Rancangan Quadcopter Untuk Sistem Pemantau Udara Berbasis Mikrokontroller ATmega 328

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LAMPIRAN 1

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LAMPIRAN 2

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Program Kendali Pada Remote

#include <RCSwitch.h>

RCSwitch mySwitch = RCSwitch();

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int inByte = 0; int kirim_data=0;

void setup() { Serial.begin(9600);

pinMode(tbl_k, INPUT);

mySwitch.enableTransmit(13); }

void loop(){

State_tbl_k = digitalRead(tbl_k); State_tbl_l = digitalRead(tbl_l); State_tbl_m = digitalRead(tbl_m); State_tbl_n = digitalRead(tbl_n);

State_tbl_g = digitalRead(tbl_g); State_tbl_h = digitalRead(tbl_h); State_tbl_i = digitalRead(tbl_i); State_tbl_j = digitalRead(tbl_j);

State_tbl_e = digitalRead(tbl_e); State_tbl_s = digitalRead(tbl_s); State_tbl_f = digitalRead(tbl_f);

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if (State_tbl_k == LOW) {kirim_data=11; inByte = 0;} if (State_tbl_l == LOW) {kirim_data=12; inByte = 0;} if (State_tbl_m == LOW) {kirim_data=13; inByte = 0;} if (State_tbl_n == LOW) {kirim_data=14; inByte = 0;}

if (State_tbl_g == LOW) {kirim_data=7; inByte = 0;} if (State_tbl_h == LOW) {kirim_data=8; inByte = 0;} if (State_tbl_i == LOW) {kirim_data=9; inByte = 0;} if (State_tbl_j == LOW) {kirim_data=10; inByte = 0;}

if (State_tbl_e == LOW) {kirim_data=5; inByte = 0;} if (State_tbl_s == LOW) {kirim_data=15; inByte = 0;} if (State_tbl_f == LOW) {kirim_data=6; inByte = 0;}

if (State_tbl_a <=500) {kirim_data=1; inByte = 0;} if (State_tbl_b <=500) {kirim_data=2; inByte = 0;} if (State_tbl_c <=500) {kirim_data=3; inByte = 0;} if (State_tbl_d <=500) {kirim_data=4; inByte = 0;}

mySwitch.send(kirim_data, 8); inByte = 0;

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Program Pada Quadcopter

#include <Servo.h> #include <RCSwitch.h>

RCSwitch mySwitch = RCSwitch();

const int analogInPin1 = A1; const int analogInPin2 = A3;

int sensorValue1 = 0; int sensorValue2 = 0;

double rpm_depan_kanan=0; double rpm_depan_kiri=0; double rpm_belakang_kanan=0; double rpm_belakang_kiri=0;

Servo esc_depan_kanan; Servo esc_belakang_kiri; Servo esc_belakang_kanan; Servo esc_depan_kiri;

void setup() { Serial.begin(9600);

esc_depan_kanan.attach(9); esc_belakang_kiri.attach(10); esc_belakang_kanan.attach(11); esc_depan_kiri.attach(3); mySwitch.enableReceive(0); }

void loop() {

if (mySwitch.available()) {

int value = mySwitch.getReceivedValue(); if(value==1)

{rpm_belakang_kanan=rpm_belakang_kanan+0.3; rpm_belakang_kiri=rpm_belakang_kiri+0.3; value=0;} if(value==2)

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{rpm_depan_kiri=rpm_depan_kiri+0.3;

rpm_belakang_kiri=rpm_belakang_kiri+0.3; value=0;} if(value==4)

{rpm_depan_kanan=rpm_depan_kanan+0.3;

rpm_belakang_kanan=rpm_belakang_kanan+0.3; value=0;} if(value==5)

{rpm_depan_kanan=rpm_depan_kanan+0.3; rpm_belakang_kanan=rpm_belakang_kanan+0.3; rpm_depan_kiri=rpm_depan_kiri+0.3;

rpm_belakang_kiri=rpm_belakang_kiri+0.3; value=0;} if(value==6)

{rpm_depan_kanan=rpm_depan_kanan-0.3; rpm_belakang_kanan=rpm_belakang_kanan-0.3;

rpm_depan_kiri=rpm_depan_kiri-0.3; rpm_belakang_kiri=rpm_belakang_kiri-0.3; value=0;}

if(value==7){rpm_depan_kiri=rpm_depan_kiri+0.3; value=0;}

if(value==8 && rpm_depan_kiri!=0){rpm_depan_kiri=rpm_depan_kiri-0.3; value=0;}

if(value==9){rpm_belakang_kiri=rpm_belakang_kiri+0.3; value=0;} if(value==10 &&

rpm_belakang_kiri!=0){rpm_belakang_kiri=rpm_belakang_kiri-0.3; value=0;} if(value==11){rpm_depan_kanan=rpm_depan_kanan+0.3; value=0;}

if(value==12 &&

rpm_depan_kanan!=0){rpm_depan_kanan=rpm_depan_kanan-0.3; value=0;} if(value==13){rpm_belakang_kanan=rpm_belakang_kanan+0.3; value=0;} if(value==14 &&

rpm_belakang_kanan!=0){rpm_belakang_kanan=rpm_belakang_kanan-0.3; value=0;}

if(value==15){rpm_depan_kanan=0; rpm_belakang_kanan=0; rpm_depan_kiri=0; rpm_belakang_kiri=0; value=0;}

esc_depan_kanan.write(rpm_depan_kanan); esc_belakang_kiri.write(rpm_belakang_kiri); esc_belakang_kanan.write(rpm_belakang_kanan); esc_depan_kiri.write(rpm_depan_kiri);

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Start

#include <RCSwitch.h> RCSwitch myswitch = RCSwitch();

Const int tbl_ = ... ;

Void setup() { Serial.begin(9600); PinMode(tbl_ , INPUT);

Void loop(){

State_tbl_ = digitalRead(tbl_ );

manufare

finish

Pembacaan program Ya Tidak

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Start

#include<servo.h> #include<RCSwitch.h> RCSwitch mySwitch = RCSwitch();

Const int analogInPin1 = A1;

Void setup(){ Serial.begin(9600); Esc_..._...attach(...);

Void loop() { If (mySwitch.available() { Int value = mySwitch.getReceivedValue();

If(value == ...) {rpm_..._... =rpm_..._...;

manufare

finish

Pembacaan Program

Ya Tidak

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LAMPIRAN 3

DATA SHEET

MIKROKONTROLLER ATmega

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LAMPIRAN 4

Data Sheet Accelerometer

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LAMPIRAN 5

Dokumentasi Perancangan Sistem

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