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This project is about built a robot that can follow the light, but I damaged the board when I solder chips, so there is one motor can spin in the meantime.
First of all, I solder the photo sensor on the green board and also the H bridge circuit, so it can connect the motor to the MSP430G2553 launchpad.
Secondly, I write some code on C to control motor.
Finally, I did some tests that make sure the motor will work as expect.
#include "msp430g2553.h"
#include "UART.h"
void print_every(int rate);
char newprint = 0;
long NumOn = 0;
long NumOff = 0;
int statevar = 1;
int timecheck = 0;
char textChange = 0;
void main(void) {
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
if (CALBC1_16MHZ ==0xFF || CALDCO_16MHZ == 0xFF) while(1);
DCOCTL = CALDCO_16MHZ; // Set uC to run at approximately 16 Mhz
BCSCTL1 = CALBC1_16MHZ;
// Initialize Port 1
// P1SEL &=; // See page 42 and 43 of the G2553's datasheet, It shows that when both P1SEL and P1SEL2 bits are zero
// P1SEL2 &= ~0x28; // the corresponding pin is set as a I/O pin. Datasheet: http://coecsl.ece.illinois.edu/ge423/datasheets/MSP430Ref_Guides/msp430g2553datasheet.pdf
// P1REN |= 0x40; // resistors enabled for photo-resistor
// P1DIR |= 0x4; // Set P1.0 to output to drive LED on LaunchPad board. Make sure shunt jumper is in place at LaunchPad's Red LED
// P1DIR &= !0x80;
// P1OUT &= ~0x28; // Initially set P1.3 to 0
//initialization for port 1
P1SEL = 0;
P1SEL2 = 0;
P1REN = 0x0;
P1DIR = 0x12;
P1SEL |= 0x02;
P1OUT &= ~0x01;
//initialization for port 2
P2SEL &= ~BIT6; // Clear P2.6 in P2SEL (by default Xin)
P2SEL2 &= ~BIT6; // Clear P2.6 in P2SEL2
P2DIR |= BIT3+BIT4+BIT6; // P2.3,P2.4,P2.6 all output
P2OUT &= ~BIT3 + BIT4+ BIT6; // Clear P2.3,P2.6 and P2.4
// P2OUT &= ~BIT2 + BIT6; // P2.3 = 1,P2.4 = 0
// ADC10CTL0 = SREF_0 + ADC10SHT_1 + ADC10IE + ADC10SC + ADC10ON;
// ADC10CTL1 = INCH_3 + ADC10DIV_0;
ADC10CTL0 = ADC10SHT_1 + ADC10ON + ADC10IE +SREF_0 ;//REFON //MSC//REFOUT +ADC10IE; // ADC10ON, interrupt enabled
ADC10CTL1 = INCH_3 ;//+ SHS_0 + ADC10DIV_0 + ADC10SSEL_0 + CONSEQ_0; // input A0
ADC10AE0 = 0x08; // PA.1 ADC option select
// Timer A Config
// TACCTL0 = CCIE; // Enable Periodic interrupt
// TACCR0 = 16000; // period = 1ms
// TACTL = TASSEL_2 + MC_1; // source SMCLK, up mode
// TA0CCR0 = 1000;
// TA0CCTL1 = OUTMOD_7;
// TA0CCR1 = 500;
// TA0CTL = TASSEL_2 + MC_1;
TACCTL0 = CCIE; // Enable Periodic interrupt
TACCR0 = 16000; // period = 1ms
TACTL = TASSEL_2 + MC_1; // source SMCLK, up mode
TA1CCR0 = 1600; // PWM Period 10Khz
TA1CCTL1 = OUTMOD_7; // TA1CCR1 reset/set
TA1CCTL0 = 0;
TA1CCR1 = 1000; // TA1CCR1 PWM duty cycle
TA1CTL = TASSEL_2 + MC_1; // SMCLK, up mode
Init_UART(115200,1); // Initialize UART for 115200 baud serial communication
_BIS_SR(GIE); // Enable global interrupt
while(1) { // Low priority Slow computation items go inside this while loop. Very few (if anyt) items in the HWs will go inside this while loop
// for use if you want to use a method of receiving a string of chars over the UART see USCI0RX_ISR below
// if(newmsg) {
// newmsg = 0;
// }
// The newprint variable is set to 1 inside the function "print_every(rate)" at the given rate
if ( (newprint == 1) && (senddone == 1) ) { // senddone is set to 1 after UART transmission is complete
// only one UART_printf can be called every 15ms
//UART_printf("St%d On %ld Off %ld\n\r",statevar,NumOn,NumOff);
if(textChange == 0)
UART_printf("nothing\n\r");
if(textChange == 'd')
UART_printf("dark\n\r");
if(textChange == 'l')
UART_printf("light\n\r");
// UART_printf("%c",mytext);
newprint = 0;
}
}
}
// Timer A0 interrupt service routine
#pragma vector=TIMER0_A0_VECTOR
__interrupt void Timer_A (void)
{
// timecheck++; // Keep track of time for main while loop.
