1. I need help implenting this Arduino code to MSP430/Code composer.

#include

RedBotSensor left_sen = RedBotSensor(A3); RedBotSensor center_sen = RedBotSensor(A4); RedBotSensor right_sen = RedBotSensor(A5); //data_sheet // constants that are used in the code. lineStandard is the level to detect // if the sensor is on the line or not. If the sensor value is greater than this // the sensor is above a DARK line. // // SPEED sets the nominal speed //motor A #define en1 9 #define in1 4 #define in2 5 //motor b #define en2 3 #define in3 6 #define in4 7 int lineStandard = 800;

void setup() { pinMode(in1, OUTPUT); pinMode(in2, OUTPUT); pinMode(in3, OUTPUT); pinMode(in4, OUTPUT); pinMode(en1, OUTPUT); pinMode(en2, OUTPUT); Serial.begin(9600); Serial.println("IR Sensor Readings:: "); delay(1000); }

void loop() { Serial.print(left_sen.read()); Serial.print("\t"); Serial.print(center_sen.read()); Serial.print("\t"); Serial.print(right_sen.read()); Serial.println();

//data_sheet // if on the line drive left and right at the same speed (left is CCW / right is CW) if(center_sen.read() > lineStandard) {//right right(); } //data_sheet // if the line is under the right sensor, adjust relative speeds to turn to the right else if(right_sen.read() > lineStandard) {//left left(); } //data_sheet // if the line is under the left sensor, adjust relative speeds to turn to the left else if(left_sen.read() > lineStandard) {//right right(); } //data_sheet // if all sensors are on black or up in the air, stop the motors. // otherwise, run motors given the control speeds above. if((left_sen.read() > lineStandard) && (center_sen.read() > lineStandard) && (right_sen.read() > lineStandard) ) { //stop Stop (); } else { //any dir forward(); } delay(0); // add a delay to decrease sensitivity. }

void right() { analogWrite(en1,255); analogWrite(en2,255); digitalWrite(in1, LOW); digitalWrite(in2, LOW); digitalWrite(in3, HIGH); digitalWrite(in4, LOW); } void Stop () { analogWrite(en1, 0); analogWrite(en2, 0); digitalWrite(in1, LOW); digitalWrite(in2, LOW); digitalWrite(in3, LOW); digitalWrite(in4, LOW); } void left() { analogWrite(en1, 255); analogWrite(en2, 255); digitalWrite(in1, HIGH); digitalWrite(in2, LOW); digitalWrite(in3, LOW); digitalWrite(in4, LOW); } void forward() { analogWrite(en1, 255); analogWrite(en2, 255); digitalWrite(in1, HIGH); digitalWrite(in2, LOW); digitalWrite(in3, HIGH); digitalWrite(in4, LOW); } void back(){

analogWrite(en1, 255); analogWrite(en2, 255); digitalWrite(in1, LOW); digitalWrite(in2,HIGH); digitalWrite(in3, LOW); digitalWrite(in4, HIGH); }