Line Follower

#include <msp430.h>

const int RPM = 1000;
volatile int IR01;
volatile int IR02;

void spin01();
void spin02();
void spinBoth();

/**
 * main.c
 */
void main(void)
{
    WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer

    P1OUT = 0x00;
    P2OUT = 0x00;
    P1REN = 0x00;
    P2REN = 0x00;

    // declarations for IR
    P1DIR &= ~0x01; // 1.0
    P1DIR &= ~0x80; // 1.7

    // declarations for motor
    P1DIR |= 0x04 | 0x08 | 0x10 | 0x20; // 1.2 | 1.3 | 1.4 | 1.5
    P2DIR |= 0x40 | 0x20 | 0x10 | 0x08; // 2.6 | 2.5 | 2.4 | 2.3

    // void loop() {
    while (1) {
        IR01 = P1IN & 0x01;
        IR02 = P1IN & 0x80;

        if (IR01 && IR02) {
            // do nothing as na tritrigger ako pag both off an usa na spin la gihap
        }
        else if (IR01) {
            spin01();
        }
        else if (IR02) {
            spin02();
        }
        else {
            spinBoth();
        }
    }
}

void spin01() {
    // 1st cycle
    P1OUT |= 0x04;                  // high
    P1OUT &= ~(0x08 | 0x10 | 0x20); // low
    __delay_cycles(RPM);

    P1OUT |= 0x04 | 0x08;
    P1OUT &= ~(0x10 | 0x20);
    __delay_cycles(RPM);

    // 2nd cycle
    P1OUT |= 0x08;
    P1OUT &= ~(0x04 | 0x10 | 0x20);
    __delay_cycles(RPM);

    P1OUT |= 0x08 | 0x10;
    P1OUT &= ~(0x04 | 0x20);
    __delay_cycles(RPM);

    // 3rd cycle
    P1OUT |= 0x10;
    P1OUT &= ~(0x04 | 0x08 | 0x20);
    __delay_cycles(RPM);

    P1OUT |= 0x10 | 0x20;
    P1OUT &= ~(0x04 | 0x08);
    __delay_cycles(RPM);

    // 4th cycle
    P1OUT |= 0x20;
    P1OUT &= ~(0x04 | 0x08 | 0x10);
    __delay_cycles(RPM);

    P1OUT |= 0x20 | 0x04;
    P1OUT &= ~(0x08 | 0x10);
    __delay_cycles(RPM);
}

void spin02() {
    // 1st cycle
    P2OUT |= 0x40;                  // high
    P2OUT &= ~(0x20 | 0x10 | 0x08); // low
    __delay_cycles(RPM);

    P2OUT |= 0x40 | 0x20;
    P2OUT &= ~(0x10 | 0x08);
    __delay_cycles(RPM);

    // 2nd cycle
    P2OUT |= 0x20;
    P2OUT &= ~(0x40 | 0x10 | 0x08);
    __delay_cycles(RPM);

    P2OUT |= 0x20 | 0x10;
    P2OUT &= ~(0x40 | 0x08);
    __delay_cycles(RPM);

    // 3rd cycle
    P2OUT |= 0x10;
    P2OUT &= ~(0x40 | 0x20 | 0x08);
    __delay_cycles(RPM);

    P2OUT |= 0x10 | 0x08;
    P2OUT &= ~(0x40 | 0x20);
    __delay_cycles(RPM);

    // 4th cycle
    P2OUT |= 0x08;
    P2OUT &= ~(0x40 | 0x20 | 0x10);
    __delay_cycles(RPM);

    P2OUT |= 0x08 | 0x40;
    P2OUT &= ~(0x20 | 0x10);
    __delay_cycles(RPM);
}

void spinBoth() {
    // 1st cycle
    P1OUT |= 0x04;                  // high
    P1OUT &= ~(0x08 | 0x10 | 0x20); // low

    P2OUT |= 0x40;
    P2OUT &= ~(0x20 | 0x10 | 0x08);

    __delay_cycles(RPM);

    P1OUT |= 0x04 | 0x08;
    P1OUT &= ~(0x10 | 0x20);

    P2OUT |= 0x40 | 0x20;
    P2OUT &= ~(0x10 | 0x08);

    __delay_cycles(RPM);

    // 2nd cycle
    P1OUT |= 0x08;
    P1OUT &= ~(0x04 | 0x10 | 0x20);

    P2OUT |= 0x20;
    P2OUT &= ~(0x40 | 0x10 | 0x08);

    __delay_cycles(RPM);

    P1OUT |= 0x08 | 0x10;
    P1OUT &= ~(0x04 | 0x20);

    P2OUT |= 0x20 | 0x10;
    P2OUT &= ~(0x40 | 0x08);

    __delay_cycles(RPM);

    // 3rd cycle
    P1OUT |= 0x10;
    P1OUT &= ~(0x04 | 0x08 | 0x20);

    P2OUT |= 0x10;
    P2OUT &= ~(0x40 | 0x20 | 0x08);

    __delay_cycles(RPM);

    P1OUT |= 0x10 | 0x20;
    P1OUT &= ~(0x04 | 0x08);

    P2OUT |= 0x10 | 0x08;
    P2OUT &= ~(0x40 | 0x20);

    __delay_cycles(RPM);

    // 4th cycle
    P1OUT |= 0x20;
    P1OUT &= ~(0x04 | 0x08 | 0x10);

    P2OUT |= 0x08;
    P2OUT &= ~(0x40 | 0x20 | 0x10);

    __delay_cycles(RPM);

    P1OUT |= 0x20 | 0x04;
    P1OUT &= ~(0x08 | 0x10);

    P2OUT |= 0x08 | 0x40;
    P2OUT &= ~(0x20 | 0x10);

    __delay_cycles(RPM);
}