Simulasi Sistem Kendali Robot Monitoring Menggunakan Komunikasi Radio Berbasis Mikrokontroller Atmega 16

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Program CODEVISIONAVR

Untuk program mikrokontroler pada Robot

/***************************************************** Date : 8/24/2014

Chip type : ATmega16 Program type : Application AVR Core Clock frequency: 11.059200 MHz Memory model : Small

#define buzzer PORTA.4

char data,buffer[33];

unsigned int data_gas,gas,data_suhu; float suhu;

// Alphanumeric LCD functions #include <alcd.h>

// Standard Input/Output functions #include <stdio.h>

#define ADC_VREF_TYPE 0x40

// Read the AD conversion result

unsigned int read_adc(unsigned char adc_input) {

ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);

// Delay needed for the stabilization of the ADC input voltage

delay_us(10);

// Start the AD conversion ADCSRA|=0x40;

// Wait for the AD conversion to complete while ((ADCSRA & 0x10)==0);

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// Declare your global variables here

//========================================================= //Program FUNGSI Pergerakan / MANUVER ROBOT

//=========================================================

// Declare your local variables here

// Input/Output Ports initialization // Port A 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

PORTA=0x00; DDRA=0x10;

// Port B initialization

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// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0

PORTB=0x00; DDRB=0xFF;

// Port C initialization

// State7=T State6=T State5=T State4=T State3=P State2=T State1=T State0=T

PORTC=0x08; DDRC=0x00;

// Port D initialization

PORTD=0x00; DDRD=0x00;

// Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=0xFF

// OC0 output: Disconnected TCCR0=0x00;

TCNT0=0x00; OCR0=0x00;

// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer1 Stopped // Mode: Normal top=0xFFFF // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off

// Input Capture on Falling Edge // Timer1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0x00;

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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 // INT2: Off MCUCR=0x00; MCUCSR=0x00;

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

// USART initialization

// Communication Parameters: 8 Data, 1 Stop, No Parity // USART Receiver: On

// USART Transmitter: On // USART Mode: Asynchronous // USART Baud Rate: 9600

// Analog Comparator initialization // Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;

SFIOR=0x00;

// ADC initialization

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// ADC Auto Trigger Source: ADC Stopped ADMUX=ADC_VREF_TYPE & 0xff;

ADCSRA=0x84;

// 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: // Characters/line: 16 lcd_init(16);

lcd_gotoxy(0,0);

lcd_putsf("ROBOT PENDETEKSI"); lcd_gotoxy(0,1);

lcd_putsf(" -SUHU&GAS LPG- "); delay_ms(2000); //Program untuk menampilkan data GAS dan SUHU

//=========================================================

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if(suhu>45) {buzzer=1; delay_ms(50); lcd_gotoxy(0,0); lcd_putsf("Situasi BAHAYA ");}

else {lcd_gotoxy(0,0); lcd_putsf("Situasi AMAN ");} buzzer=0; delay_ms(50);

//========================================================= //Program untuk PERGERAKAN ROBOT

//=========================================================

if((UCSRA&0x80)==0x80) { data=getchar();

if (data=='a') {maju(); lcd_gotoxy(0,0); lcd_putsf(" --ROBOT MAJU-- ");}

else if(data=='b') {mundur(); lcd_gotoxy(0,0); lcd_putsf(" -ROBOT MUNDUR- ");}

else if(data=='c') {kanan(); lcd_gotoxy(0,0); lcd_putsf(" -ROBOT NGANAN- ");}

else if(data=='d') {kiri(); lcd_gotoxy(0,0); lcd_putsf(" --ROBOT KIRI-- ");}

else {stop(); }

}

} }

Program VISUAL BASIC 2010

Untuk Tampilan Interface pada Komputer

Imports System.Runtime.InteropServices

PublicClassForm1 Dim serial AsByte Dim myport AsArray Dim a AsByte = 0 Dim b AsByte = 0 Dim c AsByte = 0 Dim d AsByte = 0

Dim serial_input AsString Dim cek AsString

Dim flag AsString Dim data_jam AsInteger Dim data_menit AsInteger

DelegateSubSetTextCallback(ByVal [text] AsString) Const WM_CAP_START = &H400S

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Const WM_CAP_DRIVER_CONNECT = WM_CAP_START + 10 Const WM_CAP_DRIVER_DISCONNECT = WM_CAP_START + 11 Const WM_CAP_EDIT_COPY = WM_CAP_START + 30

Const WM_CAP_SEQUENCE = WM_CAP_START + 62 Const WM_CAP_FILE_SAVEAS = WM_CAP_START + 23

Const WM_CAP_SET_SCALE = WM_CAP_START + 53

Const WM_CAP_SET_PREVIEWRATE = WM_CAP_START + 52 Const WM_CAP_SET_PREVIEW = WM_CAP_START + 50

Const SWP_NOMOVE = &H2S Const SWP_NOSIZE = 1 Const SWP_NOZORDER = &H4S Const HWND_BOTTOM = 1

