Lab7

This contains the code neccesary to make the right and left sensors read in an input based off of the light recieved. If either of the sensors reach or exceed the threshold value in the program than it will light up that sensor's respective light.

Functions

• void initializeSensorSubsystem()

  • Initializes the subsystem for the sensors on the robot

• void leftSensorReading()

  • returns the value from the left sensor

• unsigned int rightSensorReading()

  • returns the value from the right sensor

• void initializeLights()

  • Initializes the lights on the MSP430

• void turnLeftLightOn()

  • turns the left light on

• void turnRightLightOn()

  • turns the right light on

• void turnLeftLightOff()

  • turns the left light off

• void turnRightLightOff()

  • turns the right light off

Sample code

unsigned int leftSensorReading() {
	ADC10CTL0 &= ~ENC;
	ADC10CTL1 = INCH_4;                       
	ADC10AE0 |= BIT4;
	ADC10CTL0 |= ENC + ADC10SC;         
	__bis_SR_register(CPUOFF + GIE);
	return ADC10MEM;
}

This code initializes the left sensor on the robot by disabling the ADC10 then selecting and setting the appropriate input channel. It then enables the ADC10 and starts sampling, puts the CPU in low power mode, and finally returns

the reading from the left sensor

Threshold Values

• The sensor will emit a voltage of 0.55 V when it is a foot away from the wall in the maze

• The sensor will emit a voltage of 0.65 V when it is 6 inches away from the wall in the maze

• The sensor will emit a voltage of 4.55 V when it is about half an inch away from the wall in the maze