MSP430 Robot Trail 1

gistfile1.txt

/*
Energia Porgram to Control the MSP430 Robot
Exercise 1.
*/

#define FWD HIGH
#define BKW LOW

int fadeAmount = 5;    // how many points to fade the LED by

int iSpeed = 0;        // Variable to store Speed
/* ---------------------------------------------------
The left wheel is connected to Pin 1.6 and 1.0
The right wheel is connected to Pin 1.2 and 1.1
*/
const int pEnable1 = P1_6;  // Right wheel speed control
const int pEnable2 = P1_2;  // Left Wheel speed control
const int pDir1 = P1_0;
const int pDir2 = P1_1;


void forward1(int a){
  analogWrite(pEnable1, 255);
  analogWrite(pEnable2, 255);
  delay(a);
  analogWrite(pEnable1, 0);
  analogWrite(pEnable2, 0);
  
}
void setup()  { 
  // declare pin 14 to be an output:
  pinMode(pEnable1, OUTPUT);
  pinMode(pEnable2, OUTPUT);
  pinMode( pDir1, OUTPUT);
  pinMode( pDir2, OUTPUT);
  digitalWrite(pDir1, FWD); // Set Inital Direction to HIGH?
  digitalWrite(pDir2, BKW);
  
  analogWrite(pEnable1, 0x00); // Set initial speed to zero
  analogWrite(pEnable2, 0x00);
 
} 

void loop()  { 
  delay(5000);
  // set the iSpeed of pin 9:
  analogWrite(pEnable1, 255);
  analogWrite(pEnable2, 255);
  delay(700);
  
  analogWrite(pEnable1, 0);
  analogWrite(pEnable2, 0);
  
  digitalWrite(pDir1, !digitalRead(pDir1));
  
  analogWrite(pEnable1, 255);
  analogWrite(pEnable2, 255);
  delay(500);
  
  digitalWrite(pDir1, !digitalRead(pDir1));
  analogWrite(pEnable1, 255);
  analogWrite(pEnable2, 255);
  delay(300);
  
  analogWrite(pEnable1, 00);
  analogWrite(pEnable2, 0);
  
  forward1(1000);
  while(1){}
  
}