Lampiran 1: Listing Program Mobile Robot.ASM. ;prosedur untuk menjalankan PWM

(1)

Lampiran 1: Listing Program Mobile Robot.ASM

Ka_maju bit P1.3 Ka_mundur bit P1.2 Ki_maju bit P1.5 Ki_mundur bit P1.4 Speedka equ 10 Speedki equ 11 Speed equ 12

org 0 ajmp Start

org 0Bh ajmp Pwm_on

org 23h ajmp Serial_on org 100h

Pwm_on ;prosedur untuk menjalankan PWM

clr tr0 push a

mov a,Speedka cjne a,Speed,P_1 setb Ka_maju setb Ka_mundur

P_1 mov a,Speedki

cjne a,Speed,P_2 setb Ki_maju setb Ki_mundur

P_2 mov a,#10

cjne a,Speed,P_3 mov Speed,#0 cjne r5,#1,P_2a acall Maju P_2a cjne r5,#2,P_2b

acall Kanan P_2b cjne r5,#3,P_2C

acall Kiri

P_2c cjne r5,#4,P_2d acall Mundur P_2d cjne r5,#5,P_2e

acall Majukanan P_2e cjne r5,#6,P_2f

acall Majukiri P_2f cjne r5,#7,P_2g

(2)

acall Mundurkanan P_2g cjne r5,#8,P_3

acall Mundurkiri

P_3 inc Speed

mov th0,#0FCh mov tl0,#39h pop a

setb tr0 reti

Serial_on ;prosedur yang dijalankan saat menerima

push a ;data serial

jnb ri,X_serial clr ri

mov a,sbuf FFast cjne a,#1,FLow

mov r2,#0 mov r3,#1 mov r4,#0 acall Maju sjmp X_serial FLow cjne a,#2,RotL

mov r2,#0 mov r3,#0 mov r4,#0 acall Majupelan sjmp X_serial RotL cjne a,#3,RotR

mov r2,#0 mov r3,#2 acall Kiripelan sjmp X_serial RotR cjne a,#4,TurnL

mov r2,#0 mov r3,#3 acall Kananpelan sjmp X_serial TurnL cjne a,#5,TurnR

mov r2,#0 mov r3,#4

acall Majukiripelan sjmp X_serial TurnR cjne a,#6,Reverse

mov r2,#0 mov r3,#5

acall Majukananpelan

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Lampiran 1: Listing Program Mobile Robot.ASM (sambungan)

sjmp X_serial

Reverse cjne a,#7,TurnbackL mov r2,#0

mov r3,#6

acall Mundurpelan sjmp X_serial

TurnbackL cjne a,#8,TurnbackR mov r2,#0

mov r3,#7

acall Mundurkiripelan sjmp X_serial

TurnbackR cjne a,#9,Random mov r2,#0

mov r3,#8

acall Mundurkananpelan sjmp X_serial

Random cjne a,#10,Brakes acall Gerakbebas sjmp X_serial Brakes cjne a,#0,X_serial

mov r2,#0 acall Diam X_serial pop a

reti

Maju clr tr0

setb Ka_mundur setb Ki_mundur clr Ka_maju clr Ki_maju ret

Kanan clr tr0

setb Ki_mundur setb Ka_maju clr Ki_maju clr Ka_mundur ret

Kiri clr tr0

setb Ki_maju setb Ka_mundur clr Ki_mundur clr Ka_maju ret

(4)

Mundur clr tr0 setb Ka_maju setb Ki_maju clr Ka_mundur clr Ki_mundur ret

Majukanan clr tr0

setb Ki_mundur setb Ka_mundur setb Ka_maju clr Ki_maju ret

Majukiri clr tr0

setb Ki_mundur setb Ka_mundur setb Ki_maju clr Ka_maju ret

Mundurkanan

clr tr0 setb Ki_maju setb Ka_maju setb Ka_mundur clr Ki_mundur ret

Mundurkiri

clr tr0 setb Ki_maju setb Ka_maju setb Ki_mundur clr Ka_mundur ret

Diam clr tr0

setb Ka_mundur setb Ki_mundur setb Ka_maju setb Ki_maju ret

(5)

Majucepat mov Speedka,#8 mov Speedki,#8 mov r5,#1 acall Maju mov th0,#0FCh mov tl0,#39h setb tr0 ret

Majupelan mov Speedka,#5 mov Speedki,#5 mov r5,#1 acall Maju mov th0,#0FCh mov tl0,#39h setb tr0 ret

Mundurpelan

mov Speedka,#5 mov Speedki,#5 mov r5,#4 acall Mundur mov th0,#0FCh mov tl0,#39h setb tr0 ret