DeclareFunction capGetDriverDescriptionA Lib"avicap32.dll" _

(ByVal wDriverIndex AsShort, _

ByVal lpszName AsString, ByVal cbName AsInteger, ByVal lpszVer AsString, _

ByVal cbVer AsInteger) AsBoolean

DeclareFunction capCreateCaptureWindowA Lib"avicap32.dll" _

(ByVal lpszWindowName AsString, ByVal dwStyle AsInteger, _

ByVal x AsInteger, ByVal y AsInteger, ByVal nWidth AsInteger, _

ByVal nHeight AsShort, ByVal hWnd AsInteger, _ ByVal nID AsInteger) AsInteger

DeclareFunction SendMessage Lib"user32"Alias"SendMessageA" _ (ByVal hwnd AsInteger, ByVal Msg AsInteger, ByVal wParam AsInteger, _

<MarshalAs(UnmanagedType.AsAny)>ByVal lParam AsObject) AsInteger

DeclareFunction SetWindowPos Lib"user32"Alias"SetWindowPos"

_

(ByVal hwnd AsInteger, _

ByVal hWndInsertAfter AsInteger, ByVal x AsInteger, ByVal y AsInteger, _

ByVal cx AsInteger, ByValcyAsInteger, ByVal wFlags AsInteger) AsInteger

DeclareFunction DestroyWindow Lib"user32" (ByVal hndw

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Dim VideoSource AsInteger Dim hWnd AsInteger

PrivateSub Button_CONNECT_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_CONNECT.Click

PrivateSub Form1_Load(ByVal sender AsObject, ByVal e As System.EventArgs) HandlesMe.Load

myport = IO.Ports.SerialPort.GetPortNames() ComboBox1.Items.AddRange(myport)

Timer1.Enabled = True ListBox1.Items.Clear()

Dim DriverName AsString = Space(80) Dim DriverVersion AsString = Space(80) For i AsInteger = 0 To 9

IfcapGetDriverDescriptionA(i, DriverName, 80, DriverVersion, 80) Then

ListBox1.Items.Add(DriverName.Trim) EndIf

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b_maju.BackColor = Color.LightGray

PrivateSub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click VideoSource = ListBox1.SelectedIndex

SendMessage(hWnd, WM_CAP_DRIVER_DISCONNECT, VideoSource, 0) DestroyWindow(hWnd)

EndSub

PrivateSub start_cam_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles start_cam.Click

SendMessage(hWnd, WM_CAP_DRIVER_DISCONNECT, VideoSource, 0) DestroyWindow(hWnd)

VideoSource = ListBox1.SelectedIndex

hWnd = capCreateCaptureWindowA(VideoSource, WS_VISIBLE Or WS_CHILD, 0, 0, 0, _

0, PictureBox1.Handle.ToInt32, 0)

IfSendMessage(hWnd, WM_CAP_DRIVER_CONNECT, VideoSource, 0) Then

SendMessage(hWnd, WM_CAP_SET_SCALE, True, 0) SendMessage(hWnd, WM_CAP_SET_PREVIEWRATE, 30, 0) SendMessage(hWnd, WM_CAP_SET_PREVIEW, True, 0) SetWindowPos(hWnd, HWND_BOTTOM, 0, 0, _

PictureBox1.Width, PictureBox1.Height, _

PrivateSub Button_EXIT_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button_EXIT.Click Close()

End

IfSerialPort1.IsOpen() = TrueThen SerialPort1.Close()

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EndSub

PrivateSub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick

jam.Text = Format(Now, "hh:mm:ss") &" WIB"

tanggal.Text = Format(Now, "ddd, dd-MMM-yyyy") If serial = 1 Then

If a = 1 Then

SerialPort1.Write("a") ElseIf b = 1 Then SerialPort1.Write("b") ElseIf c = 1 Then SerialPort1.Write("c") ElseIf d = 1 Then SerialPort1.Write("d")

Else : SerialPort1.Write(" ") EndIf

EndIf

EndSub

PrivateSub SerialPort1_DataReceived(ByVal sender AsObject, ByVal e As System.IO.Ports.SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived

ReceivedText(SerialPort1.ReadExisting()) EndSub

PrivateSubReceivedText(ByVal [text] AsString) 'input from ReadExisting

IfMe.lbl_serial.InvokeRequired Then

Dim x AsNewSetTextCallback(AddressOf ReceivedText) Me.Invoke(x, NewObject() {(text)})

Else

Me.serial_input = [text]

lbl_serial.Text = serial_input cek = Mid(serial_input, 1, 1)

If cek = "#"Then

Label2.Text = Mid(serial_input, 4, 2) &" Celcius "

Label3.Text = Mid(serial_input, 11, 3) &" ppm "

If Label2.Text > 45 Then

Label4.Text = "SITUASI BAHAYA"

Else

Label4.Text = "SITUASI AMAN"

EndIf

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serial_input = ""

