84 lines
2.1 KiB
C
84 lines
2.1 KiB
C
#include <stdint.h>
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#include <stdbool.h>
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#include "timer_a1.h"
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#include "pwm.h"
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#include "motor.h"
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#include "clock.h"
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#include "cpu.h"
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#include "bump.h"
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#include "delay.h"
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#include "inc/msp432p401r.h"
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// bit-banded addresses, positive logic
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#define SW2IN ((*((volatile uint8_t *)(0x42098010)))^1)
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#define SW1IN ((*((volatile uint8_t *)(0x42098004)))^1)
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#define REDLED (*((volatile uint8_t *)(0x42098040)))
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void TimedWaitTouchRelease(uint32_t time) {
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Delay1ms(time); // run for a while and then stop
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MotorStop();
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while (!(SW1IN || SW2IN)) {} // wait for touch
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while (SW1IN || SW2IN) {} // wait for release
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}
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void RedLEDInit(void) {
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P1->SEL0 &= ~0x01;
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P1->SEL1 &= ~0x01; // 1) configure P1.0 as GPIO
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P1->DIR |= 0x01; // 2) make P1.0 out
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}
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void SwitchInit(void) {
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P1->SEL0 &= ~0x12;
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P1->SEL1 &= ~0x12; // 1) configure P1.4 and P1.1 as GPIO
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P1->DIR &= ~0x12; // 2) make P1.4 and P1.1 in
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P1->REN |= 0x12; // 3) enable pull resistors on P1.4 and P1.1
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P1->OUT |= 0x12; // P1.4 and P1.1 are pull-up
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}
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void Task(void) {
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static uint32_t time;
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++time;
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REDLED ^= 1;
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}
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int main_f(void) {
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ClockInit48MHz();
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RedLEDInit();
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TimerA1Init(&Task, 500); // 1000 Hz
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CPU_cpsie(); // Enable interrupts
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while (true) {}
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}
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int main(void) {
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ClockInit48MHz();
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SwitchInit();
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PWMInitMotor(7502); // your function
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MotorInit(); // your function
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while (true) {
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TimedWaitTouchRelease(1000);
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MotorForward(1500, 1500); // your function
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TimedWaitTouchRelease(2000);
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MotorBackward(1500, 1500); // your function
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TimedWaitTouchRelease(2000);
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MotorLeft(1200, 1200); // your function
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TimedWaitTouchRelease(1000);
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MotorRight(1200, 1200); // your function
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}
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}
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// Write a program that uses PWM to move the robot
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// but uses TimerA1 to periodically check the bump switches,
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// stopping the robot on collision
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int main_final(void) {
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ClockInit48MHz();
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// write code here
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CPU_cpsie(); // Enable interrupts
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while (true) {
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// write code here
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}
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}
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