[16] Definisi Traksi. Tersedia di Desember [17] Datasheet HT12E Series of Encoders.

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Daftar Pustaka

[1] ---. Definition of A Robot. Tersedia di

http://www.dira.dk/pdf/robotdef.pdf

.

[2] ---. Robot. Tersedia di

http://en.wikipedia.org/wiki/Robot

. Modifikasi terakhir

08:36, 12 Agustus 2007.

[3] ---. Indonesia Ciptakan Robot Penjinak Bom. Tersedia di

http://www.suaramerdeka.com/cybernews/harian/0605/23/nas22.htm

. Selasa, 23 Mei

2006 : 21.43 WIB.

[4] ---. Mobile Robot. Tersedia di

http://en.wikipedia.org/wiki/Mobile_robot.

Modifikasi terakhir 15:55

, 24 Juli 2007.

[5] Miles, P. dan Carroll, T. 2002. Build Your Own Combat Robot.

McGraw-Hill/Osborne, USA.

[6] ---. Parallel Port. Tersedia di

http://en.wikipedia.org/wiki/Parallel_port

. Modifikasi

terakhir 20:35, 27 Juli 2007.

[7] ---. Parallel Port Configuration. Tersedia di

http://www.geocities.com/nozomsite/parallel.htm. 13 Agustus 2007

.

[8] Tyson, J. Parallel Port Basics. Tersedia di

http://computer.howstuffworks.com/parallel-port1.htm

. 13 Agustus 2007.

[9] Engdahl, T. Parallel Port Interfacing Made Easy. Tersedia di

http://www.epanorama.net/circuits/parallel_output.html. 13 Agustus 2007

.

[10] Keiner, L. Electromagnetic Spectrum. Tersedia di

http://en.wikipedia.org/wiki/Image:Electromagnetic-Spectrum.png

. Modifikasi

terakhir 23:26, 1 April 2007.

[11] ---. Amplitude Shift Keying and Frequency Shift Keying. Tersedia di

www.ele.uri.edu/Courses/ele436/labs/ASKnFSK.pdf

. 13 Agustus 2007.

[12] Datasheet RLP/TLP434. Laipac Technology, Inc. Ontario, Canada.

[13] MacKenzie, I. 1995. The 8051 Microcontroller, 2

nd

Ed. Prentice-Hall, Inc.,

Englewood Cliffs, New Jersey, USA.

[14] Datasheet AT89S52. 8-bit Microcontroller with 8K Bytes In-System Programmable

Flash. Atmel Corporation, 2001.

[15] Stewart, James W. dan Miao, Kai X. 1999. The 8051 Microcontroller: Hardware,

Software, and Interfacing, 2

nd

Ed. Prentice-Hall, Inc., Upper Saddle River, New

Jersey, USA.

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[16] ---. Definisi Traksi. Tersedia di

http://www.science.org.au/nova/080/080glo.htm

,

Desember 2003.

[17] Datasheet HT12E. 2

12

Series of Encoders. Holtek Semiconductors Inc., Taiwan,

Republic of China, 2000.

[18] Datasheet HT12D. 2

12

Series of Decoders. Holtek Semiconductors Inc., Taiwan,

Republic of China, 1999.

[19] Budiharto, Widodo. Tanpa Tahun. Pengembangan Kendali Robot Multiguna

Menggunakan Wireless. Universitas Bina Nusantara.

[20] ---. Computer Vision Definition. Tersedia di

http://www.definethat.com/define/3915.htm

, 2003.

[21] ---. RGB Color Model. Tersedia di

http://en.wikipedia.org/wiki/RGB

. Modifikasi

terakhir 15:58, 20 Agustus 2007.

[22] ---. Grayscale. Tersedia di

http://en.wikipedia.org/wiki/Grayscale

, modifikasi

terakhir 16:35, 9 Agustus 2007.

[23] Basuki, A., Palandi, J.F., dan Fatchurrochman. 2005. Pengolahan Citra

Menggunakan Visual Basic. Graha Ilmu, Yogyakarta, Indonesia.

