From 798048343eb5f926d6f89cb70b0d58133ec40dae Mon Sep 17 00:00:00 2001
From: Mats van Reenen <mail@matsvanreenen.nl>
Date: Fri, 12 Jun 2020 18:09:14 +0200
Subject: [PATCH] cleanup file and update to new version

---
 main.c | 48 ++++++++++++++++++++----------------------------
 1 file changed, 20 insertions(+), 28 deletions(-)

diff --git a/main.c b/main.c
index 72b051c..7362147 100644
--- a/main.c
+++ b/main.c
@@ -8,23 +8,16 @@
 /* pinout
  *
  * motor driver:
- * CLK  <-> P1.4*
- * MOSI <-> P1.1*
- * MISO <-> P1.2*
+ * CLK  <-> P1.4
+ * MOSI <-> P1.1
+ * MISO <-> P1.2
  * CS   <-> P1.3
  * 
- * motion controller:
- * CLK  <-> P1.4*
- * MOSI <-> P1.1*
- * MISO <-> P1.2*
- * CS   <-> P1.0
- * 
- * NFC tag reader:
- * CLK  <-> P1.4*
- * MOSI <-> P1.1*
- * MISO <-> P1.2*
- * CS   <-> P1.6
- * RST  <-> P1.7
+ * motoren:
+ * stapR <-> P1.6
+ * dirR  <-> P2.5
+ * stapL <-> P1.7
+ * dirL  <-> P2.6
  * 
  * Lijndetectie:
  * front right <-> P2.0
@@ -32,8 +25,6 @@
  * back right  <-> P2.2
  * back left   <-> P2.3
  * 
- * *) this is a shared SPI pin.
- * 
  * */
 
 /*
@@ -43,16 +34,16 @@
  */
 #define TEST 0
 
-const uchar STEP_PINS = BIT4 | BIT5;
-const uchar DIRr_PIN = BIT3;
-const uchar DIRl_PIN = BIT2;
+const uchar STEP_PINS = BIT4 | BIT5; // PORT 2
+const uchar DIRr_PIN = BIT6; // PORT 1
+const uchar DIRl_PIN = BIT7; // PORT 1
 typedef enum Direction {Forward=0, Backward=(DIRl_PIN | DIRr_PIN), RightTurn=DIRr_PIN, LeftTurn=DIRl_PIN};
 
 const uchar v = 36;
 const ulong halfRound = 2800;
 
 void stap(uint n, ulong t){
-  ulong d = t;
+  ulong d;
   uint s = n-100;
   while(n != 0){
     n--;
@@ -61,18 +52,18 @@ void stap(uint n, ulong t){
     if(s < n || n < 100)
         d = 100; // a crude way of a accaleration
     else
-        d=t;
+        d = t;
     while(d != 0){
         d--;
-        __delay_cycles(160);
+         __delay_cycles(160);
     }
   }
   __delay_cycles(160000);
 }
 
 void dir(enum Direction d){
-  P2OUT &= ~(DIRr_PIN | DIRl_PIN); // set dir bits to 0
-  P2OUT |= d;
+  P1OUT &= ~(DIRr_PIN | DIRl_PIN); // set dir bits to 0
+  P1OUT |= d;
 }
 
 
@@ -90,12 +81,13 @@ int main(void)
     BCSCTL1 = CALBC1_16MHZ;
     DCOCTL  = CALDCO_16MHZ;
 
-    P2DIR |= STEP_PINS | DIRr_PIN | DIRl_PIN;
+    P2DIR |= STEP_PINS;
+    P1DIR |= DIRr_PIN | DIRl_PIN;
 
     SPIInit();
     MDInit();
-    MCInit();
-    NFCInit();
+    //MCInit();
+    //NFCInit();
 
     __delay_cycles(16000000);