RTOS/MSP432P401R: MSP432P401R

The ADC Window Comparator is inside the ADC, unrelated to the timer CCRs.
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The MSP432Ware Driverlib can set the Comparator using ADC14_setComparatorWindowValue and ADC14_enableComparatorWindow. You set the IER1 bits using the high 32 bits of the argument to ADC14_enableInterrupt.

You appear to be using the "TI Drivers" package (I think that's what it's called) which I know very little about. You may be on your own figuring out whether that can work with the Comparator stuff.

I should also mention that I haven't done this with the MSP432. I have done it with the MSP430, which has a similar mechanism.
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As TRM section 22.2.9 describes, you set the low threshold as a value in the ADC14LO0 register. (There's also an ADC14HI0 register, but I'm supposing you're interested in a low threshold for sonar/collision.)

Set ADC14WINC in each of the ADC14MCTL0-6 registers. Leave ADC14WINCTH=0 to select LO0.

You then enable the interrupt by setting ADC14IER1:ADC14LOIE [ref Table 22-14.] If you want "unattended" you probably want to turn off the bit(s) set in ADC14IER0 [ref Table 22-13]

Set up the ISR as usual, and check for ADC14IFGR1:ADC14LOIFG [ref Table 22-16]. There's also an ADC14IV entry (=8) for it [ref Table 22-19.]

To run "unattended" you'll probably want either continuous-scan (CONSEQ=3 and MSC=1 -- faster than you need but simple to do) or a timer-paced single-scan (CONSEQ=1, MSC=1, SHS > 0).

[Edit: Forgot the MCTL stuff.]

/* DriverLib Includes */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>

/* Standard Includes */
#include <stdint.h>
#include <stdbool.h>

/* TI-RTOS Header files */
#include <ti/drivers/GPIO.h>

/* Statics */
uint16_t resultsBuffer[7];
uint8_t resPos;

int main(void)
{
/* Halting WDT */
MAP_WDT_A_holdTimer();
MAP_Interrupt_enableSleepOnIsrExit();
resPos = 0;

/* Setting up clocks
* MCLK = MCLK = 3MHz
* ACLK = REFO = 32Khz */
MAP_CS_initClockSignal(CS_ACLK, CS_REFOCLK_SELECT, CS_CLOCK_DIVIDER_1);

/* Initializing ADC (MCLK/1/1) */
MAP_ADC14_enableModule();
MAP_ADC14_initModule(ADC_CLOCKSOURCE_MCLK, ADC_PREDIVIDER_1, ADC_DIVIDER_1, 0);

/* Configuring GPIOs (5.5 A0) */
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P4, GPIO_PIN1 | GPIO_PIN2 | GPIO_PIN3 |
GPIO_PIN4 | GPIO_PIN5 | GPIO_PIN6 | GPIO_PIN7 , GPIO_TERTIARY_MODULE_FUNCTION);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN1);
// MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN2);
/* Configuring ADC Memory (ADC_MEM0 - ADC_MEM7 (A6 - A12) with no repeat)
with internal 2.5v reference */
MAP_ADC14_configureMultiSequenceMode(ADC_MEM0,ADC_MEM6, true);
MAP_ADC14_configureConversionMemory(ADC_MEM0,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A6, false);
MAP_ADC14_configureConversionMemory(ADC_MEM1,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A7, false);
MAP_ADC14_configureConversionMemory(ADC_MEM2,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A8, false);
MAP_ADC14_configureConversionMemory(ADC_MEM3,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A9, false);
MAP_ADC14_configureConversionMemory(ADC_MEM4,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A10, false);
MAP_ADC14_configureConversionMemory(ADC_MEM5,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A11, false);
MAP_ADC14_configureConversionMemory(ADC_MEM6,
ADC_VREFPOS_INTBUF_VREFNEG_VSS,
ADC_INPUT_A12, false);

/* Setting up the sample timer to automatically step through the sequence
* convert.*/
MAP_ADC14_enableSampleTimer(ADC_AUTOMATIC_ITERATION);

/* Triggering the start of the sample */
MAP_ADC14_enableConversion();
MAP_ADC14_toggleConversionTrigger();

ADC14_setComparatorWindowValue(ADC_COMP_WINDOW0,700, 2000);

ADC14_enableComparatorWindow(ADC_MEM0 | ADC_MEM1 | ADC_MEM2 | ADC_MEM3 | ADC_MEM4 | ADC_MEM5 | ADC_MEM6,
ADC_COMP_WINDOW0);

/* Enabling the interrupt when a conversion on channel 7 (end of sequence)
* is complete and enabling conversions */
MAP_ADC14_enableInterrupt(ADC_IN_INT);

/* Enabling Interrupts */
MAP_Interrupt_enableInterrupt(INT_ADC14);
MAP_Interrupt_enableMaster();

