A modular robot for use in the RoboSumo lab SampleBot 1.0 A modular robot for use in the RoboSumo lab

P2.4 P2.5 P2.6 P2.7 Left motor = P2.0, P2.1 Right motor = P2.2, P2.3 This controls the power from the battery pack. The LED should light when power is connected to the circuit. This should be OFF for programming. Left motor = P2.0, P2.1 Right motor = P2.2, P2.3 P2.4 P2.5 P2.6 P2.7

This is the power rail for the sensor blocks provided. +ve = 3.3 V = ORANGE -ve = GND = BLACK Access to Port 1, pins connected in increasing order from 1.0 to 1.7. These should generally be connected to BLUE wires from sensor blocks provided.

This switch selects the mode of operation This switch selects the mode of operation. Operation for running code, programming for connecting to the LaunchPad. Connection to LaunchPad, the following pins MUST be connected to Vcc, GND, TST and RST on the LaunchPad. Please ensure that the SampleBot is OFF and Programming is selected.

Programming // // SampleBot for MSP430G2553 or MSP430G2452 // Written by Emma Robinson last modifed 27/1/2016 // See http://robosumo.wordpress.com/msp430/ #include <msp430.h>   int main( void ) { WDTCTL = WDTPW + WDTHOLD; // Disable watchdog timer // Set all pins as inputs or outputs P1DIR = 0b00000000; // P1 inputs P2DIR = 0b11111111; // P2 outputs P2SEL &= ~BIT6; // P2.6 allow as GPIO P2SEL &= ~BIT7; // P2.7 allow as GPIO }