void SystemInit(){}; //*************** System Clock Enable ************************* // #define SYSCTL_RCGCGPIO_R (*((volatile unsigned long*) 0x400FE608)) //********* PORT A Initializations. Base Address is 0x40025000 **********// #define GPIO_PORTA_DATA_R (*((volatile unsigned long*) 0x400043FC)) #define GPIO_PORTA_DIR_R (*((volatile unsigned long*) 0x40004400)) #define GPIO_PORTA_DEN_R (*((volatile unsigned long*) 0x4000451C)) #define GPIO_PORTA_PDR_R (*((volatile unsigned long*) 0x40004514)) //********* PORT B Initializations. Base Address is 0x40005000 **********// #define GPIO_PORTB_DATA_R (*((volatile unsigned long*) 0x400053FC)) #define GPIO_PORTB_DIR_R (*((volatile unsigned long*) 0x40005400)) #define GPIO_PORTB_DEN_R (*((volatile unsigned long*) 0x4000551C)) #define GPIO_PORTB_PDR_R (*((volatile unsigned long*) 0x40005514)) //********* Defining all Macros ***********// #define PORTB_CLK_EN 0x02 // clock enable for port B #define PORTA_CLK_EN 0x01 // clock enable for port A #define LEDs 0x0E // enables all LEDS //*********************Sensors*****************************// #define INT_PB0 0x01 // reads 1st sensor #define INT_PB1 0x02 // reads 2nd sensor #define INT_PB2 0x04 // reads 3rd sensor #define INT_PB3 0x08 // reads 4th sensor #define INT_PB4 0x10 // reads 5th sensor #define INT_PB5 0x20 // reads 6th sensor #define PA2 0x04 // pin 1 of L298 #define PA3 0x08 // pin 2 of L298 #define PA4 0x10 // pin 3 of L298 #define PA5 0x20 // pin 4 of L298 #define PORTA_DIR 0xFF // PA2- PA5 ports will have same direction #define PORTA_DEN 0xFF // PA2- PA5 will all be digitally enabled //************ Delay Function ************// void Delay(long value) { int l; for(l = 0; l