/* Going to sleep */
while (1)
{
MAP_PCM_gotoLPM0();
}
}

/* This interrupt is fired whenever a conversion is completed and placed in
* ADC_MEM0 */
void ADC14_IRQHandler(void)
{
uint64_t status;
uint64_t currentvalue;

status = MAP_ADC14_getEnabledInterruptStatus();
MAP_ADC14_clearInterruptFlag(status);

MAP_GPIO_toggleOutputOnPin(GPIO_PORT_P1, GPIO_PIN0);

if(status & ADC_INT6)
{
MAP_ADC14_getMultiSequenceResult(resultsBuffer);
resultsBuffer[0] = MAP_ADC14_getResult(ADC_MEM0);
resultsBuffer[1] = MAP_ADC14_getResult(ADC_MEM1);
resultsBuffer[2] = MAP_ADC14_getResult(ADC_MEM2);
resultsBuffer[3] = MAP_ADC14_getResult(ADC_MEM3);
resultsBuffer[4] = MAP_ADC14_getResult(ADC_MEM4);
resultsBuffer[5] = MAP_ADC14_getResult(ADC_MEM5);
resultsBuffer[6] = MAP_ADC14_getResult(ADC_MEM6);
}

currentvalue = MAP_ADC14_getResult(ADC_MEM0);

if (currentvalue < 700){//LED 1 ON WHEN OBJECTS ARE CLOSE
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);//LED1
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN1);
}
else{//LED 2 ON WHEN OBJECTS ARE FAR
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN1);//LED2
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
}
}

Okay the way you explained seems pretty straight forward, but I am not getting this to work. I do not think my Comparator is even triggering the ISR at all. I have the high and low values set as the readings directly from the sonar sensors. The original code i had posted showed that a close Sonar sensor reading is below 700 and a far reading is 2000+ so I would like to work off of those values as opposed to converting to a voltage or something like that. I am not sure if maybe my MAP_ADC14_configureConversionMemory are set up incorrectly for this or not. I have the code toggling an LED if the ISR is triggered and the LED never changes from on.

It is a bit hard to follow with a Register Level explanation since I've been doing all my CCS code using the API's. It does not seem like there is much code required, but I still can't seem to get the 

ADC14_IRQHandler to run at all. I have it turning on and LED inside the code and the LED never turns on. I feel like I am not setting up the pins to read the sonar reading itself. All example codes I can find are using internal references of 1.5-2.5 [V], when all I want to do is use my exact Sonar reading for my comparator. I am not sure if you can help since you said you are not familiar with the TI Driver stuff.

P.S. Merry Christmas 

/* Setting up the sample timer to automatically step through the sequence
    * convert.*/
    MAP_ADC14_enableSampleTimer(ADC_AUTOMATIC_ITERATION);

    ADC14_enableComparatorWindow(ADC_MEM0 | ADC_MEM1 | ADC_MEM2 | ADC_MEM3 | ADC_MEM4 | ADC_MEM5 | ADC_MEM6,
        ADC_COMP_WINDOW0);

    ADC14_setComparatorWindowValue(ADC_COMP_WINDOW0,700, 2000);

    /* Enabling the interrupt when a channel drops below or above threshold of comparator */
    MAP_ADC14_enableInterrupt(ADC_IN_INT);

    /* Enabling Interrupts */
    MAP_Interrupt_enableInterrupt(INT_ADC14);
    MAP_Interrupt_enableMaster();

    /* Triggering the start of the sample */
    MAP_ADC14_enableConversion();
    MAP_ADC14_toggleConversionTrigger();

    /* Going to sleep */
    while (1)
    {
        MAP_PCM_gotoLPM0();
    }
}

/* This interrupt is fired whenever a conversion is completed and placed in
 * ADC_MEM0 */
void ADC14_IRQHandler(void)
{
    uint64_t status;
//    uint64_t currentvalue;

    status = MAP_ADC14_getEnabledInterruptStatus();
    MAP_ADC14_clearInterruptFlag(status);

    MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);//LED1

    if(status & ADC_INT6)
    {
    MAP_ADC14_getMultiSequenceResult(resultsBuffer);
    resultsBuffer[0] = MAP_ADC14_getResult(ADC_MEM0);
    resultsBuffer[1] = MAP_ADC14_getResult(ADC_MEM1);
    resultsBuffer[2] = MAP_ADC14_getResult(ADC_MEM2);
    resultsBuffer[3] = MAP_ADC14_getResult(ADC_MEM3);
    resultsBuffer[4] = MAP_ADC14_getResult(ADC_MEM4);
    resultsBuffer[5] = MAP_ADC14_getResult(ADC_MEM5);
    resultsBuffer[6] = MAP_ADC14_getResult(ADC_MEM6);
    }

}