MSP430 Robot Control 2

gistfile1.txt

/*
MSP430 Robot Control
 
*/

#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 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, FWD);
  
  analogWrite(pEnable1, 0x00); // Set initial speed to zero
  analogWrite(pEnable2, 0x00);
 
} 

void loop()  { 
  // set the iSpeed of pin 9:
  analogWrite(pEnable1, iSpeed);    
  analogWrite(pEnable2, iSpeed);
  // change the iSpeed for next time through the loop:
  iSpeed = iSpeed + fadeAmount;

  // reverse the direction of the fading at the ends of the fade: 
  if (iSpeed == 0 || iSpeed == 255) {
    fadeAmount = -fadeAmount ; 
  }     
  // wait for 30 milliseconds to see the dimming effect    
  //delay(5);

  if(iSpeed==0){
     digitalWrite(pDir1, !digitalRead(pDir1));
     digitalWrite(pDir2, !digitalRead(pDir2));
     delay(1000);
  }
}