Memprogram Line Follower Robot dengan CodeVisionAVR ~ Blogger Batam

               Kalau Sebelumnya sudah saya posting tentang Rangkaian Line Follower Robot 8 sensor http://gunture.blogspot.com/2011/08/rangkaian-line-follower-robot.html sekarang saya akan mencoba memberikan sedikit code program sederhananya menggunakan CodeVisionAVR, cekidot...;-p

/*****************************************************
This program was produced by the
CodeWizardAVR V2.03.4 Standard
Automatic Program Generator
© Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : Line Follower
Version : 1.0
Date    : 11/24/2011
Author : http//:www.gunture.blogspot.com
Company : Microware
Comments: Settingan Pin, Arah motor, dan sensor sesuai dengan Elektronik Robot Anda

Chip type           : ATmega8
Program type        : Application
Clock frequency     : 11,059200 MHz
Memory model        : Small
External RAM size   : 0
Data Stack size     : 256
*****************************************************/

#include //panggil library Atmega8
#include //panggil Library Delay

#define maju_kanan      PORTC.1
#define mundur_kanan    PORTC.0
#define maju_kiri       PORTC.2
#define mundur_kiri     PORTC.3

#define kec_kiri        OCR1A   //PIN PWM ATMEGA8
#define kec_kanan       OCR1B   //PIN PWM ATMEGA8

// Declare your global variables here
int posisi;

//Fungsi Robot Berjalan Maju
void maju(int lpwm, int rpwm){
   maju_kiri   = 1;   maju_kanan   = 1;
   mundur_kiri = 0;   mundur_kanan = 0;
   lpwm=kec_kiri;     rpwm=kec_kanan;
}

//Fungsi Robot Berjalan Pivot Kanan
void pivot_kanan(int lpwm, int rpwm){
   maju_kiri   = 1;   maju_kanan   = 0;
   mundur_kiri = 0;   mundur_kanan = 1;
   lpwm=kec_kiri;     rpwm=kec_kanan;
}

//Fungsi Robot Berjalan Pivot Kiri
void pivot_kiri(int lpwm, int rpwm){
   maju_kiri   = 0;   maju_kanan   = 1;
   mundur_kiri = 1;   mundur_kanan = 0;
   lpwm=kec_kiri;     rpwm=kec_kanan;
}

//Fungsi pembacaan sensor, sensor dihubungkan ke PORTD sebagai input
int baca_sensor(){
   switch(PIND){
      case 0b01111111 : posisi=9; break;
      case 0b00111111 : posisi=9; break;
      case 0b00011111 : posisi=9; break;
      case 0b00001111 : posisi=9; break;
      case 0b00000111 : posisi=9; break;
      case 0b00000001 : posisi=7; break;
      case 0b00000011 : posisi=6; break;
      case 0b00000010 : posisi=5; break;
      case 0b00000110 : posisi=4; break;
      case 0b00000100 : posisi=3; break;
      case 0b00001100 : posisi=2; break;
      case 0b00001000 : posisi=1; break;
      case 0b00011000 : posisi=0; break; //posisi tengah
      case 0b00010000 : posisi=-1; break;
      case 0b00110000 : posisi=-2; break;
      case 0b00100000 : posisi=-3; break;
      case 0b01100000 : posisi=-4; break;
      case 0b01000000 : posisi=-5; break;
      case 0b11000000 : posisi=-6; break;
      case 0b10000000 : posisi=-7; break;
      case 0b11100000 : posisi=-9; break;
      case 0b11110000 : posisi=-9; break;
      case 0b11111000 : posisi=-9; break;
      case 0b11111100 : posisi=-9; break;
      case 0b11111110 : posisi=-9; break;
      case 0b00000000: if (posisi < 0)posisi = -9;else if (posisi > 0)posisi = 9;break; //robot kehilangan garis
   }
   return posisi;
}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTB=0x00;
DDRB=0xFF;

// Port C initialization
// Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTC=0x00;
DDRC=0x7F;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
TCCR0=0x00;
TCNT0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 10,800 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0xA1;
TCCR1B=0x0D;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
while (1)
      {
      // Place your code here

      //Program Utama

      switch(baca_sensor()){
         case -9: pivot_kiri(150,150);break;
         case -7: pivot_kiri(175,10);break;
         case -6: maju(200,0);break;
         case -5: maju(255,30);break;
         case -4: maju(255,75);break;
         case -3: maju(255,100);break;
         case -2: maju(255,170);break;
         case -1: maju(255,230);break;
         case 0: maju(255,255);break;
         case 1: maju(230,255);break;
         case 2: maju(170,255);break;
         case 3: maju(100,255);break;
         case 4: maju(75,255);break;
         case 5: maju(30,255);break;
         case 6: maju(0,200);break;
         case 7: pivot_kanan(10,200);break;
         case 9: pivot_kanan(150,150);break;
      }
      };
}

> Download Full Program :-D

Guntur Wicaksono

Ma'af Kalau Ada kesalahan dan sesuatu yang kurang pas, atau ada yang salah dalam penulisan blog ini...Mohon Komentar dan sarannya untuk perkembangan BLOG INI, Maaf jika komentar anda tidak saya balas, kemungkinan saya sedang sibuk dengan aktivitas sehari-hari saya..Terima Kasih...:-)