AMAZON

#include <msp430g2553.h>

int a=0, b=0, l=0, r=0;

#define fark 50
void above(void){
ADC10CTL0=SREF_0|ADC10SHT_0|ADC10ON;
ADC10CTL1=INCH_0|SHS_0|ADC10DIV_0|ADC10SSEL_0|CONSEQ_0;
ADC10AE0=BIT0;
ADC10CTL0|=ENC;
ADC10CTL0|=ADC10SC;
while((ADC10CTL1&ADC10BUSY)==ADC10BUSY);
a=ADC10MEM;
}

void below(void){
ADC10CTL0=SREF_0|ADC10SHT_0|ADC10ON;
ADC10CTL1=INCH_2|SHS_0|ADC10DIV_0|ADC10SSEL_0|CONSEQ_0;
ADC10AE0=BIT2;
ADC10CTL0|=ENC;
ADC10CTL0|=ADC10SC;
while((ADC10CTL1&ADC10BUSY)==ADC10BUSY);
b=ADC10MEM;
}

void right(void){
ADC10CTL0=SREF_0|ADC10SHT_0|ADC10ON;
ADC10CTL1=INCH_3|SHS_0|ADC10DIV_0|ADC10SSEL_0|CONSEQ_0;
ADC10AE0=BIT3;
ADC10CTL0|=ENC;
ADC10CTL0|=ADC10SC;
while((ADC10CTL1&ADC10BUSY)==ADC10BUSY);
r=ADC10MEM;
}

void left(void){
ADC10CTL0=SREF_0|ADC10SHT_0|ADC10ON;
ADC10CTL1=INCH_4|SHS_0|ADC10DIV_0|ADC10SSEL_0|CONSEQ_0;
ADC10AE0=BIT4;
ADC10CTL0|=ENC;
ADC10CTL0|=ADC10SC;
while((ADC10CTL1&ADC10BUSY)==ADC10BUSY);
l=ADC10MEM;
}

void main(void)
{


    WDTCTL=WDTPW|WDTHOLD;
    P1DIR=0x12;
    P1SEL=0xFF;
    P1OUT=0x00;
    P2DIR=0x1E;
    P2SEL=0x00;
    P2OUT=0x00;

    TACCTL0=CCIE;
    TACTL=MC_1|ID_3|TASSEL_2|TACLR;
    TACCTL1 = OUTMOD_7;
     TACCR0 = 24;
     TACCR1 = 24;

    while(1){

above();
//_delay_cycles(500);
below();
//_delay_cycles(500);
right();
//_delay_cycles(500);
left();
//_delay_cycles(500);

if (((a-b)<fark)&&((b-a)<fark)){
P2OUT&=0xF9;}
if ((a-b)>fark){
P2OUT|=0x02;
P2OUT&=0xFB;}
if ((b-a)>fark){
P2OUT|=0x04;
P2OUT&=0xFD;
}
if (((r-l)<fark)&&((l-r)<fark))    {
P2OUT&=0xE7;}
if ((r-l)>fark){
P2OUT|=0x10;
P2OUT&=0xF7;
}
if ((l-r)>fark){
P2OUT|=0x08;
P2OUT&=0xEF;
}
}
}