Added the methods to move the wheels in reverse.  Need to figure out how to swap the voltage and make the movement in the forward direciton work correctly
By adding the CCTL0, I could set up the clock to be set/reset for both TA0.0 and TA0.1.  This allows me to set the pin I don't want to logic zero, while setting the pin I do want to the clock.  This allows for easy switching of directions
Added in the code to successfully complete all the turns.  Took several iterations to figure out the time necessary for 50 percent of the PWM.