[24] ---. Binary Image. Tersedia di

http://en.wikipedia.org/wiki/Binary_image

,

modifikasi terakhir 22:17, 13 Agustus 2007.

[25] ---. Wireless Camera and Receiver RC100A+208CWA. Tersedia di

http://www.onetrade.biz/ot/review.asp?funcb=194677

, diakses pada 19:51, 26

Agustus 2007.

[26] Datasheet KA78XX/KA78XXA. 3-Terminal 1A Positive Voltage Regulator.

Fairchild Semiconductor Corp., 2001.

[27] Datasheet L293D/L293DD. Push-pull Four Channel Driver with Diodes.

STMicroelectronics, 2003.

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Lampiran

1. Program pada mikrokontroller

#include <at89x52.h>

/* Author : Harri Sapto Wijaya (10203017) ** MCU : AT89S52

** clock : 12/11.0592 MHz = 1.08507 usec ** compiler : Small Device C Compiler (SDCC) v2 */ #define mL1 P2_0 #define mL2 P2_1 #define mR1 P2_2 #define mR2 P2_3 #define mC1 P2_4 #define mC2 P2_5 #define senFr P2_7 #define senRe P2_6

char id_cmd=0x00, beres=0x01;

void maju(); void mundur(); void kiri(); void kanan(); void stopMot(); void kamUp(); void kamDown(); void stopKam();

void delay(char msec); void eksekusi(char id_cmd);

void init() {

EX0 = 1; // interupsi ext0 IT0 = 1; // falling edge

EX1 = 1; IT1 = 1;

EA = 1; }

void bacareceiver() interrupt 0 using 1 {

beres = 0; P1 = 0xFF;

id_cmd = P1 & 0x0F; // mask for low nibble }

void menabrak() interrupt 2 using 1 {

stopKam(); // ready for input senFr = 1; senRe = 1; if(senFr) { mundur(); delay(127); stopMot(); } if(senRe) { maju(); delay(127); stopMot(); }

beres = 1; // hentikan aksi sebelumnya }

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void main() { init(); while(1) { if(beres==0) { eksekusi(id_cmd); } } }

void eksekusi(char id_cmd) { switch(id_cmd) { case 0x01:// maju maju(); break;

case 0x02:// kiri 1 step kiri(); delay(100); stopMot(); break;

case 0x03:// kanan 1 step kanan(); delay(100); stopMot(); break; case 0x04:// mundur mundur(); break;

case 0x05:// stop motor stopMot(); break;

case 0x06:// maju 1 step maju(); delay(100); stopMot(); break; case 0x07:// kiri kiri(); break; case 0x08:// kanan kanan(); break;

case 0x09:// mundur 1 step mundur(); delay(100); stopMot(); break;

case 0x0A:// kamera up kamUp(); break;

case 0x0B:// kamera down kamDown(); break;

case 0x0C:// stop kamera stopKam(); break;

case 0x0D:// kamera up 1 step kamUp(); delay(100); stopKam(); break;

case 0x0E:// kamera down 1 step kamDown(); delay(100); stopKam(); break; } beres = 1; } void maju() {

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mL1 = 1; mL2 = 0; mR1 = 1; mR2 = 0; } void mundur() { mL1 = 0; mL2 = 1; mR1 = 0; mR2 = 1; } void kiri() { mL1 = 0; mL2 = 1; mR1 = 1; mR2 = 0; } void kanan() { mL1 = 1; mL2 = 0; mR1 = 0; mR2 = 1; } void stopMot() { mL1 = 1; mL2 = 1; mR1 = 1; mR2 = 1; } void kamUp() { mC1 = 1; mC2 = 0; } void kamDown() { mC1 = 0; mC2 = 1; } void stopKam() { mC1 = 1; mC2 = 1; }

void delay(char msec) {

char j;

int i;

for(j=0; j<msec; j++)

for(i=0; i<200; i++);

}

2. Program kendali manual

Module1.bas

Fungsi:

Mendefinisikan variabel dan fungsi global.

