#include?“msp430x14x.h“
#include?“Keypad.h“
void?turnright1（void）;
void?turnleft1（void）;
void?round（void）;
void?line（void）;
void?main（void）
{?
??WDTCTL?=?WDTPW?+?WDTHOLD;
??int?i;
?P6DIR?|=?BIT2;P6OUT?&=?~BIT2;???//打開電平轉換
??P2DIR?|=BIT3+BIT0;P2OUT?&=?~BIT3;
??P2OUT?|=BIT0;
??P3DIR?|=0X11;
??P3OUT?|=0X10;
??P3OUT?&=~?BIT0;
??P4DIR?&=~（BIT0+BIT1+BIT2+BIT3+BIT4）;
??P5DIR?|=0XFF;
??P5OUT?=0X51;
??P5OUT?&=~?BIT1;
??for（i=0;i<2000;i++）;
??CCR0=512-1;
??CCR1=462;
??CCR2=50;
??CCTL0=CCIE;
??CCTL1=CCIE;
??CCTL2=CCIE;
??_EINT（）;
??TACTL|=TASSEL_1+MC_3;
??while（1）
??{?
????switch（（P4IN?&?0X1f））
????{??
????case?7:?turnleft1（）;
????????????break;
????case?15:?turnleft1（）;
????????????break;
??????
????case?23:turnleft1（）;
???????????break;
????case?28:?turnright