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/*****************************************************
This program was produced by the
CodeWizardAVR V2.04.4a Advanced
Automatic Program Generator
© Copyright 1998-2009 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project :
Version :
Date
: 12/7/2012
Author : NeVaDa
Company : FT-ROBOTIKA
Comments:
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
#include
#include
#include

<mega16.h>
<stdarg.h>
<stdio.h>
<delay.h>

// Alphanumeric LCD Module functions
#asm
.equ __lcd_port=0x18 ;PORTB
#endasm
#include <lcd.h>
#define
#define
#define
#define

enter PINC.4
back PINC.5
kanan PINC.6
kiri PINC.7

#define lampu PORTB.3
#define
#define
#define
#define

PWM_ka
PWM_ki
dir_ka
dir_ki

OCR1B
OCR1A
PORTD.3
PORTD.6

#define sel1 PORTA.0
#define sel2 PORTA.1
#define sel3 PORTA.2

//tombol-tombol

//0=>LCD nyala; 1=>Lcd mati
//PD5 untuk driver
//PD4

//Untuk selektor mux sensor

#define ADC_VREF_TYPE 0x60
// Read the 8 most significant bits
// of the AD conversion result
unsigned char 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);
ADCSRA|=0x10;
return ADCH;
}
unsigned char adc_masuk[18],min_adc[18], max_adc[18], batas_adc[18],sensor[18],i
,ka,ki,kp,kd,kaa,kii; //variabel untuk PID biasa tok
unsigned char menu,set,star;
unsigned int front_sensor;
//variabel untuk menu
unsigned char front1,counter=0,pertigaan_ka=0,pertigaan_ki=0,tigaan_ka=0,tigaan_
ki=0,perempatan=0,r=0,l=0,itung_kanan,itung_kiri; //variabel untuk kondisi
int speed_ka,speed_ki,error_before,mv,error,speed;
eeprom int ee_batas[18],ee_kp,ee_kd,ee_speed;
// Declare your global variables here
void tampil_lcd(unsigned char baris, unsigned char kolom, char flash *fmtstr,...
)
{
//fungsi dapet bikinnya mas Hers
on, kalo mau pake harus selipkan #include <stdarg.h>
char lcd[17];
va_list ap;
va_start(ap, fmtstr);
vsprintf(lcd, fmtstr, ap);
va_end(ap);
lcd_gotoxy(kolom, baris);
lcd_puts(lcd);
}
void baca_adc()
{
sel1=0;sel2=0;sel3=0;adc_masuk[1]=read_adc(4);
sel1=0;sel2=0;sel3=1;adc_masuk[2]=read_adc(4);
sel1=0;sel2=1;sel3=0;adc_masuk[3]=read_adc(4);
sel1=0;sel2=1;sel3=1;adc_masuk[0]=read_adc(4);
sel1=1;sel2=0;sel3=0;adc_masuk[4]=read_adc(4);
sel1=1;sel2=0;sel3=1;adc_masuk[7]=read_adc(4);
sel1=1;sel2=1;sel3=0;adc_masuk[5]=read_adc(4);
sel1=1;sel2=1;sel3=1;adc_masuk[6]=read_adc(4);
sel1=0;sel2=0;sel3=0;adc_masuk[9]=read_adc(3);
sel1=0;sel2=0;sel3=1;adc_masuk[10]=read_adc(3);
sel1=0;sel2=1;sel3=0;adc_masuk[11]=read_adc(3);
sel1=0;sel2=1;sel3=1;adc_masuk[8]=read_adc(3);
sel1=1;sel2=0;sel3=0;adc_masuk[12]=read_adc(3);
sel1=1;sel2=0;sel3=1;adc_masuk[15]=read_adc(3);
sel1=1;sel2=1;sel3=0;adc_masuk[13]=read_adc(3);
sel1=1;sel2=1;sel3=1;adc_masuk[14]=read_adc(3);
adc_masuk[16]=read_adc(1);
adc_masuk[17]=read_adc(0);
}
void init_RAM()
{
kp=ee_kp;