Public Declare Function Inp Lib "inpout32.dll" Alias "Inp32" (ByVal PortAddress As Integer) As Integer

Public Declare Sub Out Lib "inpout32.dll" Alias "Out32" (ByVal PortAddress As Integer, ByVal Value As Integer)

Public Declare Sub Tunda Lib "Port_IO.dll" (ByVal lama As Integer)

Private Declare Function SetWindowPos Lib "user32" _

(ByVal hwnd As Long, ByVal hWndInsertAfter As Long, ByVal x As Long, ByVal y As Long, _

ByVal cx As Long, ByVal cy As Long, ByVal wFlags As Long) As Long

Const HWND_TOPMOST = -1 Const HWND_NOTOPMOST = -2 Const SWP_NOMOVE = &H2 Const SWP_NOSIZE = &H1

Public Function PutWindowOnTop(pFrm As Form, pilih As Integer) Dim lngWindowPosition As Long

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If pilih = 0 Then

lngWindowPosition = SetWindowPos(pFrm.hwnd, HWND_TOPMOST, 0, 0, 0, 0, SWP_NOMOVE Or SWP_NOSIZE)

ElseIf pilih = 1 Then

lngWindowPosition = SetWindowPos(pFrm.hwnd, HWND_NOTOPMOST, 0, 0, 0, 0, SWP_NOMOVE Or SWP_NOSIZE) End If End Function

Form1

Fungsi:

Antar muka utama, untuk pengendalian manual (menangani event tekan tombol).

Private Sub Form_KeyDown(KeyCode As Integer, Shift As Integer)

Dim i As Integer, j As Integer

Beep

Select Case KeyCode Case vbKeyUp If Shift Then maju1step Else maju End If Case vbKeyLeft If Shift Then kiri Else kiri1step End If Case vbKeyRight If Shift Then kanan Else kanan1step End If Case vbKeyDown If Shift Then mundur1step Else mundur End If Case vbKeyEnd stopMot Case vbKeyPageUp If Shift Then kamUp Else kamUp1step End If Case vbKeyPageDown If Shift Then kamDown Else kamDown1step End If Case vbKeyHome kamStop Case vbKeySpace '// snapshoot

Form2.CommonDialog1.Filter = "gambar bitmap (*.bmp)|*.bmp" Form2.CommonDialog1.CancelError = True

On Error GoTo keluar2: Form2.CommonDialog1.ShowSave If Form2.CommonDialog1.FileName <> "" Then Form2.VideoCap1.SnapShot (Form2.CommonDialog1.FileName) End If End Select keluar2: End Sub

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Sub maju() Out Val("&H" + Str(378)), 1 + 16 Out Val("&H" + Str(378)), 1 Tunda (100) Out Val("&H" + Str(378)), 1 + 16 End Sub Sub kiri1step() Out Val("&H" + Str(378)), 2 + 16 Out Val("&H" + Str(378)), 2 Tunda (100) Out Val("&H" + Str(378)), 2 + 16 End Sub Sub kanan1step() Out Val("&H" + Str(378)), 3 + 16 Out Val("&H" + Str(378)), 3 Tunda (100) Out Val("&H" + Str(378)), 3 + 16 End Sub Sub mundur() Out Val("&H" + Str(378)), 4 + 16 Out Val("&H" + Str(378)), 4 Tunda (100) Out Val("&H" + Str(378)), 4 + 16 End Sub Sub stopMot() Out Val("&H" + Str(378)), 5 + 16 Out Val("&H" + Str(378)), 5 Tunda (100) Out Val("&H" + Str(378)), 5 + 16 End Sub Sub maju1step() Out Val("&H" + Str(378)), 6 + 16 Out Val("&H" + Str(378)), 6 Tunda (100) Out Val("&H" + Str(378)), 6 + 16 End Sub Sub kiri() Out Val("&H" + Str(378)), 7 + 16 Out Val("&H" + Str(378)), 7 Tunda (100) Out Val("&H" + Str(378)), 7 + 16 End Sub Sub kanan() Out Val("&H" + Str(378)), 8 + 16 Out Val("&H" + Str(378)), 8 Tunda (100) Out Val("&H" + Str(378)), 8 + 16 End Sub Sub mundur1step() Out Val("&H" + Str(378)), 9 + 16 Out Val("&H" + Str(378)), 9 Tunda (100) Out Val("&H" + Str(378)), 9 + 16 End Sub Sub kamUp() Out Val("&H" + Str(378)), 10 + 16 Out Val("&H" + Str(378)), 10 Tunda (100) Out Val("&H" + Str(378)), 10 + 16 End Sub Sub kamDown() Out Val("&H" + Str(378)), 11 + 16 Out Val("&H" + Str(378)), 11 Tunda (100) Out Val("&H" + Str(378)), 11 + 16 End Sub

