#include <msp430.h> 
//P1.3 ENA
//P1.4 IN1
//P1.5 IN2
//P1.6 ENB
//P2.0 IN3
//P2.1 IN4
int main(void) {
    WDTCTL = WDTPW | WDTHOLD;	// Stop watchdog timer
    DCOCTL = 0; // 
    BCSCTL1 = CALBC1_1MHZ; 
    DCOCTL = CALDCO_1MHZ; 
    P1SEL = BIT1; // P1.1 = RXD
    P1SEL2 = BIT1; // P1.1 = RXD
    UCA0CTL1 |=UCSWRST;
    UCA0CTL1 |= UCSSEL_2;
    UCA0BR0 = 104; // 1MHz 9600 baudrate
    UCA0BR1 = 0; // 1MHz 9600 baud rate
    UCA0MCTL = UCBRS0; // UART Baud adjustment
    UCA0CTL1 &= ~UCSWRST;
    IE2 |= UCA0RXIE; // USCI_A0 RX interrupt enable
    __bis_SR_register(LPM0_bits + GIE); // General interrrupts and LPM0 mode are active
    }
    
    #pragma vector=USCIAB0RX_VECTOR
    __interrupt void USCI0RX_ISR(void)
    {
    unsigned char received;
    received = UCA0RXBUF; 
    if(received=='C') {  //C=CENTER
    P1OUT &= ~(BIT3 + BIT6);
    }

    else  if(received=='R') { //R=RIGHT
    P1OUT |=(BIT3 + BIT4);
    P1OUT &= ~BIT5;
    }

    else  if(received=='L') { //L=LEFT
    P1OUT |=BIT6;
    P2OUT |=BIT0;
    P2OUT &= ~BIT1;
    }

    else if(received=='F') { //F=FORWARD
    P1OUT |=(BIT3 + BIT6);
    P1OUT |=BIT4;
    P1OUT &= ~BIT5;
    P2OUT |=BIT0;
    P2OUT &= ~BIT1;
    }

    else if(received=='B') { //B=BACK
    P1OUT |=(BIT3 + BIT6);
    P1OUT |=BIT5;
    P1OUT &= ~BIT4;
    P2OUT |= BIT1;
    P2OUT &= ~BIT0;
    }
    else if(received=='N') { //N=NO MOTION
    	P1OUT &= ~(BIT3 + BIT6);
    }
    }