Solar Panel Tracking System

#include "msp430.h"
//Defining each of the LDR sensors and their inputs into the board
//The pins are required to connect the LDR and create the
//connection with the rest of the components
#define LEFT_SENSOR  BIT0
#define RIGHT_SENSOR BIT1
#define UP_SENSOR    BIT2
#define DOWN_SENSOR  BIT3

#define MCU_CLOCK           1000000 //Defines the micro-controller clock signal
#define PWM_FREQUENCY       46      //Frequency of the Servo Motors
#define SERVOS         60      //How long each of the servos will move in degrees

unsigned int conversion[4];       //conversion to determine what servo to move
unsigned int PWM_Period     = (MCU_CLOCK / PWM_FREQUENCY);  // PWM Period

int i;
int COUNTER;
int COUNTER2;

void Analog_to_Digital(void){ //Configuring the Analog_to_Digital conversion
                              //adapted from https://www.ti.com/product/MSP430G2553
    ADC10CTL1 = INCH_3 | ADC10DIV_0 | CONSEQ_3 | SHS_0; //Functions given the msp430 library
    ADC10CTL0 = SREF_0 | ADC10SHT_2 | MSC | ADC10ON | ADC10IE;
    ADC10AE0 = LEFT_SENSOR + RIGHT_SENSOR + UP_SENSOR + DOWN_SENSOR ;
    ADC10DTC1 = 4;

}

void main(void) {

    WDTCTL = WDTPW | WDTHOLD;
    TA1CCTL1  = OUTMOD_7 ;          //Generates the PWM outputs with different cycle
    TA0CCTL1  = OUTMOD_7  ;
    TA1CTL  = TASSEL_2 + MC_1 ;
    TA0CTL  = TASSEL_2 + MC_1 ;
    TA1CCR0 = PWM_Period-1;         // PWM Period
    TA0CCR0 = PWM_Period-1 ;
    TA1CCR1 = 0 ;
    TA0CCR1 = 0 ;

    P1DIR = 0;                      //Setting as Inputs ADC
    P1SEL = 0;                      //Digital Inputs
    P1OUT = 0;                      //resistors as pull-down
    P1REN |= (LEFT_SENSOR|RIGHT_SENSOR|DOWN_SENSOR|UP_SENSOR);
    //Setting outputs for the System and being able to control it
    P1DIR   |= BIT6  ;
    P2DIR   |= BIT2 ;
    P1SEL   |= BIT6  ;
    P2SEL   |= BIT2  ;
    Analog_to_Digital(); //Calling the ADC

    __enable_interrupt();
    while (1) {

        __delay_cycles(1000);
        ADC10CTL0 &= ~ENC;                  //Enabling the conversion of the ADC, this time set to 0 to start
        while (ADC10CTL1 & BUSY);           //Busy charges the LDR and shows if it is ready or not to use
        ADC10SA = (unsigned int)conversion; //Casting the conversion to ADC10 Address Pointer
        ADC10CTL0 |= ENC + ADC10SC;

        __bis_SR_register(CPUOFF + GIE);

        for (i = 0; i < SERVOS; i++) {      //Creating the movement of the servos
            TA1CCR1 = COUNTER2 ;
            TA0CCR1 = COUNTER ;
            __delay_cycles(20000);
            TA1CCR1 = COUNTER2 ;
            TA0CCR1 = COUNTER ;
             __delay_cycles(20000);
            }
        }
}

#pragma vector = ADC10_VECTOR
__interrupt void ADC10_ISR (void){
//The conversion helps to determine where each of the servos
//will move according to the light the LDR is receiving
if (conversion[0] < conversion[1]){
    if(conversion[1]> 550){
        COUNTER = 850;
        }
    else {
        COUNTER = 1350;
            }
}
else if ((conversion[0] + conversion[1])/2 < 500) {
    COUNTER = 1350;
} else {
    if(conversion[0]>550){
        COUNTER = 1850;
    }
    else {
        COUNTER = 1350;
    }
}
if (conversion[2] < conversion[3]) {
    if(conversion[3]> 550){
        COUNTER2 =850;
    }
    else {
        COUNTER2 = 1150;
    }
} else if ((conversion[2] + conversion[3])/2 < 500) {
    COUNTER2 = 1150;
}
else {
    if(conversion[2]>550){
        COUNTER2 = 1850;
    }
    else {
        COUNTER2 = 1150;
    }
}

__bic_SR_register_on_exit(CPUOFF);  //Exiting and returning the value of the MSP430

}