2++;
}
if (bitstring==BUTTON_FIVE) //this part translates the packet
{
stopRobot();
} else if (bitstring==BUTTON_TWO)
{
moveRobotForward();
} else if (bitstring==BUTTON_FOUR)
{
moveRobotLeft();
} else if (bitstring==BUTTON_SIX)
{
moveRobotRight();
} else if (bitstring==BUTTON_EIGHT)
{
moveRobotBackwards();
} else if (bitstring==BUTTON_ONE)
{
moveRobotLeftSlow();
} else if (bitstring==BUTTON_THREE)
{
moveRobotRightSlow();
} else
{
stopRobot();
}
for (i=0;i<0xFFFFF;i++);
bitstring=0x00000000;
packetIndex=0;
_enable_interrupt();
new_packet=0;
} else
{
bitstring=0x00000000;
}
} // end infinite loop
} // end main
/*
* main.c
*/
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
//Delays dictate how long each function is executed. To move forward or backward a further distance,
//increase the delay after the moveRobotForward or moveRobotBackward functions. To turn larger angles,
//increase the delay after the turnRobotRight or turnRobotLeft functions.
initRobot();
__delay_cycles(3000000); //Delay here to give user time to get robot to floor
moveRobotForward();
__delay_cycles(1000000);
stopRobot();
__delay_cycles(1000000);
moveRobotBackward();
__delay_cycles(1000000);
stopRobot();
__delay_cycles(1000000);
turnRobotRight();
__delay_cycles(300000);
stopRobot();
__delay_cycles(1000000);
turnRobotLeft();
__delay_cycles(300000);
stopRobot();
__delay_cycles(1000000);
turnRobotRight();
__delay_cycles(900000);
stopRobot();
__delay_cycles(1000000);
turnRobotLeft();
__delay_cycles(900000);
stopRobot();
while(1)
{
}
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initRobot();
while (1) {
moveRobotForward(100);
__delay_cycles(700000);
moveRobotBackward(100);
__delay_cycles(700000);
turnRobotLeft(100);
__delay_cycles(700000);
turnRobotRight(100);
__delay_cycles(700000);
turnRobotLeft(100);
__delay_cycles(1500000);
turnRobotRight(100);
__delay_cycles(1500000);
}
}
