Tapi bisa d amati dari code programnya, pin mana yang terhubung ke sensor ultrasonik, servo dan motor dc.
Bagian- bagian pada Robot ini:
- Sisteminimum mikrokontroler.
- Sensor Ultrasonik
- Servo Tower Pro MG90
#include(mega8.h)
#include(delay.h)
#include(stdio.h)
// Alphanumeric LCD Module functions
// Alphanumeric LCD functions
#include(alcd.h)
#define servox PORTC.4
#define TRIGGER PORTD.4
#define ECHO PIND.5
unsigned char baris_1[16], baris_2[16];
long timer = 0, xTimer = 0;
float pulsa, jarak,jarak_kanan, jarak_kiri;
int a=0,i;
unsigned char servo;
unsigned char y;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
a++;
if(a==941)
{ a=0;
PORTC.4 =1;
}
if (24 { y=(char)a;
if(y==servo) servox = 0;
}
}
// Timer1 overflow interrupt service routine
interrupt [TIM1_OVF] void timer1_ovf_isr(void)
{
// Place your code here
xTimer++;
}
// Declare your global variables here
void bacaJarak() {
TRIGGER = 1; // Memberikan pulsa high selama 10 microseconds
delay_us(10);
TRIGGER = 0;
while(ECHO == 0); // Tunggu pulsa high dari sensor
TCNT1 = 0; // Nolkan timer
xTimer = 0; // Nolkan variabel xTimer
while(ECHO == 1); // Tunggu pulsa low dari sensor
timer = TCNT1; // Ambil data dari timer
pulsa = (float)xTimer * 65535 * 0.5 + (float)timer * 0.5; // Menghitung pulsa yang masuk dalam satuan microseconds
jarak = pulsa / 29.034 / 2; // Menghitung jarak dalam satuan centimeter
lcd_clear();
//sprintf(baris_1, "Pulsa = %5.2f ", pulsa);
sprintf(baris_2, "Jarak = %3.2f ", jarak);
lcd_gotoxy(0, 0);
lcd_puts(baris_1);
lcd_gotoxy(0, 1);
lcd_puts(baris_2);
delay_us(50);
}
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port B 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
PORTB=0x00;
DDRB=0x00;
// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x10;
DDRC=0x1F;
// 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=0x20;
DDRD=0x10;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 16000.000 kHz
TCCR0=0x01;
TCNT0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: On
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x02;
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: Timer2 Stopped
// Mode: Normal top=0xFF
// 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=0x05;
// USART initialization
// USART disabled
UCSRB=0x00;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC disabled
ADCSRA=0x00;
// SPI initialization
// SPI disabled
SPCR=0x00;
// TWI initialization
// TWI disabled
TWCR=0x00;
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTB Bit 3
// D5 - PORTB Bit 4
// D6 - PORTB Bit 5
// D7 - PORTC Bit 0
// Characters/line: 16
lcd_init(16);
servo=64; //90 der
delay_ms(5000);
// Global enable interrupts
#asm("sei")
while (1)
{
// Place your code here
for(i=0;i<5 br="" i=""> {
bacaJarak();
//delay_ms(200);
}
if(jarak>20)
{
while(jarak>20)
{
PORTC.0=1;PORTC.2=1;//maju
delay_ms(100);
PORTC.0=PORTC.1=PORTC.2=PORTC.3=0;
for(i=0;i<5 br="" i=""> {
bacaJarak();
}
}
}
servo=25; //180 der
delay_ms(500);
for(i=0;i<5 br="" i=""> {
bacaJarak();
jarak_kanan=jarak;
//delay_ms(200);
}
servo=108; //0 der
delay_ms(500);
for(i=0;i<5 br="" i=""> {
bacaJarak();
jarak_kiri=jarak;
//delay_ms(200);
}
servo=64; //90 der
delay_ms(500);
if (jarak_kanan>jarak_kiri){PORTC.1=1;PORTC.2=1;delay_ms(250);PORTC.1=0;PORTC.2=0;delay_ms(1000);}
else {PORTC.0=1;PORTC.3=1;delay_ms(250);PORTC.0=0;PORTC.3=0;delay_ms(1000);}
}
}
vidionya
