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Microcontroller Programming and Interfacing Texas Instruments MSP430 by Daniel J. Pack, Steven F. Barrett

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10.1. SUBMERSIBLE ROBOT 323
case 0x04: //right/port button pushed
P4OUT = 0x41; //assert right LED signal and
break; //left motor
:
: //insert other cases
:
default:;
} //end switch
}
}
//***********************************************************************
10.1.6 PROJECT EXTENSIONS
The control system provided above has a set of very basic features. Here are some possible extensions
for the system:
Provide adjustable speed control for each motor. This advanced feature requires several mod-
ifications including a proportional joystick and pulse width modulation signals to the motor.
The joystick currently in use provides a simple on and off signal. A proportional joystick pro-
vides an X and Y output DC signal proportional to the joystick deflection on each axis. These
signals may be fed to the analog-to-digital converter aboard the MSP430.The X and Y signals
captured from the joystick may be used to provide a pulse width modulated signal with a duty
cycle proportional to deflection. This modification is given as an assignment at the end of the
chapter.
Provide a powered dive and surface thruster. The current control system provides a powered
drive capability with the vertical thruster. The ROV returns to the surface using its slightly
positive buoyancy. To provide for a powered dive and surface capability, the vertical thruster
must be equipped with an H-bridge to allow for motor forward and reversal.This modification
is given as an assignment at the end of the chapter.
Left and right thruster reverse. Currently, the left and right thrusters may only be powered
in one direction. To provide additional maneuverability, the left and right thrusters could be
equipped with an H-bridge to allow bi-directional motor control. This modification is given
as an assignment at the end of the chapter.

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