Robot Line Tracer Mikrokontroler Atmega 16 (Sepuluh Sensor)

ROBOT LINE TRACER MIKROKONTROLER ATMEGA 16

ROBOT LINE TRACER / LT RCCSLP 1

2015

MODUL PELATIHAN

ROBOT LINE TRACER MIKROKONTROLER

ATMEGA 16 (10 Sensor)

Universitas Muhammadiyah Sidoarjo

JURUSAN ELEKTRONIKA

Kelompok : - Moch. Mashuri (121020100009)

- Deni Purwanto (121020100010)

- M.Nurrohman (121020100045)

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ROBOT LINE TRACER

Robot line tracer disebut juga line follower, dimana robot ini berfungsi

untuk mengikuti jalur atau garis yang sudah ditentukan/ digambar. Robot ini

sangat banyak digunakan atau dibuat oleh para penggemar bidang robotika.

Meskipun bentuknya yang / sederhana, namun dapat dikembangkan menuju bentuk

yang lebih kompleks.

Robot line tracer dapat dibagi menjadi dua macam, yaitu robot tanpa

program (Analog) dan robot dengan program (Mikrokontroler). Bagian-bagian dari

robot line tracer yang umum digunakan dalam pembelajaran atau lomba antara lain :

1. Hardware elektronika

Biasanya terdiri komparator atau pembanding LM324 untuk robot analog dan bisa ada

tambahan IC mikrokontroler untuk robot yang bisa di program.

2. Hardware mekanik

Sebagai badan atau body robot, dan fungsi lainya adalah sebagai tempat

meletakan beberapa rangkaian robot tersebut.

3. Software atau program

Bagian yang tidak bisa dilihat, namun sangat penting untuk robot line tarcer yang bisa

diprogram. Software ini berisikan program perintah-perintah terhadap robot,

sehingga robot tersebut dapat bekerja sesuai dengan yang diinginkan atau diperintahkan

sang programmer.

Robot Line Tracer



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HARDWARE ELEKTRONIKA

R. Minsys ATmega 16

R. Power Supply



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R. Sensor Depan

R. Sensor Samping



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R. Komparator

R. LCD Display 16x2



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R. DriverT Motor

Tata Letak Komponen PCB 1




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Disain PCB 1

Disain PCB 2

Disain PCB 3



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Disain PCB 4

Disain PCB 5

Disain PCB 6



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Hardware Mekanik

Body Acerilic

Bahan yang dipakai adalah jenis acrelic atau ada yang menyebutnya mika, bahan ini

banyak dipasaran namun memiliki harga yang lumayan mahal dan warna yang bermacam-

macam. Bila dalam pembuatan tidak memiliki bahan acrelic, bisa kita ganti dengan

bahan lain yang sama kuat dan ringannya yaitu bahan triplek (kayu).

Ukuran yang dipakai adalah 14 cm x 16 cm, namun ukuran ini bisa dirubah

sesuai

dengan keadaan atau menyesuaikan dengan bentuk gearbok dan rangkaian elektronik.

Sedangkan tebalnya bisa 2 atau 3 mm. Tetapi diusahakan jangan terlalu tebal, karena akan

menambah beban dari robot tersebut.

Motor DC (Gearbox)

Motor DC atau gearbok digunakan sebagai penggerak dari robot atau sebagai

kakinya. Motor DC gearbok bisa kita dapatkan langsung dengan membeli ditoko

elektronika. Dan Kenali ssesifikasi Motor yag akan di beli karena sangan berpengaruh

terhadap laju robot line tracer. Kali ini Saya menggunakan Motor yang satu set dengan gear

boxnya.

SOFTWARE

Robot tidak akan bisa berfungsi bila tanpa adanya program atau kumpulan-kumpualan

perintah yang kita isikan ke dalam IC mikrokontroler. Agar kita bisa membuat program

tersebut, maka kita harus bisa bahasa pemrograman. Salah satunya bahasa pemrograman

yang bisa kita gunakan adalah bahasa C. Sedangkan software editor bahasa C adalah

BASCOM AVR.