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Sub kamStop() Out Val("&H" + Str(378)), 12 + 16 Out Val("&H" + Str(378)), 12 Tunda (100) Out Val("&H" + Str(378)), 12 + 16 End Sub Sub kamUp1step() Out Val("&H" + Str(378)), 13 + 16 Out Val("&H" + Str(378)), 13 Tunda (100) Out Val("&H" + Str(378)), 13 + 16 End Sub Sub kamDown1step() Out Val("&H" + Str(378)), 14 + 16 Out Val("&H" + Str(378)), 14 Tunda (100) Out Val("&H" + Str(378)), 14 + 16 End Sub

Private Sub Form_Load() Call PutWindowOnTop(Me, 0)

End Sub

Private Sub Form_Unload(Cancel As Integer) Unload Form2

End Sub

Private Sub mnuVideo_Click() Load Form2

Form2.Show vbModeless End Sub

Form2

Fungsi:

Menampilkan tampilan kamera.

Private Sub Form_Load() Shape1.BackStyle = 0 lblStatusVideo.Caption = "offline" VideoCap1_Click End Sub

Private Sub VideoCap1_Click() Static bolKlik As Boolean

If bolKlik = False Then bolKlik = True Shape1.BackColor = vbRed Shape1.BackStyle = 1 lblStatusVideo.Caption = "loading..." VideoCap1.Start VideoCap1.VideoInput = 1 '// v-composite VideoCap1.Start Shape1.BackColor = vbGreen lblStatusVideo.Caption = "online" Else bolKlik = False Shape1.BackStyle = 0 lblStatusVideo.Caption = "offline" VideoCap1.Stop End If End Sub

3. Program pengikut garis

Menggunakan Visual Basic 6

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Fungsi:

Mendeklarasikan fungsi pengaksesan port parallel

Form1

Fungsi:

Menampilkan hasil pengolahan gambar dan mengirimkan instruksi ke robot.

Option Explicit

Dim i As Integer, j As Integer Dim warna As Double

Dim r As Integer, g As Integer, b As Integer Dim grey As Integer

Private Sub Form_Load() VideoCap1.Start

VideoCap1.VideoInput = 1 ' Video Composite VideoCap1.Start

End Sub

Sub greyscale() '//

For i = 1 To Picture1.ScaleWidth Step 15 For j = 1 To Picture1.ScaleHeight Step 15 warna = Picture1.Point(i, j)

r = warna And RGB(255, 0, 0)

g = Int((warna And RGB(0, 255, 0)) / 256)

b = Int(Int((warna And RGB(0, 0, 255)) / 256) / 256) grey = (42 * r + 32 * g + 28 * b) / 100

Picture1.PSet (i, j), RGB(grey, grey, grey) Next j

Next i End Sub

Sub binaryimage() '//

b = Int(Int((warna And RGB(0, 0, 255)) / 256) / 256) grey = (42 * r + 32 * g + 28 * b) / 100

If grey < 128 Then grey = 0 Else grey = 255 ' 0 : hitam Picture1.PSet (i, j), RGB(grey, grey, grey)