kd=ee_kd;
speed=ee_speed;
for(i=0;i<18;i++)
{
batas_adc[i]=ee_batas[i];
};
}
void tampil_bit()
{
while(1)
{
baca_adc();
front_sensor=0;
for(i=0;i<16;i++)
{
if(adc_masuk[i]>batas_adc[i])
//lebih dari batas ditampil
0, karena sensorku terbalik cooy..putih ko malah 255.. hhehe..
{
front_sensor=front_sensor|0<<15-i;
lcd_gotoxy(i,0);
lcd_putsf("0");
}
else
{
front_sensor=front_sensor|1<<15-i;
lcd_gotoxy(i,0);
lcd_putsf("1");
};
}
if (adc_masuk[16]>batas_adc[16])
{
lcd_gotoxy(0,1);
lcd_putsf("0");
ki=0;
}
else
{
lcd_gotoxy(0,1);
lcd_putsf("1");
ki=1;
}
if (adc_masuk[17]>batas_adc[17])
{
lcd_gotoxy(15,1);
lcd_putsf("0");
ka=0;
}
else
{
lcd_gotoxy(15,1);
lcd_putsf("1");
ka=1;
}
if(back==0)
{
delay_ms(200);
lcd_clear();

break;
}
};
}
void tampil_analog()
{
while(1)
{
baca_adc();
tampil_lcd(0,0, "%3d %3d %3d %3d", adc_masuk[0],adc_masuk[1],adc_masuk[2],ad
c_masuk[3]);
tampil_lcd(1,0, "%3d %3d %3d %3d", adc_masuk[4],adc_masuk[5],adc_masuk[6],ad
c_masuk[7]);
if (kanan==0)
{
lcd_clear();
while(1)
{
// delay_ms(200);
baca_adc();
tampil_lcd(0,0, "%3d %3d %3d %3d", adc_masuk[8],adc_masuk[9],adc_mas
uk[10],adc_masuk[11]);
tampil_lcd(1,0, "%3d %3d %3d %3d", adc_masuk[12],adc_masuk[13],adc_m
asuk[14],adc_masuk[15]);
if(kanan==0){
lcd_clear();
while(1){
// delay_ms(200);
baca_adc();
tampil_lcd(0,0, " %3d<-- -->%3d ", adc_masuk[16],adc_masuk[1
7]);
if (kiri==0)
{
delay_ms(200);
lcd_clear();
break;
}
}
}
if (kiri==0)
{
delay_ms(200);
lcd_clear();
break;
}
};
}
if(back==0)
{
delay_ms(200);
lcd_clear();
break;
}
};
}
void auto_set()
{
for (i=0;i<19;i++)

{
min_adc[i]=0;
max_adc[i]=255;
};
while(1)
{
baca_adc();
for (i=0;i<19;i++)
{
if (adc_masuk[i]>min_adc[i]){min_adc[i]=adc_masuk[i];};
if (adc_masuk[i]<max_adc[i]){max_adc[i]=adc_masuk[i];};
batas_adc[i]=min_adc[i]+(max_adc[i]-min_adc[i])/2;
ee_batas[i]=batas_adc[i];
};
if (back==0)
{
delay_ms(200);
lcd_clear();
break;
}
};
}
void variabel_sensor()
{
baca_adc();
front_sensor=0;
for(i=0;i<16;i++)
{
if(adc_masuk[i]>batas_adc[i]){front_sensor=front_sensor|0<<15-i;}
else {front_sensor=front_sensor|1<<15-i;};
}
if (adc_masuk[16]>batas_adc[16]){ki=0;} else{ki=1;}
if (adc_masuk[17]>batas_adc[17]){ka=0;} else{ka=1;}
for(i=0;i<17;i++)
{
if(adc_masuk[i]>batas_adc[i]){sensor[i]=0;}
else {sensor[i]=1;};
}
};
void PID()
{
mv=(kp*error)+(kd*(error-error_before));
speed_ka=speed-mv;
speed_ki=speed+mv ;
error_before=error;
if(speed_ka>250) {speed_ka=250;};
if(speed_ki>250) {speed_ki=250;};
if(speed_ka<-250){speed_ka=-250;};
if(speed_ki<-250){speed_ki=-250;};
tampil_lcd(1,0,"%3d
}