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Listing Program

'STARDUST 3.0

'Code Name : Rccslp

'Programmed by :Mukhammad Nurrohmn (Rccslp)

'Elektronika

'Universitas Muhammadiyah Sidoarjo

'=============================Konfigurasi Mikrokontroller dan Crystal============================

$regfile = "m16def.dat"

$crystal = 12000000

$framesize = 42

$swstack = 42

$hwstack = 42

'===========================================================================================

'====================================Konfigurasi LCD================================================

Config Lcdpin = Pin , Db4 = Portb.3 , Db5 = Portb.2 , Db6 = Portb.1 , Db7 = Portb.0 , E = Portb.4 , Rs = Portb.5

Config Lcdbus = 4

Config Lcd = 16 * 2

Cursor Off

Deflcdchar 0 , 6 , 9 , 22 , 23 , 11 , 5 , 2 , 1 ' replace ? with number (0-7)

Deflcdchar 1 , 12 , 18 , 13 , 29 , 26 , 20 , 8 , 16 ' replace ? with number (0-7)

'==================================================================================================

'===================================Konfigurasi Tombol=======================================

Config Pinc.0 = Input




Set Portc.0

Set Portc.1

Set Portc.2

Set Portc.3

Tombol1 Alias Pinc.0





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'===========================================================================================

'===============================Konfigurasi Direksi Driver Motor================================

Config Portd.2 = Output

Config Portd.3 = Output

Dir_kiri Alias Portd.2

Dir_kanan Alias Portd.3

'===========================================================================================

'======================================Konfigurasi PWM======================================

Config Timer1 = Pwm , Pwm = 8 , Prescale = 64 , Compare A Pwm = Clear Up , Compare B Pwm = Clear Up

Pwm1a = 0

Pwm1b = 0

Config Adc = Single , Prescaler = Auto , Reference = Avcc

'===========================================================================================

'==================================Konfigurasi Sensor Samping=================================

Config Pind.0 = Input

Config Pind.1 = Input

Set Portd.0

Set Portd.1

Sensorkiri Alias Pind.0

Sensorkanan Alias Pind.1

'===========================================================================================

'=====================================Deklarasi Sub-Program==================================

Declare Sub Pwm(byval Kiri As Byte , Byval Kanan As Byte)

Declare Sub Isi_error

Declare Sub Baca_adc

Declare Sub Kalibrasi

Declare Sub Cek_sensor

Declare Sub Pid

Declare Sub Cek_adc

'===========================================================================================

'======================================Variabel Sensor========================================



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Dim Sensor As Byte

Dim Href(8) As Word

Dim Lref(8) As Word

Dim Vref(8) As Word

Dim Data_adc(8) As Word

Dim Eepromsens(8) As Eram Word

Dim Index As Byte , Idx As Byte , Pilih_adc As Byte

Sensor0 Alias Sensor.0








For Index = 1 To 8

Href(index) = 800

Next

'===========================================================================================

'=================================Variabel PID dan Setting=====================================

Dim Kp As Byte , Kpeeprom As Eram Byte , Proportional As Integer

Dim Ki As Byte , Kieeprom As Eram Byte , Integral As Single

Dim Kd As Byte , Kdeeprom As Eram Byte , Derivative As Integer

Dim Sum_error As Integer

Dim Error As Integer , Delta_error As Integer

Dim Last_error As Integer

Dim Pwm_ka_max As Integer , Pwm_ki_max As Integer

Dim Pwm_ka As Integer , Pwm_ki As Integer

Dim Pwm_ka2 As Byte , Pwm_ki2 As Byte

Dim Speed As Byte , Espeed As Eram Byte

Dim Sampling As Byte , Esampling As Eram Byte , Sam As Byte

Dim Limit As Byte , Elimit As Eram Byte , Varkanan As Byte , Varkiri As Byte

Dim Drift As Byte , Edrift As Eram Byte

'===========================================================================================

'=================================Mapping Perempatan=======================================



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Dim Perempatan As Byte

Dim Perempatan_ke(8) As Byte

Dim Status(8) As Byte

Dim Decision(8) As Byte , Edecision(8) As Eram Byte

Dim Stat As Byte , Arah As String * 1

Perempatan = 0

'===========================================================================================

'===================================Mapping Pertigaan=======================================

Dim Pertigaan As Byte

Dim Pertigaan_ke(8) As Byte

Dim Status_3(8) As Byte

Dim Decision_3(8) As Byte , Edecision_3(8) As Eram Byte

Dim Stat_3 As Byte

Pertigaan = 0

'===========================================================================================