Next j Next i End Sub

Sub centerscreen() '//

For j = 1 To Picture1.ScaleHeight Step 15

Picture1.PSet (Picture1.ScaleWidth / 2, j), RGB(0, 255, 0) Next j

End Sub

Function kananataukiri()

Dim mkiri As Integer, mkanan As Integer Dim skalaL As Integer, skalaR As Integer '//

skalaL = 0

For i = 1 To Picture1.ScaleWidth / 2 Step 15 mkiri = 0

For j = 1 To Picture1.ScaleHeight Step 15 warna = Picture1.Point(i, j)

b = Int(Int((warna And RGB(0, 0, 255)) / 256) / 256)

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Next j

skalaL = skalaL + mkiri Next i

'// skalaR = 0

For i = Picture1.ScaleWidth / 2 To Picture1.ScaleWidth Step 15 mkanan = 0

For j = 1 To Picture1.ScaleHeight Step 15 warna = Picture1.Point(i, j)

If r = 0 And g = 0 And b = 0 Then mkanan = mkanan + 1 Next j

skalaR = skalaR + mkanan Next i

Form1.Label1.Caption = "kiri " & Str(skalaL) & ", " & "kanan " & Str(skalaR)

If skalaL - skalaR > 100 Then kananataukiri = 0 '// kiri ElseIf skalaR - skalaL > 100 Then kananataukiri = 1 '// kanan Else

kananataukiri = 2 '// maju saja End If

End Function

Private Sub Timer1_Timer() Dim strFileName As String Dim hasil As Boolean Dim kanankiri As Integer

strFileName = App.Path + "\" + "snapshoot" + ".bmp" hasil = VideoCap1.SnapShot(strFileName)

Picture1.Picture = LoadPicture(strFileName, vbLPLarge, vbLPColor) greyscale binaryimage centerscreen kanankiri = kananataukiri() If kanankiri = 0 Then '// kiri1step Out Val("&H" + Str(378)), 2 + 16 Out Val("&H" + Str(378)), 2 Tunda (100) Out Val("&H" + Str(378)), 2 + 16

ElseIf kanankiri = 1 Then '// kanan1step Out Val("&H" + Str(378)), 3 + 16 Out Val("&H" + Str(378)), 3 Tunda (100) Out Val("&H" + Str(378)), 3 + 16 End If Tunda (100) Tunda (100) '// maju1step Out Val("&H" + Str(378)), 6 + 16 Out Val("&H" + Str(378)), 6 Tunda (100) Out Val("&H" + Str(378)), 6 + 16 Tunda (100) End Sub

4. Program pengikut bola merah

Menggunakan Visual Basic 6

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Module1.bas

Fungsi:

Mendeklarasikan fungsi pengaksesan port parallel.

frmMain

Fungsi:

Melakukan pemrosesan gambar dan mengirim instruksi ke robot.

Option Explicit

Dim nilaiwarna As Long Dim toleransi As Long

Private Sub Command1_Click() Static statusnya As Boolean

If statusnya = False Then

Command1.Caption = "Loading..." VideoCap1.Start '// input 0 : TV tuner

VideoCap1.VideoInput = 1 '// input 1 : video composite VideoCap1.Start statusnya = True Command1.Caption = "Stop" Timer1.Enabled = True Else statusnya = False Timer1.Enabled = False VideoCap1.Stop Command1.Caption = "Mulai" End If End Sub

Private Sub Form_Load() Timer1.Enabled = False

End Sub

Private Sub Timer1_Timer() ambilgambar

filtermerah

'// pusat screen + pusat merah + gerakkan pusatmerah

End Sub

Sub ambilgambar()

Dim strNamaFile As String Dim hasil As Boolean

'// tambahan untuk analisis saja 'Static cacah As Integer

'

'strNamaFile = App.Path + "\" + "snapshoot" + Str(cacah) + ".bmp" 'hasil = VideoCap1.SnapShot(strNamaFile)

'cacah = cacah + 1 '// end tambahan

strNamaFile = App.Path + "\" + "snapshoot" + ".bmp" hasil = VideoCap1.SnapShot(strNamaFile)

