Pin connections:

 //***************************************************************************
Ultrasonic sensor       TIVA  5V , GND
	
  gnd                    GND
  echo                   PD2
  trig                   PD3
  vcc                    VBUS


 //***************************************************************************
Buzzer                  TIVA

 VCC                     PD6
 GND                     GND
 
 //***************************************************************************
 
 DC motors
 
 For tail motor PC5 is shifted to PD1. This is because PWM0_3A and PWM0_3B cannot be used simultaneously. 
 
 main motor                 tail motor           Servo motor (5V , GND)
 
 PC4   (PWM)                 PD1 (PWM)           PF2 (PWM + BLUE(not required))
 
 IN1  - PE1	          		IN3 - PA3 		 	Signal -PA4 (orange)
 IN2  - PE2		  			IN2 - PA2
 
 //***************************************************************************
 
 Accelerometer  (3.3V , GND)
 
 	Tiva board mapping 						MPU board                                  
 	PB6 - PE4 (SCLK)  (new pins)			PB6 -SCL
	PB7 - PE5 (SDA)							PB7 -SDA
 	PB2 - PA5 (Interrupt)					PB2 -Interrupt

  
 PE3 - ADC0       (Sequencer 3 is used)
 PF4 - Timer2A   ( To generate precise delay)
 PD2 - WTimer3A  ( For ultrasonic -edge capture mode)
 
 //PWM1_3_CMPA_R = x; // for Servo motor   - Dont use unused registers. Cause RESET issue. This is because it goes to Fault ISR due to some reason. 
 
 
 Servo: 
416 : 0 degree
1050 : 90 degree
1650 : 180 degree

733: 45 degree
1350 : -45 degree

+ve 1050 to 733 : 7 count/deg
-ve 1050 to 1650 :  7 count/deg


Tail motor:

100 - MAX
3500 - MIN

Values decreasing -> tail motor speed reduce   -> CMPA value towards 3500
Values increasing -> tail motor speed increase   ->  CMPA value towards 100
 
 