'===================================Inisialisasi Setting Eeprom=================================

Inisialisasi:

Kp = Kpeeprom

Ki = Kieeprom

Kd = Kdeeprom

Error = 0

Last_error = 0

Speed = Espeed

Pwm_ka_max = Speed

Pwm_ki_max = Speed

Sampling = Esampling

Drift = Edrift

Perempatan = 0

Limit = Speed * 2

Limit = Limit - Drift

If Limit > 255 Then Limit = 255

For Index = 1 To 8

Vref(index) = Eepromsens(index)



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Next

For Index = 1 To 8

Decision(index) = Edecision(index)

Next

For Index = 1 To 8

Decision_3(index) = Edecision_3(index)

Next

For Index = 1 To 8

Perempatan_ke(index) = Decision(index)

Next

For Index = 1 To 8

Pertigaan_ke(index) = Decision_3(index)

Next

For Index = 1 To 8

Status(index) = 0

Next

For Index = 1 To 8

Status_3(index) = 0

Next

Call Pwm(0 , 0)

'===========================================================================================

'================================Tampilan Awal (Standby)=====================================

Standby:

Cls

Locate 1 , 1

Lcd " LT Rccslp"

Locate 2 , 1

Lcd " Setting " ; Chr(0) ; Chr(1) ; " Go!! "



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Do

If Tombol1 = 0 Then

Bitwait Tombol1 , Set

Goto Setting

End If

If Tombol2 = 0 Then


Goto Setting_mapping

End If

If Tombol3 = 0 Then


Goto Setting_mapping_3

End If

If Tombol4 = 0 Then

Cls

Locate 1 , 1

Lcd " I'm Ready...!!"

Locate 2 , 1

Lcd " Let's Goo...!!"


Cls

Locate 1 , 1

Lcd " >> LT Rccslp



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Call Isi_error

If Error = 0 Then Sum_error = 0

Isi_pwm:

Proportional = Kp * Error

Delta_error = Error - Last_error

Derivative = Kd * Delta_error

'Sum_error = Sum_error + Error

'Integral = Ki * Sum_error

'Integral = Integral / 8

Pwm_ka = Pwm_ka_max - Proportional

Pwm_ki = Pwm_ki_max + Proportional

Pwm_ka = Pwm_ka - Derivative

Pwm_ki = Pwm_ki + Derivative

'Pwm_ka = Pwm_ka - Integral

'Pwm_ki = Pwm_ki + Integral

If Pwm_ka > Limit Then

Varkanan = Pwm_ka - Limit

Pwm_ka = Limit

End If

If Pwm_ka < Limit Then Varkanan = 0

If Pwm_ki > Limit Then

Varkiri = Pwm_ki - Limit

Pwm_ki = Limit

End If

If Pwm_ki < Limit Then Varkiri = 0

Pwm_ka2 = Pwm_ka + Varkiri

Pwm_ki2 = Pwm_ki + Varkanan



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Last_error = Error

If Pwm_ka >= 0 And Pwm_ki >= 0 Then Gosub Maju

If Pwm_ka < 0 And Pwm_ki >= 0 Then Gosub Kanan

If Pwm_ka >= 0 And Pwm_ki < 0 Then Gosub Kiri

If Pwm_ka < 0 Then Pwm_ka = 0 - Pwm_ka

If Pwm_ki < 0 Then Pwm_ki = 0 - Pwm_ki

If Pwm_ka > Pwm_ka_max Then Pwm_ka = Pwm_ka_max

If Pwm_ki > Pwm_ki_max Then Pwm_ki = Pwm_ki_max

If Pwm_ka2 > Limit Then Pwm_ka2 = Limit

If Pwm_ki2 > Limit Then Pwm_ki2 = Limit

Pwm1a = Pwm_ka2

Pwm1b = Pwm_ki2

Sam = 0

For Sam = 0 To Sampling

Call Cek_sensor

If Sensor = &B00000000 And Sensorkanan = 1 And Sensorkiri = 0 Then Goto Kanan45

If Sensor = &B00000000 And Sensorkanan = 0 And Sensorkiri = 1 Then Goto Kiri45

If Sensor = &B01111110 Or Sensor = &B10011001 Or Sensor = &B01100110 Then Goto Nambah