Picture1.Picture = LoadPicture(strNamaFile, vbLPLarge, vbLPColor)

End Sub

Sub filterbayangan() '//

Dim r As Integer, g As Integer, b As Integer Dim warna As Long ' 4 byte

nilaiwarna = RGB(32, 59, 61) toleransi = 1000000 '2000000

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If warna < nilaiwarna - toleransi Or warna > nilaiwarna + toleransi Then Picture1.PSet (i, j), RGB(0, 0, 0) Else Picture1.PSet (i, j), RGB(r, g, b) End If Next j Next i End Sub Sub filtermerah() '//

If (r >= 130) And (g <= 90) And (b <= 90) Then Picture1.PSet (i, j), RGB(255, 0, 0) Else Picture1.PSet (i, j), RGB(0, 0, 0) End If Next j Next i End Sub Sub pusatmerah()

On Error GoTo kensel:

'// pusat screen

Dim totalwarna As Long, mx As Long, my As Long Dim xcm As Long, ycm As Long

For i = 1 To Picture1.ScaleWidth Step 15 For j = 1 To Picture1.ScaleHeight Step 15

Picture1.PSet (Picture1.ScaleWidth / 2, j), RGB(0, 255, 0) Next j

Picture1.PSet (i, Picture1.ScaleHeight / 2), RGB(0, 255, 0) Next i

'// CARI PUSAT WARNA '// cari massa warna totalwarna = 0

If r = 255 Then totalwarna = totalwarna + 1 Next j

Next i

'// di bawah 500, jangan deteksi sebagai merah

Label2.Caption = "Total pixel merah : " & Str(totalwarna)

If totalwarna = 0 Then

Label3.Caption = "Eh, koq ngeblank." + vbCrLf + "Kameranya mati ya ?" Picture2.Picture = LoadPicture(App.Path + "\mukasewot.bmp")

GoTo keluar2 End If

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If totalwarna < 500 Then GoTo tidakterdeteksi

'// hitung pusat massa warna arah x xcm = 0

For i = 1 To Picture1.ScaleWidth Step 15 mx = 0

For j = 1 To Picture1.ScaleHeight Step 15 warna = Picture1.Point(i, j) r = warna And RGB(255, 0, 0) If r = 255 Then mx = mx + 1 Next j xcm = xcm + mx * i Next i xcm = xcm / totalwarna

'// hitung pusat massa warna arah y ycm = 0

For j = 1 To Picture1.ScaleHeight Step 15 my = 0

For i = 1 To Picture1.ScaleWidth Step 15 warna = Picture1.Point(i, j) r = warna And RGB(255, 0, 0) If r = 255 Then my = my + 1 Next i ycm = ycm + my * j Next j

ycm = ycm / totalwarna

'// beri tanda

For i = 1 To Picture1.ScaleWidth Step 15 Picture1.PSet (i, ycm), RGB(255, 0, 0) Next i

For j = 1 To Picture1.ScaleHeight Step 15 Picture1.PSet (xcm, j), RGB(255, 0, 0) Next j

'// GERAKKAN

' ok tidak ada error Label1.Caption = ""

' region 1 (0 <= xcm < 1/3*w, 0 <= ycm < 1/3*h)

If (ycm >= 0) And (ycm < 1 / 3 * Picture1.ScaleHeight) Then If (xcm >= 0) And (xcm < 1 / 3 * Picture1.ScaleWidth) Then Label3.Caption = "Itu bolanya!"

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kiri1step kiri1step kiri1step maju1step maju1step maju1step maju1step maju1step maju1step maju1step ' region 2 (1/3*w <= xcm < 2/3*w, 0 <= ycm < 1/3*h)

ElseIf (xcm >= 1 / 3 * Picture1.ScaleWidth) And (xcm < 2 / 3 * Picture1.ScaleWidth) Then

Label3.Caption = "Itu bolanya!"

