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Program Line Followerbascom

This document describes a program for an 8-sensor line follower robot. It defines the pins used to control the motors and read the sensor inputs. Several subroutines are declared to control the robot's movement including moving forward, turning left or right, reversing, and continuing straight. The main logic loop reads the sensor values and calls the appropriate subroutine to handle each case, such as turning if an obstacle is detected. Pulse width modulation (PWM) is used to control the motor speeds.

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34 views

Program Line Followerbascom

This document describes a program for an 8-sensor line follower robot. It defines the pins used to control the motors and read the sensor inputs. Several subroutines are declared to control the robot's movement including moving forward, turning left or right, reversing, and continuing straight. The main logic loop reads the sensor values and calls the appropriate subroutine to handle each case, such as turning if an obstacle is detected. Pulse width modulation (PWM) is used to control the motor speeds.

Uploaded by

m0waNz
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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'Program Line Follower Case &B00111111 : Call Bantingkanan()

Case &B01111111 : Call Bantingkanan()


'Oleh: Fahmizal Case &B00011111 : Call Bantingkanan()
'Mahsiswa Program Diploma Teknik Elektro Case &B00001111 : Call Bantingkanan()
Case &B00000111 : Call Bantingkanan()
'Universitas Gadjah Mada
2007 Case &B11111111 : Call Mundur()

'Program Line Follower dengan 8 sensor


' logika jalan terus walaupun ada rintangan
'Oleh: Fahmizal
'Mahasiswa Program Diploma Teknik Elektro
Case &B10011111 : Call Ok()
'Universitas Gadjah Mada 2007
Case &B11001111 : Call Ok()
Case &B11100111 : Call Ok()
$regfile = "m8535.dat"
Case &B11110011 : Call Ok()
Case &B11111001 : Call Ok()
$crystal = 12000000
Case &B10001111 : Call Ok()
'-------------------------------------------------------------------------------
Case &B11000111 : Call Ok()
Dim B As Byte
Case &B11100011 : Call Ok()
Dim Data1 As Byte
Case &B11110001 : Call Ok()
'-------------------------------------------------------------------------------
Case &B10000111 : Call Ok()
'PENDEFINISIAN PIN MIKRO
Case &B11000011 : Call Ok()
'-------------------------------------------------------------------------------
Case &B11100001 : Call Ok()
Config Portb = Output
Case &B10000011 : Call Ok()
Dirleft1 Alias Portb.3
Case &B11000001 : Call Ok()
Dirleft2 Alias Portb.2
Dirright1 Alias Portb.1
End Select
Dirright2 Alias Portb.0
Loop
End
Config Pina.0 = Input
Config Pina.1 = Input
Sub Terus()
Config Pina.2 = Input
For B = 0 To 8
Config Pina.3 = Input
Reset Dirleft1
Config Pina.4 = Input
Reset Dirright1
Config Pina.5 = Input
Set Dirleft2
Config Pina.6 = Input
Set Dirright2
Config Pina.7 = Input
Call Pwm(1 , 1)
Next
'-------------------------------------------------------------------------------
End Sub
'KONFIGURASI PWM
'-------------------------------------------------------------------------------
Sub Maju()
Config Timer1 = Pwm , Pwm = 8 , Prescale = 64 , Compare A Pwm = Clear
For B = 0 To 8
Up , Compare B Pwm = Clear Up
Reset Dirleft1
Config Int0 = Rising
Reset Dirright1
Config Int1 = Rising
Set Dirleft2
Set Dirright2
'-------------------------------------------------------------------------------
Call Pwm(1 , 1)
'DEKLARASI RUTIN
Next
'-------------------------------------------------------------------------------
End Sub
Declare Sub Pwm(byval Kiri As Integer , Byval Kanan As Integer)
Sub Kiri()
Declare Sub Maju()
For B = 0 To 8
Declare Sub Terus()
Reset Dirleft1
Declare Sub Kiri()
Reset Dirright1
Declare Sub Bantingkiri()
Set Dirleft2
Declare Sub Kanan()
Set Dirright2
Declare Sub Bantingkanan()
Call Pwm(3 , 5)
Declare Sub Mundur()
Next
Declare Sub Ok()
End Sub
'-------------------------------------------------------------------------------
Sub Bantingkiri()
'rutin utama
For B = 0 To 8
'-------------------------------------------------------------------------------
Reset Dirleft1
Reset Dirright1
Do
Set Dirleft2
Data1 = Pina
Set Dirright2
Select Case Data1
Call Pwm(1 , 255)
Next
Case &B00000000 : Call Terus()
End Sub
Case &B11100111 : Call Maju()
Sub Kanan()
For B = 0 To 8
Case &B11110011 : Call Kiri()
Reset Dirleft1
Case &B11111001 : Call Kiri()
Reset Dirright1
Case &B11111100 : Call Bantingkiri()
Set Dirleft2
Case &B11111110 : Call Bantingkiri()
Set Dirright2
Case &B11111000 : Call Bantingkiri()
Call Pwm(5 , 3)
Case &B11110000 : Call Bantingkiri()
Next
Case &B11100000 : Call Bantingkiri()
End Sub
Case &B11001111 : Call Kanan()
Sub Bantingkanan()
Case &B10011111 : Call Kanan()
For B = 0 To 8
Reset Dirleft1
Reset Dirright1
Set Dirleft2
Set Dirright2
Call Pwm(255 , 1)
Next
End Sub

Sub Mundur()
For B = 0 To 8
Set Dirleft1
Set Dirright1
Reset Dirleft2
Reset Dirright2
Call Pwm(1 , 1)
Next
End Sub

Sub Ok()
For B = 0 To 8
Reset Dirleft1
Reset Dirright1
Set Dirleft2
Set Dirright2
Call Pwm(1 , 1)
Next
End Sub

'-------------------------------------------------------------------------------
' Rutin pengendali sinyal PWM
'-------------------------------------------------------------------------------
Sub Pwm(byval Kiri As Integer , Byval Kanan As Integer)
Pwm1a = Kiri 'portd.5
Pwm1b = Kanan 'portd.4
End Sub

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