If Sensor = &B00011110 Or Sensor = &B00011001 Or Sensor = &B01111000 Or Sensor = &B10011000 Then Goto Nambah_3

If Perempatan_ke(perempatan) = 1 And Status(perempatan) = 0 Then Goto Kiri_mapping

If Perempatan_ke(perempatan) = 2 And Status(perempatan) = 0 Then Goto Kanan_mapping

If Perempatan_ke(perempatan) = 3 And Status(perempatan) = 0 Then Goto Stops

If Pertigaan_ke(pertigaan) = 1 And Status_3(pertigaan) = 0 Then Goto Kiri_mapping

If Pertigaan_ke(pertigaan) = 2 And Status_3(pertigaan) = 0 Then Goto Kanan_mapping

If Pertigaan_ke(pertigaan) = 3 And Status_3(pertigaan) = 0 Then Goto Stops



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'If Perempatan = 3 And Stat1 = 0 Then Goto Kiri_mapping

'If Perempatan = 4 Then Goto Stops

Waitus 150

Next

'If Sam = Sampling Then Goto Utama

Loop

'===========================================================================================

'=====================================Counter Perempatan====================================

Nambah:

Incr Perempatan

Waitms 50

Goto Utama

'===========================================================================================

'=====================================Counter Pertigaan======================================

Nambah_3:

Incr Pertigaan

Waitms 50

Goto Utama

'===========================================================================================

'==========================================Stop=============================================

Stops:

Cls

Reset Dir_kanan

Set Dir_kiri

Call Pwm(80 , 80)

Waitms 50

Locate 1 , 1

Lcd " Tugas Selesai"

Locate 2 , 1

Lcd " Dilaksanakan"

Do

Call Pwm(0 , 0)

Wait 1



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Loop

'===========================================================================================

'=====================================Belok Kanan 45 Derajad=================================

Kanan45:

Reset Dir_kanan

Set Dir_kiri

Call Pwm(limit , Limit)

Waitms 80

Do 'For Index = 0 To 16

Reset Dir_kanan

Reset Dir_kiri

Call Pwm(50 , 60)

Waitms 10

Call Pwm(0 , 0)

Waitms 5

Call Cek_sensor

Loop Until Sensor 0 'Next

Goto Utama

'===========================================================================================

'=====================================Belok Kiri 45 Derajad=================================

Kiri45:

Reset Dir_kanan

Set Dir_kiri

Call Pwm(limit , Limit)

Waitms 80


Set Dir_kanan

Set Dir_kiri

Call Pwm(60 , 50)

Waitms 10

Call Pwm(0 , 0)

Waitms 5

Call Cek_sensor

Loop Until Sensor 0 'Next

Goto Utama



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'===========================================================================================

'=====================================Belok Kanan mapping======================================

Kanan_mapping:

Reset Dir_kanan

Set Dir_kiri

Call Pwm(80 , 80)

Waitms 80


Reset Dir_kanan

Reset Dir_kiri

Call Pwm(40 , 50)

Waitms 5

Call Pwm(0 , 0)

Waitms 5

Call Cek_sensor

Loop Until Sensor = &B10000000 Or Sensor = &B11000000 Or Sensor = &B01100000 'Next

Status(perempatan) = 1

Status_3(pertigaan) = 1

Goto Utama

'===========================================================================================

'=====================================Belok Kiri mapping======================================

Kiri_mapping:

Reset Dir_kanan

Set Dir_kiri

Call Pwm(80 , 80)

Waitms 80


Set Dir_kanan

Set Dir_kiri

Call Pwm(50 , 40)

Waitms 5

Call Pwm(0 , 0)

Waitms 5

Call Cek_sensor

Loop Until Sensor = &B00000001 Or Sensor = &B00000011 Or Sensor = &B00000110 'Next



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Status(perempatan) = 1

Status_3(pertigaan) = 1

Goto Utama

'===========================================================================================

'==========================================Navigasi=========================================

Maju:

Set Dir_kanan

Reset Dir_kiri

Return

Kiri:

Set Dir_kanan

Set Dir_kiri

Return

Kanan:

Reset Dir_kanan

Reset Dir_kiri

Return

'===========================================================================================

