Membuat Line Follower Part 3

Part 3 : koding sistem minimum Atmega16 

Bagi yang sudah mempunyai sistem minimum Atmega16 tinggal diaplikasikan saja (tidak usah membuat baru) hanya perlu menambah tulang ikan output 5volt untuk catu daya sensor dan motor driver.

Bagi yang belum ada silahkan bikin sekalian. Karena pada layout yang akan ane kasih nanti sudah ada layout keseluruhan mulai dari sensor, komparator, motor driver dan sistem minimum. Tapi layoutnya akan ane kasih nanti. Pada pembahasan ini ane share kodingan untuk sistem minimumnya. 

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

This program was produced by the

CodeWizardAVR V2.05.0 Professional

Automatic Program Generator

© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.

http://www.hpinfotech.com

Project : Robot Line Follower

Version : I

Date    : 11/8/2012

Author  : Mada Sanjaya WS, Ph.D

Company : Bolabot Techno Robotic School

Comments: www. bolabot. com

Chip type               : ATmega16

Program type            : Application

AVR Core Clock frequency: 12.000000 MHz

Memory model            : Small

External RAM size       : 0

Data Stack size         : 256

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

#include <mega16.h>

#include <delay.h>

// Alphanumeric LCD Module functions

#include <alcd.h>

// Declare your global variables here

void main(void)

{

 // 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=0x00;

 // 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

 // 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

 PORTC=0x00;

 DDRC=0x00;

 // Port D initialization

 // Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In

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

 PORTD=0x00;

 DDRD=0x30;

 // 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: 11.719 kHz

 // Mode: Fast PWM top=0x00FF

 // OC1A output: Non-Inv.

 // OC1B output: Non-Inv.

 // 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=0xA1;

 TCCR1B=0x0D;

 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

 // INT2: Off

 MCUCR=0x00;

 MCUCSR=0x00;

 // Timer(s)/Counter(s) Interrupt(s) initialization

 TIMSK=0x00;

 // 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 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);

 // mendefinisikan input output

 DDRB.0=0;

 DDRB.1=0;

 DDRD.0=1;

 DDRD.1=1;

 DDRD.2=1;

 DDRD.3=1;

 // mendefinisikan kecepatan motor PWM

 OCR1A=200;

 OCR1B=200;

 // mendefinisikan kondisi awal

 PORTB.0=1;   //sensor kiri

 PORTB.1=1;   //sensor kanan

 PORTD.0=0;

 PORTD.1=0;

 PORTD.2=0;

 PORTD.3=0;

 while (1)

 {

  if (PINB.0==1 &  PINB.1==0) //sensor kiri hitam, kanan putih, maka belok kiri

  {  

   PORTD.0=0;

   PORTD.1=0;

   PORTD.2=0;

   PORTD.3=1;

   lcd_clear ();

   lcd_gotoxy(0,0);

   lcd_putsf("B0=1 B1=0");

   lcd_gotoxy(0,1);

   lcd_putsf("BELOK KIRI");

   delay_ms(100);

  }

  else if (PINB.0==0 &  PINB.1==1) //sensor kiri putih, kanan hitam, maka belok kanan

  { 

   PORTD.0=0;

   PORTD.1=1;

   PORTD.2=0;

   PORTD.3=0;

   lcd_clear();

   lcd_gotoxy(0,0);

   lcd_putsf("B0=0 B1=1");

   lcd_gotoxy(0,1);

   lcd_putsf("BELOK KANAN");

   delay_ms(100);

  }

  else if (PINB.0==1 &  PINB.1==1) //sensor kiri hitam, kanan hitam, maka mati

  { 

   PORTD.0=0;

   PORTD.1=0;

   PORTD.2=0;

   PORTD.3=0;

   lcd_clear ();

   lcd_gotoxy(0,0);

   lcd_putsf("B0=1 B1=1");

   lcd_gotoxy(0,1);

   lcd_putsf("MATI");

   delay_ms(100);

  }

  else //sensor kiri putih, kanan putih, maka bergerak maju

  { 

   PORTD.0=0;

   PORTD.1=1;

   PORTD.2=0;

   PORTD.3=1;

   lcd_clear();

   lcd_gotoxy(0,0);

   lcd_putsf("B0=0 B1=0");

   lcd_gotoxy(0,1);

   lcd_putsf("MAJU");

   delay_ms(100);

  }

 }

}

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