The goal of this project was to take what I already knew about the MSP430 microcontroller and the other components of the Texas Instruments robot so that I could use a low level language(C) to program it to navigate a maze and respond to external stimuli.

In order to achieve my goal, I used the Integrated Development Environment(IDE) Code Composer Studio to implement and debug my robot software. Using the MSP430 datasheet and a Technical Reference Manual by T.I. , I wrote register level code to create various tasks to run and control the major movement and processing functionality of the robot. I used analog IR distance sensors along with included bump switches to make the robot smart enough to around bumping into objects as much as possible, and how to correct itself in the case that it does. I used a Finite State Machine I designed to determine drive state it should be in and to set the adaptive control for the motors. To the right you can see my report for programming the distance sensors to stop at a specified threshold.

The end result of the project wasn't perfect, but the robot successfully met all the criteria and was able to enter and exit the maze autonomously without any external help or user input.