Lab 6

Code to create basic movement with a robot.

Notes about Lab

Requires connecting the correct pins on the MSP 430 to the motor control pins to follow the below layout

• Pin 1.2 connected to L blk
• Pin 2.1 connected to R red
• Pin 2.4 connected to R blk
• Pin 2.5 connected to L red

Functions

• initPWM()

  • Initializes the MSP 430 to use PWM to power the DC motors.

  • Pin1.2 used to access TA0.1

  • Pin2.1 used to access TA1.1

  • Pin2.4 used to access TA1.2

  • Pin2.5 used to access TA1.2

  • TA0.1 and TA1.1 are both used for forward motion of the robot (TA0.1 controls left, TA1.1 controls Right).

  • TA1.2 is used to control the reverse motion of the robot.

• behind the scene code used by program are below

  • moveLeftMotorForward()
  • moveRightMotorForward()
  • stopLeftMotor()
  • stopRightMotor()

• code utilized by the user are below

  • stopRobot() utilizes stopLeftMotor() and stopRightMotor()
  • moveRobotForward() utilizes moveLeftMotorForward() and moveRightMotorForward()
  • moveRobotBackward() does not utilize any other code
  • moveRobotLeft() utilizes stopLeftMotor() and moveRightMotorForward()
  • moveRobotRight() utilizes stopRightMotor() and moveLeftMotorForward()