Kananpelan mov Speedka,#4 mov Speedki,#4 mov r5,#2 acall Kanan mov th0,#0FCh mov tl0,#39h setb tr0 ret

Majukananpelan

mov Speedka,#5 mov Speedki,#8 mov r5,#1 acall Maju mov th0,#0FCh mov tl0,#39h setb tr0 ret

(6)

Majukiripelan

mov Speedka,#8 mov Speedki,#5 mov r5,#1 acall Maju mov th0,#0FCh mov tl0,#39h setb tr0 ret

Mundurkananpelan

Mundurkiripelan

Gerakbebas

inc r2

cjne r3,#0,Gb0 acall Diam cjne r2,#7,Gb0b mov r2,#0 cjne r4,#0,Gb0a mov r3,#6 acall Majupelan Gb0a cjne r4,#1,Gb0b

mov r3,#2 acall Kananpelan Gb0b sjmp End_Gb

Gb0 cjne r3,#1,Gb1

acall Mundurpelan cjne r2,#7,Gb1a

(7)

mov r2,#0 mov r3,#2 acall Kananpelan Gb1a sjmp End_Gb

Gb1 cjne r3,#2,Gb2

acall Kananpelan cjne r2,#50,Gb2a mov r2,#0

mov r3,#3 acall Kiripelan Gb2a sjmp End_Gb

Gb2 cjne r3,#3,Gb3

acall Kiripelan cjne r2,#60,Gb3a mov r2,#0

mov r3,#4

acall Mundurkananpelan Gb3a sjmp End_Gb

Gb3 cjne r3,#4,Gb4

acall Mundurkananpelan cjne r2,#10,Gb4a mov r2,#0

mov r3,#7

acall Majukiripelan Gb4a sjmp End_Gb

Gb4 cjne r3,#5,Gb5

acall Mundurkiripelan cjne r2,#10,Gb5a mov r2,#0

mov r3,#6 acall Majupelan Gb5a sjmp End_Gb

Gb5 cjne r3,#6,Gb6

acall Majupelan cjne r2,#10,Gb6a mov r2,#0

mov r4,#1 mov r3,#0 acall Diam Gb6a sjmp End_Gb

Gb6 cjne r3,#7,End_Gb

acall Majukiripelan cjne r2,#10,Gb7a mov r2,#0

mov r3,#1

acall Mundurpelan

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Gb7a sjmp End_Gb End_Gb

ret

Initial ;inisialisasi awal

mov Speed,#0 mov r2,#0 mov r5,#0 acall Diam mov pcon,#00h

mov tmod,#0A1h ;timer1 = 8bit auto reload timer untuk serial

;timer0 = 16bit untuk PWM mov th0,#0FCh

mov tl0,#39h

mov th1,#0FDh ;9600 bps @12Mhz mov tl1,#0FDh

mov scon,#01010001b

setb tr1 ;mengaktifkan timer1

setb et0 ;enable timer0 overflow interrupt setb es ;enable serial interrupt

setb ps ;serial port interrupt priority level setb ea ;enable interrupt

ret

Start

mov sp,#30h acall Initial sjmp $

(9)

Lampiran 2: Listing Program Pengenalan Obyek

void CCamCapDlg::CallBackCam1(IplImage *frame) {

if (mulai) {

IplImage *img_hsv, *img_h, *img_s, *img_v,

*img_calcback_h, *img_and_sv;

CvSize size_image;

size_image.width = frame->width;

size_image.height = frame->height;

// 2. Create a temporary grey image the same size, flip it and set the origin to // Bottom left (DIB's are upside down to normal images!)

img_hsv = cvCreateImage(size_image, 8, 3);

iplMirror(img_hsv, img_hsv, 0);

img_hsv->origin = IPL_ORIGIN_BL;

// Frame RGB di konvert menjadi HSV iplRGB2HSV(frame, img_hsv);

img_h=cvCreateImage(size_image, 8, 1);

iplMirror(img_h, img_h, 0);

img_h->origin = IPL_ORIGIN_BL;

img_s=cvCloneImage(img_h);

img_v=cvCloneImage(img_h);

img_calcback_h = cvCloneImage(img_h);

// Masing-masing channel dipisahkan

cvCvtPixToPlane(img_hsv, img_h, img_s, img_v, NULL);

// Image dibandingkan dengan sample

cvCalcBackProject(&img_h, img_calcback_h, hist_h);

// Image S dan V di threshold

cvThreshold(img_s, img_s, 90, 255, CV_THRESH_BINARY);

cvThreshold(img_v, img_v, 80, 255, CV_THRESH_BINARY);