PrivateSub b_kanan_MouseDown(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles

b_kanan.MouseDown

b_kanan.BackColor = Color.Green c = 1

EndSub

PrivateSub b_kiri_MouseDown(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles

b_kiri.MouseDown

b_kiri.BackColor = Color.Green d = 1

EndSub

PrivateSub b_maju_MouseDown(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles

b_maju.MouseDown

b_maju.BackColor = Color.Green a = 1

EndSub

PrivateSub b_mundur_MouseDown(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles

b_mundur.MouseDown

b_mundur.BackColor = Color.Green b = 1

EndSub

PrivateSub b_kanan_MouseUp(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles b_kanan.MouseUp b_kanan.BackColor = Color.LightGray

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PrivateSub b_kiri_MouseUp(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles b_kiri.MouseUp b_kiri.BackColor = Color.LightGray

d = 0 EndSub

PrivateSub b_maju_MouseUp(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles b_maju.MouseUp b_maju.BackColor = Color.LightGray

a = 0 EndSub

PrivateSub b_mundur_MouseUp(ByVal sender AsObject, ByVal e As System.Windows.Forms.MouseEventArgs) Handles

b_mundur.MouseUp

b_mundur.BackColor = Color.LightGray b = 0

EndSub

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LAMPIRAN B

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Chip type : ATmega16

Program type : Application

AVR Core Clock frequency: 11.059200 MHz

Memory model : Small

External RAM size : 0

Data Stack size : 256

*****************************************************/

#include <mega16.h>

#include <delay.h>

#include <math.h>

unsigned char buffer[33];

int NO,CO;

// Alphanumeric LCD functions

#include <alcd.h>

// Standard Input/Output functions

#include <stdio.h>

#define ADC_VREF_TYPE 0x40

// Read the AD conversion result

unsigned int read_adc(unsigned char adc_input)

{

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// Delay needed for the stabilization of the ADC input voltage

delay_us(10);

// Start the AD conversion

ADCSRA|=0x40;

// Wait for the AD conversion to complete

while ((ADCSRA & 0x10)==0);

ADCSRA|=0x10;

return ADCW;

}

// Declare your global variables here

void main(void)

{

// Declare your local variables here

// Input/Output Ports initialization

// Port A initialization

PORTA=0x00;

DDRA=0x00;

// Port B initialization

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PORTB=0x00;

DDRB=0x00;

// Port C initialization

PORTC=0x00;

DDRC=0x00;

// Port D initialization

PORTD=0x00;

DDRD=0x00;

// USART initialization

// Communication Parameters: 8 Data, 1 Stop, No Parity

// USART Receiver: On

// USART Transmitter: On

// USART Mode: Asynchronous

// USART Baud Rate: 1200

UCSRA=0x00;

UCSRB=0x08;

UCSRC=0x86;

UBRRH=0x02;

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// ADC initialization

// ADC Clock frequency: 691.200 kHz

// ADC Voltage Reference: AVCC pin

// ADC Auto Trigger Source: ADC Stopped

ADMUX=ADC_VREF_TYPE & 0xff;

ADCSRA=0x84;

// Alphanumeric LCD initialization

// Connections are specified in the

// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:

// RS - PORTC Bit 0

// RD - PORTC Bit 1

// EN - PORTC Bit 2

// D4 - PORTC Bit 4

// D5 - PORTC Bit 5

// D6 - PORTC Bit 6

// D7 - PORTC Bit 7

// Characters/line: 16

lcd_init(16);

while (1)

{

// Place your code here

NO=(1024-read_adc(0))-430;

CO=(1024-read_adc(1))-120;

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lcd_putsf(" KUALITAS UDARA ");

lcd_gotoxy(0,1);

sprintf(buffer,"CO=%4d NO2=%4d",CO,NO);

lcd_puts(buffer);

printf("Data Serial #$%3d?$%3d?@\n",CO,NO);

putchar(13);

delay_ms(200);

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LAMPIRAN C

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Option Explicit

Dim SerialInput As String

Dim i As Integer

Dim a As Integer

Dim flag As Integer

Dim data(1000) As String

Dim data_serial As String

Dim DataSerial As String, PaketData As String

Dim ADC1 As String

Dim ADC2 As String

Private Sub Command1_Click()

If MSComm1.PortOpen = True Then MSComm1.PortOpen = False

End

End Sub

Private Sub Form_Load()

MSComm1.RThreshold = 40

MSComm1.Settings = "1200,N,8,1"

MSComm1.CommPort = 3

MSComm1.PortOpen = True

End Sub

Private Sub Form_Unload(Cancel As Integer)

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End Sub

Private Sub MSComm1_OnComm()

Dim startdata As Integer

Dim enddata As Integer

Dim acceptdata As String

Dim valid As String

SerialInput = SerialInput & MSComm1.Input

If InStr(SerialInput, "$") > 1 Then

startdata = InStr(SerialInput, "#")

enddata = InStr(SerialInput, "@")

If startdata + 11 = enddata Then

acceptdata = Mid(SerialInput, startdata, enddata)

valid = Left(acceptdata, 12)

Label2.Caption = valid

CO.Caption = Mid(valid, 3, 3)

NO.Caption = Mid(valid, 8, 3)

End If

SerialInput = ""

'End If