'========================================Sub PWM===========================================

Sub Pwm(byval Kiri As Byte , Byval Kanan As Byte)

Pwm1a = Kanan

Pwm1b = Kiri

End Sub

'===========================================================================================

'========================================Sub Isi Error=========================================

Sub Isi_error:

Select Case Sensor

'Case &B00011111 : Error = -15

'Case &B00001111 : Error = -15

'Case &B00011110 : Error = -15

Case &B00000111 : Error = -18



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Case &B00011110 : Error = -17

Case &B00000001 : Error = -15

Case &B00000011 : Error = -10

Case &B00001110 : Error = -7

Case &B00000010 : Error = -5

Case &B00000110 : Error = -4 '-15

Case &B00000100 : Error = -3

Case &B00001100 : Error = -2

Case &B00001000 : Error = -1

Case &B00011000 : Error = 0

Case &B00010000 : Error = 1

Case &B00110000 : Error = 2

Case &B00100000 : Error = 3

Case &B01100000 : Error = 4 ' 15

Case &B01000000 : Error = 5

Case &B01110000 : Error = 7

Case &B11000000 : Error = 10

Case &B10000000 : Error = 15

Case &B01111000 : Error = 17

Case &B11100000 : Error = 18

'Case &B01111000 : Error = 15

'Case &B11110000 : Error = 15

'Case &B11111000 : Error = 15

Case &B11111101 : Error = -5

Case &B11111001 : Error = -4

Case &B11111011 : Error = -3

Case &B11110011 : Error = -2

Case &B11110111 : Error = -1

Case &B11100111 : Error = 0

Case &B11101111 : Error = 1

Case &B11001111 : Error = 2

Case &B11011111 : Error = 3

Case &B10011111 : Error = 4

Case &B10111111 : Error = 5



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End Select

End Sub

'===========================================================================================

'=======================================Pilihan Setting========================================

Setting:

Cls

Locate 1 , 1

Lcd "Sensor ----- PID"

Locate 2 , 1

Lcd "--- Kalibrasi --"

Do

If Tombol1 = 0 Then


Goto Cek_adc

End If

If Tombol2 = 0 Then


Call Kalibrasi

End If

If Tombol3 = 0 Then


Goto Set_pid

End If

If Tombol4 = 0 Then


Goto Standby

End If

Loop

'===========================================================================================

'=====================================Sub Baca Nilai ADC Sensor================================

Sub Baca_adc:



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Start Adc

For Idx = 0 To 7

Index = Idx + 1

Data_adc(index) = Getadc(idx)

Next Idx

Stop Adc

End Sub

'===========================================================================================

'=======================================Sub Kalibrasi Otomatis================================

Sub Kalibrasi:

Cls

Locate 1 , 1

Lcd "Proses Kalibrasi"

Locate 2 , 1

Lcd " Sensor"

Do

Call Baca_adc

For Index = 1 To 8

If Data_adc(index) < Href(index) Then Lref(index) = Data_adc(index)

Next

For Index = 1 To 8

If Data_adc(index) > Lref(index) Then Href(index) = Data_adc(index)

Next

Waitms 50

Loop Until Tombol1 = 0

For Index = 1 To 8

Vref(index) = Lref(index) + Href(index)

Next

For Index = 1 To 8

Vref(index) = Vref(index) / 2



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Next

For Index = 1 To 8

Eepromsens(index) = Vref(index)

Next

Waitms 100

Cls

Locate 1 , 1

Lcd "Kalibrasi Sensor"

Locate 2 , 1

Lcd " Selesai"

Wait 1.5

Cls

Do

Call Cek_sensor

Locate 1 , 5

Lcd Bin(sensor)

Locate 2 , 8

Lcd Sensorkanan

Locate 2 , 9

Lcd Sensorkiri

Waitms 50

Loop Until Tombol1 = 0

Goto Setting

End Sub

'===========================================================================================

'===================================Sub Cek Sensor (Nilai Biner)================================

