Lampiran 1.programdocx
Download as DOCX, PDF0 likes203 views
This program controls a robot using a microcontroller. It defines pins for sensors and motors, includes libraries, and declares interrupt routines to control pulse-width modulation for motor speed. The main routine initializes ports, timers and interrupts, then calls functions for the robot to scan its environment, turn right, and repeat in a loop.
![#define EnKi PORTC.4
#define dirA_Ki PORTC.0
#define dirB_Ki PORTC.1
#define EnKa PORTC.5
#define dirC_Ka PORTC.2
#define dirD_Ka PORTC.3
#include <mega8535.h>
#include <delay.h>
bit x;
unsigned char xcount,lpwm,rpwm;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
xcount++;
if(xcount<=lpwm)EnKi=1;
else EnKi=0;
if(xcount<=rpwm)EnKa=1;
else EnKa=0;
TCNT0=0xFF; // Timer0 Value Menentukan periode pulsa PWM
}
void maju()
{
dirA_Ki=1;dirB_Ki=0;
dirC_Ka=1;dirD_Ka=0;
}
void belok_kiri()
{](https://image.slidesharecdn.com/lampiran1-141015012729-conversion-gate02/85/Lampiran-1-programdocx-2-320.jpg)
Lampiran 1.programdocx
- 1. LAMPIRAN 1.PROGRAM ROBOT /********************************************* This program was produced by the CodeWizardAVR V1.24.0 Standard Automatic Program Generator © Copyright 1998-2003 HP InfoTech s.r.l. http://www.hpinfotech.ro e-mail:office@hpinfotech.ro Project : Version : Date : 17/11/2013 Author : hendawan Company : Comments: Chip type : Atmega32 Program type : Application Clock frequency : 12,000000 MHz Memory model : Small External SRAM size : 0 Data Stack size : 128 *********************************************/ #define SkiXX PIND.0 #define SkiX PIND.1 #define Ski PIND.2 #define Ska PIND.3 #define SkaX PIND.4 #define SkaXX PIND.5
- 2. #define EnKi PORTC.4 #define dirA_Ki PORTC.0 #define dirB_Ki PORTC.1 #define EnKa PORTC.5 #define dirC_Ka PORTC.2 #define dirD_Ka PORTC.3 #include <mega8535.h> #include <delay.h> bit x; unsigned char xcount,lpwm,rpwm; // Timer 0 overflow interrupt service routine interrupt [TIM0_OVF] void timer0_ovf_isr(void) { // Place your code here xcount++; if(xcount<=lpwm)EnKi=1; else EnKi=0; if(xcount<=rpwm)EnKa=1; else EnKa=0; TCNT0=0xFF; // Timer0 Value Menentukan periode pulsa PWM } void maju() { dirA_Ki=1;dirB_Ki=0; dirC_Ka=1;dirD_Ka=0; } void belok_kiri() {
- 3. unsigned int i; lpwm=50; rpwm=50; delay_ms(60); // dimajukan sedikit dirA_Ki=0;dirB_Ki=1; dirC_Ka=1;dirD_Ka=0; for(i=0;i<=1000;i++) while (!SkiXX ||!SkiX) {}; for(i=0;i<=1000;i++) while ( SkiXX || SkiX) {}; lpwm=0; rpwm=0; } void belok_kanan() { unsigned int i; lpwm=50; rpwm=50; delay_ms(60); // dimajukan sedikit dirA_Ki=1;dirB_Ki=0; dirC_Ka=0;dirD_Ka=1; for(i=0;i<=1000;i++) while (!SkaXX ||!SkaX) {}; for(i=0;i<=1000;i++) while ( SkaXX || SkaX) {}; lpwm=0; rpwm=0; } // Declare your global variables here unsigned char sensor; void scan_rule1() { maju(); sensor=PIND; sensor&=0b00111111; switch(sensor) { case 0b00111110: rpwm=0; lpwm=200; x=1; break;
- 4. case 0b00111100: rpwm=50; lpwm=200; x=1; break; case 0b00111101: rpwm=75; lpwm=200; x=1; break; case 0b00111001: rpwm=100; lpwm=200; x=1; break; case 0b00111011: rpwm=150; lpwm=200; x=1; break; case 0b00110011: rpwm=200; lpwm=200; break; case 0b00110111: rpwm=200; lpwm=150; x=0; break; case 0b00100111: rpwm=200; lpwm=100; x=0; break; case 0b00101111: rpwm=200; lpwm=75; x=0; break; case 0b00001111: rpwm=200; lpwm=50; x=0; break; case 0b00011111: rpwm=200; lpwm=0; x=0; break; case 0b00111111: break; if(x) {lpwm=50; rpwm=0; break;} else {lpwm=0; rpwm=50; break;} } } void scan_count(unsigned char count) { unsigned int i; unsigned char xx=0; while(xx<count) { for(i=0;i<1000;i++) while((sensor & 0b00011110)!=0b00000000) scan_rule1(); for(i=0;i<1000;i++) while((sensor & 0b00011110)==0b00000000) scan_rule1(); xx++; } } void main(void) { // Declare your local variables here
- 5. // Input/Output Ports initialization // Port A initialization // Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In // State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T PORTA=0x00; DDRA=0x00; // Port B initialization // Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In // State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T PORTB=0x00; DDRB=0x00; // Port C initialization // Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out Func7=Out // State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0 State7=0 PORTC=0x00; DDRC=0xFF; // Port D initialization // Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In // State0=P State1=P State2=P State3=P State4=P State5=P State6=P State7=P PORTD=0xFF; DDRD=0x00; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: 10,800 kHz // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x05; TCNT0=0x00;
- 6. OCR0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge TCCR1A=0x00; TCCR1B=0x00; TCNT1H=0x00; TCNT1L=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
- 7. // INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x01; // Analog Comparator initialization // Analog Comparator: Off // Analog Comparator Input Capture by Timer/Counter 1: Off // Analog Comparator Output: Off ACSR=0x80; SFIOR=0x00; // Global enable interrupts #asm("sei") while (1) { // Place your code here scan_count(3); belok_kanan(); }; }