ECE382-Lab7

#Prelab

Grading Rubric

ITEM	GRADE	POINTS	OUT OF	DATE	DUE
Prelab	0, check minus, check, check plus		10		BOC L37
Required FXN	On time, late		40		COB L38
B FXN	On time, late		10		COB L38
A FXN	On time, late		10		COB L38
Use of GitHub	On time (check system), late		10		COB L40
Code Style	On time(check system), late		10		COB L40
README	On time(check system), late		10		COB L40

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#Code Walkthrough -The main loop utilizes a while loop to read each sensor -When the sensor detects a wall or something near, it triggers one or both of the LEDs

int main(void) {

unsigned char i = 0;										// index into sample array

IFG1=0; 													// clear interrupt flag1
WDTCTL = WDTPW + WDTHOLD;									// disable WDT

BCSCTL1 = CALBC1_8MHZ;										// 8MHz clock
DCOCTL = CALDCO_8MHZ;

P1DIR = BIT0 | BIT6;

// Set the red LED as output

while(1) {

	  // Configure P1.4 to be the ADC input LEFT
	ADC10CTL0 = 0;											// Turn off ADC subsystem
	ADC10CTL1 = INCH_4 | ADC10DIV_3 ;						// Channel 4, ADC10CLK/4
	ADC10AE0 = BIT4;		 								// Make P1.4 analog input
	ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;		// Vcc & Vss as reference

	ADC10CTL0 |= ADC10SC;									// Start a conversion
	while(ADC10CTL1 & ADC10BUSY);							// Wait for conversion to complete
	sampleL[i] = ADC10MEM;									// collect that 10-bit value
	if (sampleL[i] > 0x0200)	P1OUT |= BIT0;
	else						P1OUT &= ~BIT0;

	//i = (i+1) & 0xF;							// This is a mod 16 increment

	 // Configure P1.3 to be the ADC input RIGHT
			ADC10CTL0 = 0;											// Turn off ADC subsystem
			ADC10CTL1 = INCH_3 | ADC10DIV_3 ;						// Channel 3, ADC10CLK/4
			ADC10AE0 = BIT3;		 								// Make P1.3 analog input
			ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;		// Vcc & Vss as reference

			ADC10CTL0 |= ADC10SC;									// Start a conversion
			while(ADC10CTL1 & ADC10BUSY);							// Wait for conversion to complete
			sampleR[i] = ADC10MEM;									// collect that 10-bit value
			if (sampleR[i] > 0x0200)	P1OUT |= BIT6;
			else						P1OUT &= ~BIT6;

			//i = (i+1) & 0xF;							// This is a mod 16 increment

	// Configure P1.5 to be the ADC input CENTER
			ADC10CTL0 = 0;											// Turn off ADC subsystem
			ADC10CTL1 = INCH_5 | ADC10DIV_3 ;						// Channel 2, ADC10CLK/4
			ADC10AE0 = BIT5;		 								// Make P1.2 analog input
			ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;		// Vcc & Vss as reference

			ADC10CTL0 |= ADC10SC;									// Start a conversion
			while(ADC10CTL1 & ADC10BUSY);							// Wait for conversion to complete
			sampleC[i] = ADC10MEM;									// collect that 10-bit value
			if (sampleC[i] > 0x0200)	P1OUT |= BIT0 | BIT6;
			else						P1OUT &= ~(BIT0|BIT6);

			i = (i+1) & 0xF;							// This is a mod 16 increment

} // end infinite loop

} // end main

#Debugging My original robot's front sensor had bad wiring, so I had to rewire and reprogram a new robot. Once I got the new robot working, I had to get a new MSP430 chip because one of my LEDs was out.

#Documentation Dr. Coulston and Capt Trimble both helped with troubleshooting when the robot and LED weren't working.