Sub Cek_sensor

Call Baca_adc

If Data_adc(1) > Vref(1) Then

Sensor.0 = 1



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Else

Sensor.0 = 0

End If


Sensor.1 = 1

Else

Sensor.1 = 0

End If


Sensor.2 = 1

Else

Sensor.2 = 0

End If


Sensor.3 = 1

Else

Sensor.3 = 0

End If


Sensor.4 = 1

Else

Sensor.4 = 0

End If


Sensor.5 = 1

Else

Sensor.5 = 0

End If


Sensor.6 = 1

Else



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Sensor.6 = 0

End If


Sensor.7 = 1

Else

Sensor.7 = 0

End If

End Sub

'===========================================================================================

'================================Rutin Untuk Mengecek Nilai Sensor=============================

Cek_adc:

Cls

Do

Call Baca_adc

Call Cek_sensor

Locate 2 , 8

Lcd Sensorkanan

Locate 2 , 9

Lcd Sensorkiri

Locate 1 , 5

Lcd Bin(sensor)

Waitms 100

If Tombol4 = 0 Then


Goto Setting

End If

If Tombol1 = 0 Then


Goto Cek_adc2

End If

Loop



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Cek_adc2:

Cls

Pilih_adc = 0

Do

Call Baca_adc

Call Cek_sensor

If Tombol3 = 0 Then


Incr Pilih_adc

End If

If Tombol2 = 0 Then


Decr Pilih_adc

End If

If Pilih_adc > 8 Then Pilih_adc = 1

If Pilih_adc < 1 Then Pilih_adc = 8

Select Case Pilih_adc

Case 1 : Locate 1 , 1

Lcd " ADC.0 : " ; Data_adc(1) ; " "

Locate 2 , 1

Lcd " Vref.0 : " ; Vref(1) ; " "


Lcd " ADC.1 : " ; Data_adc(2) ; " "

Locate 2 , 1

Lcd " Vref.1 : " ; Vref(2) ; " "


Lcd " ADC.2 : " ; Data_adc(3) ; " "

Locate 2 , 1

Lcd " Vref.2 : " ; Vref(3) ; " "


Lcd " ADC.3 : " ; Data_adc(4) ; " "



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Locate 2 , 1

Lcd " Vref.3 : " ; Vref(4) ; " "


Lcd " ADC.4 : " ; Data_adc(5) ; " "

Locate 2 , 1

Lcd " Vref.4 : " ; Vref(5) ; " "


Lcd " ADC.5 : " ; Data_adc(6) ; " "

Locate 2 , 1

Lcd " Vref.5 : " ; Vref(6) ; " "


Lcd " ADC.6 : " ; Data_adc(7) ; " "

Locate 2 , 1

Lcd " Vref.6 : " ; Vref(7) ; " "


Lcd " ADC.7 : " ; Data_adc(8) ; " "

Locate 2 , 1

Lcd " Vref.7 : " ; Vref(8) ; " "

End Select

Waitms 100

If Tombol4 = 0 Then


Goto Setting

End If

If Tombol1 = 0 Then


Goto Cek_adc

End If

Loop

'===========================================================================================



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'==================================Rutin Untuk Menyeting nilai PID=============================

Set_pid:

'===KP===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Kp

End If

If Tombol2 = 0 Then

Waitms 50

Decr Kp

End If

Locate 1 , 1

Lcd "KP : " ; Kp ; " "

If Tombol1 = 0 Then


Kpeeprom = Kp

Waitms 50

Exit Do

End If

Loop

'=======

'===KI===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Ki

End If

If Tombol2 = 0 Then

Waitms 50



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Decr Ki

End If

Locate 1 , 1

Lcd "KI : " ; Ki ; " "

If Tombol1 = 0 Then


Kieeprom = Ki

Waitms 50

Exit Do

End If

Loop

'=======

'===KD===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Kd

End If

If Tombol2 = 0 Then

Waitms 50

Decr Kd

End If

Locate 1 , 1

Lcd "KD : " ; Kd ; " "

If Tombol1 = 0 Then


Kdeeprom = Kd

Waitms 50

Exit Do

End If



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Loop

'=======

'===Sampling===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Sampling

End If

If Tombol2 = 0 Then

Waitms 50

Decr Sampling

End If

Locate 1 , 1

Lcd "Sampling : " ; Sampling ; " "

If Tombol1 = 0 Then


Esampling = Sampling

Waitms 50

Exit Do

End If

Loop

'=======

'===Drift===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Drift

End If

If Tombol2 = 0 Then



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Waitms 50

Decr Drift

End If

Locate 1 , 1

Lcd "Drift : " ; Drift ; " "