// Image S dan V digabung dengan fungsi 'AND' img_and_sv = cvCloneImage(img_h);

iplAnd(img_s, img_v, img_and_sv);

IplImage *temp, *temp1, *temp2, *temp3, *temp4;

temp=cvCloneImage(img_h);

// Image hasil Calcbackproject digabung dengan image gabungan S dan V iplAnd(img_calcback_h, img_and_sv, temp);

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// Image difilter menggunakan median filter temp1=cvCloneImage(temp);

iplMedianFilter(temp1, temp, 3, 3, 1, 1);

// Image di threshold

cvThreshold(temp,temp,10,255,CV_THRESH_BINARY);

temp2=cvCreateImage(size_image, 8, 1);

temp3=cvCloneImage(temp2);

temp4=cvCloneImage(temp2);

cvvShowImage("Display",temp);

// Mendeteksi adanya obyek yang dicari atau tidak unsigned char pixel[1];

int x,y,keliling,luas,arah,xmin,xmax,ymin,ymax,count;

int xtemp,ytemp,xstart,ystart;

bool carikeliling,cariluas,carititikberat,keluar,ketemu;

carikeliling = FALSE;

cariluas = FALSE;

carititikberat = FALSE;

for (y=0; y<120; y++)

for (x=0; x<160; x++) {

iplGetPixel(temp, x, y, &pixel[0]);

if (pixel[0]==255) {

xtemp = x;

ytemp = y;

xmin = x; xmax = x;

ymin = y; ymax = y;

pixel[0]=100;

iplPutPixel(temp, x, y, &pixel[0]);

pixel[0]=255;

iplPutPixel(temp2, x, y, &pixel[0]);

x = 160;

y = 120;

carikeliling = TRUE;

} }

// prosedur mencari keliling obyek x = xtemp;

y = ytemp;

xstart=x;

ystart=y;

arah = 0;

keliling = 0;

(11)

Lampiran 2: Listing Program Pengenalan Obyek (sambungan)

while (carikeliling) {

ketemu = FALSE;

keluar = FALSE;

count = 0;

while (!ketemu && !keluar) {

switch (arah) {

case 0:

xtemp = x + 1;

ytemp = y;

break;

case 1:

xtemp = x + 1;

ytemp = y - 1;

break;

case 2:

xtemp = x;

ytemp = y - 1;

break;

case 3:

xtemp = x - 1;

ytemp = y - 1;

break;

case 4:

xtemp = x - 1;

ytemp = y;

break;

case 5:

xtemp = x - 1;

ytemp = y + 1;

break;

case 6:

xtemp = x;

ytemp = y + 1;

break;

case 7:

xtemp = x + 1;

ytemp = y + 1;

break;

}

if (xtemp>=0 && xtemp<160 && ytemp>=0 &&

ytemp<120)

{

(12)

iplGetPixel(temp, xtemp, ytemp, &pixel[0]);

if (pixel[0]==255) {

iplPutPixel(temp2, xtemp, ytemp,

&pixel[0]);

pixel[0]=100;

iplPutPixel(temp, xtemp, ytemp, &pixel[0]);

if (xtemp < xmin) xmin = xtemp;

if (xtemp > xmax) xmax = xtemp;

if (ytemp < ymin) ymin = ytemp;

if (ytemp > ymax) ymax = ytemp;

x = xtemp;

y = ytemp;

if (arah == 0) arah = 1;

else if (arah == 1) arah = 3;

ketemu = TRUE;

keliling++;

}

else if (xtemp==xstart && ytemp==ystart) {

keluar = TRUE;

cariluas = TRUE;

} }

if (!ketemu) {

arah--;

if (arah < 0) arah = 7;

count++;

if (count == 7) {

count = 0;

keluar = TRUE;

} }

(13)

// prosedur mencari luas obyek float shape;

luas = 0;

shape = 0;

while (cariluas) {

luas = 0;

for (y=ymin; y<=ymax; y++)

for (x=xmin; x<=xmax; x++) {

if (pixel[0] != 0) {

pixel[0]=255;

iplPutPixel(temp3, x, y, &pixel[0]);

luas++;

} }

cariluas = FALSE;

shape = float(keliling * keliling) / float(luas);

if (shape >= 10 && shape <= 15 && luas > 100) carititikberat = TRUE;

}

// menampilkan nilai keliling, luas, dan shape factor CString value;

value.Format("%d",luas);

SetDlgItemText(IDC_LUAS,value);

value.Format("%d",keliling);

SetDlgItemText(IDC_KELILING,value);

value.Format("%f",shape);

SetDlgItemText(IDC_SHAPE,value);