// print_every(500); // units determined by the rate Timer_A ISR is called, print every "rate" calls to this function
//
// switch (statevar) {
// case 1: //LED ON
//
// P1OUT |= 0x1; // really do not have to turn on the LED each time in here but making the point that this is the functionality of statevar = 1
// NumOn++;
// if (timecheck == 500) { // if statement to determine what the state should be the next millisecond into the Timer_A function
// timecheck = 0;
//
// statevar = 2; // Next Timer_A call go to state 2
// } else {
// statevar = 1; // stays the same. So not really needed
// }
// break;
// case 2: //LED OFF
//
// P1OUT &= ~0x1; // really do not have to turn off the LED each time in here but making the point that this is the function of statevar = 2
// NumOff++;
// if (timecheck == 250) { // if statement to determine what the state should be the next millisecond into the Timer_A function
// timecheck = 0;
//
// statevar = 1;
// } else {
// statevar = 2; // stays the same. So not really needed
// }
// break;
// }
ADC10CTL0 |= ENC + ADC10SC;
}
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void) {
timecheck++; // Keep track of time for main while loop.
print_every(250); // units determined by the rate Timer_A ISR is called, print every "rate" calls to this function
int ADCraw = ADC10MEM;
int ADC = (3300L*ADCraw)/1023;
switch (statevar) {
case 1: // when the photo sensor covered with darkness
P1OUT &= ~0x12; //stop the motor
P2OUT &= ~BIT3 + BIT4;
if ((ADC > (3300/4)) && (ADC < (3300/2))){
statevar = 2;
}
if( ADC > (3300/2)){
statevar = 3;
}
break;
case 2:
if (ADC < 3300/4){
statevar = 1;
}
if (ADC > 3300/2){
statevar = 3;
}
break;
case 3 : // when the photo sensor detect the light
P1OUT |= 0x12; // start the rotation
P2OUT |= BIT4;
P2OUT |= BIT6;
if (ADC < 3300/4){
statevar = 1;
}
if ((3300/4 <ADC) && (ADC< 3300/2)){
statevar = 2;
}
break;
}
}
// USCI Transmit ISR - Called when TXBUF is empty (ready to accept another character)
#pragma vector=USCIAB0TX_VECTOR
__interrupt void USCI0TX_ISR(void) {
if(IFG2&UCA0TXIFG) { // USCI_A0 requested TX interrupt
if(printf_flag) {
if (currentindex == txcount) {
senddone = 1;
printf_flag = 0;
IFG2 &= ~UCA0TXIFG;
} else {
UCA0TXBUF = printbuff[currentindex];
currentindex++;
}
} else if(UART_flag) {
if(!donesending) {
UCA0TXBUF = txbuff[txindex];
if(txbuff[txindex] == 255) {
donesending = 1;
txindex = 0;
}
else txindex++;
}
} else { // interrupt after sendchar call so just set senddone flag since only one char is sent
senddone = 1;
}
IFG2 &= ~UCA0TXIFG;
}
if(IFG2&UCB0TXIFG) { // USCI_B0 requested TX interrupt (UCB0TXBUF is empty)
IFG2 &= ~UCB0TXIFG; // clear IFG
}
}
// USCI Receive ISR - Called when shift register has been transferred to RXBUF
// Indicates completion of TX/RX operation
#pragma vector=USCIAB0RX_VECTOR
__interrupt void USCI0RX_ISR(void) {
if(IFG2&UCB0RXIFG) { // USCI_B0 requested RX interrupt (UCB0RXBUF is full)
IFG2 &= ~UCB0RXIFG; // clear IFG
}
if(IFG2&UCA0RXIFG) { // USCI_A0 requested RX interrupt (UCA0RXBUF is full)
// Uncomment this block of code if you would like to use this COM protocol that uses 253 as STARTCHAR and 255 as STOPCHAR
/* if(!started) { // Haven't started a message yet
if(UCA0RXBUF == 253) {
started = 1;
newmsg = 0;
}
}
else { // In process of receiving a message
if((UCA0RXBUF != 255) && (msgindex < (MAX_NUM_FLOATS*5))) {
rxbuff[msgindex] = UCA0RXBUF;
msgindex++;
} else { // Stop char received or too much data received
if(UCA0RXBUF == 255) { // Message completed
newmsg = 1;
rxbuff[msgindex] = 255; // "Null"-terminate the array
}
started = 0;
msgindex = 0;
}
}
*/
IFG2 &= ~UCA0RXIFG;
}
}
// This function takes care of all the timing for printing to UART
// Rate determined by how often the function is called in Timer ISR
int print_timecheck = 0;
void print_every(int rate) {
if (rate < 15) {
rate = 15;
}
if (rate > 10000) {
rate = 10000;
}
print_timecheck++;
if (print_timecheck == rate) {
print_timecheck = 0;
newprint = 1;
}
}
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