If Tombol1 = 0 Then


Edrift = Drift

Waitms 50

Exit Do

End If

Loop

'=======

'===Speed===

Cls

Do

If Tombol3 = 0 Then

Waitms 50

Incr Speed

End If

If Tombol2 = 0 Then

Waitms 50

Decr Speed

End If

Limit = Speed * 2

Limit = Limit - Drift

If Limit > 255 Then Limit = 255

Locate 1 , 1

Lcd "Speed : " ; Speed ; " "

Locate 2 , 1

Lcd "Limit : " ; Limit ; " "



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If Tombol1 = 0 Then


Espeed = Speed

Waitms 50

Goto Setting

End If

Loop

'=======

'============================Setting Path Planning Perempatan=================================

Setting_mapping:

Cls

Perempatan = 1

Do

If Tombol3 = 0 Then


Incr Perempatan

End If

If Perempatan > 8 Then Perempatan = 1

If Tombol2 = 0 Then


Decr Perempatan

End If

If Perempatan < 1 Then Perempatan = 8

If Perempatan Stat Then Decision(perempatan) = Edecision(perempatan)

If Tombol4 = 0 Then


Incr Decision(perempatan)

End If



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If Decision(perempatan) > 4 Then Decision(perempatan) = 1

If Tombol1 = 0 Then


Edecision(perempatan) = Decision(perempatan)

Perempatan_ke(perempatan) = Decision(perempatan)

Waitms 100

Incr Perempatan

End If

Locate 1 , 1

Lcd "Perempatan" ; Perempatan ; " : " ; Decision(perempatan) ; " "

Locate 2 , 1

Lcd "1:L 2:R 3:X 4:S"

Stat = Perempatan

Loop

'===========================================================================================

'=============================Setting Path Planning Pertigaan==================================

Setting_mapping_3:

Cls

Pertigaan = 1

Do

If Tombol3 = 0 Then


Incr Pertigaan

End If

If Pertigaan > 8 Then Pertigaan = 1

If Tombol2 = 0 Then


Decr Pertigaan

End If



2015

If Pertigaan < 1 Then Pertigaan = 16

If Pertigaan Stat_3 Then Decision_3(pertigaan) = Edecision_3(pertigaan)

If Tombol4 = 0 Then


Incr Decision_3(pertigaan)

End If

If Decision_3(pertigaan) > 4 Then Decision_3(pertigaan) = 1

If Tombol1 = 0 Then


Edecision_3(pertigaan) = Decision_3(pertigaan)

Pertigaan_ke(pertigaan) = Decision_3(pertigaan)

Waitms 100

Incr Pertigaan

End If

Locate 1 , 1

Lcd "Pertigaan" ; Pertigaan ; " : " ; Decision_3(pertigaan) ; " "

Locate 2 , 1

Lcd "1:L 2:R 3:X 4:S"

Stat_3 = Pertigaan

Loop

'===========================================================================================



2015

HASIL PEMBUATAN

Berikut ini merupakan kumpulan gambar-gambar hasil pembuatan robot line tracer,

untuk disain mekanik bisa dilakukan perubahan sesuai keinginan masing-

masing pembuatnya. Namun ada beberapa acuan yang harus diperhatikan dalam

pembuatanya, karena bila hanya asal saja pembuatanya robot dalam bekerja atau

berjalan tidak akan bisa maksimal atau bisa tidak bergerak sama sekali.



2015

ARENA ROBOT LINE TRACER

Arena bisa kita buat dari papan triplek melamin atau bisa sesuatu yang berwarna

putih, sedangkan garis berwarna hitam dengan cara menempelkan isolasi lakban

hitam. Untuk warna sebenarnya tidak harus berwarna putih dan hitam, warna lain

juga bisa digunakan asal warna lain tersebut satu warna menyerap cahaya, dan

warna satunya memantulkan cahaya (berlainnan sifat terhadap cahaya). Contohnya

warna putih, dll. hijau dengan

http://rccslp17.blogspot.com

Robot Line Tracer Mikrokontroler Atmega 16 (Sepuluh Sensor)

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Transcript of Robot Line Tracer Mikrokontroler Atmega 16 (Sepuluh Sensor)