// prosedur mencari titik berat int sx,sy,n;

while (carititikberat) {

sx = 0;

sy = 0;

n = 0;

for (y=ymin; y<=ymax; y++)

for (x=xmin; x<=xmax; x++) {

if (pixel[0] != 0) {

(14)

sx = sx + x;

sy = sy + y;

n = n + 1;

} }

if (n != 0) {

sx = sx / n;

sy = sy / n;

}

CvPoint pt1, pt2;

pt1.x = sx;

pt1.y = sy;

pt2.x = sx;

pt2.y = sy;

cvRectangle(temp4,pt1,pt2,CV_RGB(255,255,255),2);

carititikberat = FALSE;

}

// Menampilkan nilai koordinat posisi obyek value.Format("%d",sx);

SetDlgItemText(IDC_XPOS,value);

value.Format("%d",sy);

SetDlgItemText(IDC_YPOS,value);

// Gambar sensor posisi obyek CvPoint pt1, pt2;

pt1.x = 0;

pt1.y = 0;

pt2.x = 50;

pt2.y = 70;

pt1.x = 0;

pt1.y = 70;

pt2.x = 40;

pt2.y = 120;

pt1.x = 110;

pt1.y = 0;

pt2.x = 160;

pt2.y = 70;

pt1.x = 120;

pt1.y = 70;

pt2.x = 160;

pt2.y = 120;

(15)

pt1.x = 50;

pt1.y = 55;

pt2.x = 110;

pt2.y = 55;

cvvShowImage("Keliling",temp2);

cvvShowImage("Luas",temp3);

cvvShowImage("Posisi Bola",temp4);

// Prosedur penentuan arah gerakan mobile robot if (sy>0 && sy<=55)

{

if (sx>0 && sx<50) //belok kiri com->sendChar(5);

else if (sx>110 && sx<160) //belok kanan com->sendChar(6);

else com->sendChar(2); //maju }

else if (sy>55 && sy<120) {

if (sx>0 && sx<=40) //balik kiri com->sendChar(3);

else if (sx>=120 && sx<160) //balik kanan com->sendChar(4);

else com->sendChar(1); // maju cepat }

else com->sendChar(10);

//cv 14-9

cvReleaseImage(&temp);

cvReleaseImage(&temp1);

cvReleaseImage(&img_calcback_h);

cvReleaseImage(&img_and_sv);

cvReleaseImage(&img_v);

cvReleaseImage(&img_s);

cvReleaseImage(&img_h);

cvReleaseImage(&img_hsv);

} }

(16)

void CCamCapDlg::OnStart() {

// TODO: Add your control notification handler code here

IplImage *sample, *sample_hsv, *sample_h, *sample_s, *sample_v;

int histh_dim[1] = {255};

int hists_dim[1] = {255};

int histv_dim[1] = {255};

CvSize size_sample;

//load sample warna switch (m_iColor) {

case 0:

sample = cvvLoadImage("BolaMerah.jpg");

break;

case 1:

sample = cvvLoadImage("BolaKuning.jpg");

break;

}

size_sample.width = sample->width;

size_sample.height = sample->height;

sample_hsv = cvCreateImage(size_sample, IPL_DEPTH_8U, 3);

// Image sample RGB dikonvert ke HSV iplRGB2HSV(sample, sample_hsv);

sample_h=cvCreateImage(size_sample, IPL_DEPTH_8U, 1);

sample_s=cvCreateImage(size_sample, IPL_DEPTH_8U, 1);

sample_v=cvCreateImage(size_sample, IPL_DEPTH_8U, 1);

// Masing-masing channel dipisahkan

cvCvtPixToPlane(sample_hsv, sample_h, sample_s, sample_v, NULL);

// Menghitung nilai histogram dari hue sample float thresh_h[1][2] = { {0, 255} };

float* pthresh_h[1] = { thresh_h[0] };

hist_h = cvCreateHist ( 1, histh_dim, CV_HIST_ARRAY, 0, 1);

cvSetHistBinRanges( hist_h, pthresh_h, 1);

cvCalcHist(&sample_h, hist_h, 0, 0);

// siapkan window

cvvNamedWindow("Display",1);

cvvNamedWindow("Keliling",1);

cvvNamedWindow("Luas",1);

cvvNamedWindow("Posisi Bola",1);

(17)

Lampiran 3: Listing Program Pengolahan Image Sample (sambungan)

cvReleaseImage(&sample);

cvReleaseImage(&sample_hsv);

cvReleaseImage(&sample_h);

cvReleaseImage(&sample_s);

cvReleaseImage(&sample_v);

mulai=true;

}