Recently finished my first msp430 based robot, a Basic Light seeker!
This was a project to get me to learn more about the MSP430 microcontroller. In this project specifically, using multiple ADC inputs and PWMs ( 2 PWMs was a little tricky on the MSP430G2452 but eventually got it ).
The robot turns according to the difference between the light values on the left and right, using two Photoresistors/LDRs.
The robot is powered my a set of 4 to 5 NiMH 1.2-1.4V batteries which directly power the l293d Motor Driver IC and DC motors, and is also fed into a LP2950-33 3.3V LDO to provide regulated power to the MSP430G2452 IC and Photoresistors/LDRs. Most of my robot designs use a separate power supply for control and motors for stability, but this one has been fine so far and has an abundance of filtering caps.
For a better description look at my blog post here:
http://emdinventor-blog.tk/light-seeker-robot-with-msp430/
and for the code look at my github repository for the robot's code here:
https://github.com/emdarcher/msp430_tank_robot
Some pictures of the robot:
Fritzing diagram ( missing 0.1uF filtering cap across Vcc and GND on the mcu ):