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") maju1step maju1step maju1step maju1step maju1step maju1step maju1step ' region 3 (2/3*w <= xcm < w, 0 <= ycm < 1/3*h)

ElseIf (xcm >= 2 / 3 * Picture1.ScaleWidth) And (xcm < Picture1.ScaleWidth) Then

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kanan1step

kanan1step kanan1step maju1step

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maju1step maju1step maju1step maju1step maju1step maju1step End If ' region 4 (0 <= xcm < 1/3*w, 1/3*h <= ycm < 2/3*h)

ElseIf (ycm >= 1 / 3 * Picture1.ScaleHeight) And (ycm < 2 / 3 * Picture1.ScaleHeight) Then

If (xcm >= 0) And (xcm < 1 / 3 * Picture1.ScaleWidth) Then Label3.Caption = "Itu bolanya!"

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kiri1step kiri1step kiri1step maju1step maju1step ' region 5 (1/3*w <= xcm < 2/3*w, 1/3*h <= ycm < 2/3*h)

'// no action

Label3.Caption = "HOREE... Bola merah!!"

Picture2.Picture = LoadPicture(App.Path + "\mukasenang2.bmp") kanan1step kiri1step kanan1step kiri1step 'kamUp1step 'kamDown1step 'kamDown1step 'kamUp1step

Label2.Caption = "Total pixel merah : " & Str(totalwarna)

' region 6 (2/3*w <= xcm < w, 1/3*h <= ycm < 2/3*h)

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kanan1step kanan1step kanan1step maju1step maju1step End If ' region 7 (0 <= xcm < 1/3*w, 2/3*h <= ycm < h)

ElseIf (ycm >= 2 / 3 * Picture1.ScaleHeight) And (ycm < Picture1.ScaleHeight) Then

If (xcm >= 0) And (xcm < 1 / 3 * Picture1.ScaleWidth) Then Label3.Caption = "Itu bolanya!"

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kiri1step kiri1step kiri1step mundur1step mundur1step ' region 8 (1/3*w <= xcm < 2/3*w, 2/3*h <= ycm < h)

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") mundur1step

mundur1step mundur1step

' region 9 (2/3*w <= xcm < 2/3*w, 2/3*h <= ycm < h)

Picture2.Picture = LoadPicture(App.Path + "\mukagembira2.bmp") kanan1step kanan1step kanan1step mundur1step mundur1step End If End If keluar1:

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GoTo keluar2 tidakterdeteksi:

Label2.Caption = "Total pixel merah : " & Str(totalwarna) Label3.Caption = "Uh, mana ya bola merahnya ?"

Picture2.Picture = LoadPicture(App.Path + "\mukasedih2.bmp") GoTo keluar2 kensel: Label1.Caption = "error!" keluar2: End Sub Sub maju1step() '// Out Val("&H" + Str(378)), 6 + 16 Out Val("&H" + Str(378)), 6 Tunda (100) Out Val("&H" + Str(378)), 6 + 16 Tunda (100) End Sub Sub mundur1step() '// Out Val("&H" + Str(378)), 9 + 16 Out Val("&H" + Str(378)), 9 Tunda (100) Out Val("&H" + Str(378)), 9 + 16 Tunda (100) End Sub Sub kiri1step() '// Out Val("&H" + Str(378)), 2 + 16 Out Val("&H" + Str(378)), 2 Tunda (100) Out Val("&H" + Str(378)), 2 + 16 Tunda (100) End Sub Sub kanan1step() '// Out Val("&H" + Str(378)), 3 + 16 Out Val("&H" + Str(378)), 3 Tunda (100) Out Val("&H" + Str(378)), 3 + 16 Tunda (100) End Sub Sub kamUp1step() Out Val("&H" + Str(378)), 13 + 16 Out Val("&H" + Str(378)), 13 Tunda (100) Out Val("&H" + Str(378)), 13 + 16 End Sub Sub kamDown1step() Out Val("&H" + Str(378)), 14 + 16 Out Val("&H" + Str(378)), 14 Tunda (100) Out Val("&H" + Str(378)), 14 + 16 End Sub

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