%3d

%3d",speed_ki,error,speed_ka);

void PWM_out()
{
if(speed_ka>0)
{
PWM_ka=(unsigned char)speed_ka;
dir_ka=0;
}
else
{
speed_ka=(unsigned char)255+speed_ka;
PWM_ka=speed_ka;
dir_ka=1;
}
if(speed_ki>0)
{
PWM_ki=(unsigned char)speed_ki;
dir_ki=0;
}
else
{
speed_ki=(unsigned char)255+speed_ki;
PWM_ki=speed_ki;
dir_ki=1;
}
}
void set_kp()
{
lcd_clear();
while(1)
{
tampil_lcd(0,0,"--> Set KP <--");
tampil_lcd(1,0,"KP = %3d" ,kp);
if(kanan==0){delay_ms(200);kp++;};
if(kiri==0){delay_ms(200);kp--;};
if(kp>30) {kp=0;};
if(back==0){delay_ms(200);lcd_clear();break;};
ee_kp=kp;
};
}
void set_kd()
{
lcd_clear();
while(1)
{
tampil_lcd(0,0,"--> Set KD <--");
tampil_lcd(1,0,"KD = %3d" ,kd);
if(kanan==0){delay_ms(130);kd++;};
if(kiri==0){delay_ms(130);kd--;};
if(kd>99) {kd=0;};
if(back==0){delay_ms(200);lcd_clear();break;};
ee_kd=kd;
};
}
void set_speed()
{
lcd_clear();
while(1)
{

//maju

//mundur

tampil_lcd(0,0,"-> Set Speed <-");
tampil_lcd(1,0,"Speed = %3d" ,speed);
if(kanan==0){delay_ms(70);speed++;};
if(kiri==0){delay_ms(70);speed--;};
if(speed>250) {speed=0;};
if(speed<0) {speed=255;};
if(back==0){delay_ms(200);lcd_clear();break;};
ee_speed=speed;
};
}
void look_setting()
{
while(1)
{
lcd_clear();
tampil_lcd(0,0, " Kp Speed Kd ");
tampil_lcd(1,0, "%3d %3d %3d",ee_kp,ee_speed,ee_kd);
if (back==0){delay_ms(200);lcd_clear();break;};
} }
void cek_motor()
{
while(1)
{
speed_ki=speed_ka=50;
PWM_out();
delay_ms(1000);
speed_ki=speed_ka=-90;
PWM_out();
delay_ms(1000);
speed_ki=90;
speed_ka=-90;
PWM_out();
delay_ms(1000);
speed_ki=-90;
speed_ka=90;
PWM_out();
delay_ms(1000);
speed_ki=speed_ka=0;
PWM_out();
break;
}
}
void track(){
variabel_sensor();
if(front_sensor==0b0111111111111111)error=-20;
else if(front_sensor==0b0011111111111111)error=-20;
else if(front_sensor==0b0001111111111111)error=-20;
else if(front_sensor==0b0000111111111111)error=-20;
else if(front_sensor==0b1000111111111111)error=-15;
else if(front_sensor==0b1000011111111111)error=-15;
else if(front_sensor==0b1100011111111111)error=-15;
else if(front_sensor==0b1100001111111111)error=-10;
else if(front_sensor==0b1110001111111111)error=-10;
else if(front_sensor==0b1110000111111111)error=-9;
else if(front_sensor==0b1111000111111111)error=-9;
else if(front_sensor==0b1111000011111111)error=-5;
else if(front_sensor==0b1111100011111111)error=-5;
else if(front_sensor==0b1111100001111111)error=-3;

else
else
else
else
else
else
else
else
else
else
else
else
else
else
else
else
else

if(front_sensor==0b1111110001111111)error=-3;
if(front_sensor==0b1111110000111111)error=0;
if(front_sensor==0b1111111000111111)error=3;
if(front_sensor==0b1111111000011111)error=3;
if(front_sensor==0b1111111100011111)error=5;
if(front_sensor==0b1111111100001111)error=5;
if(front_sensor==0b1111111110001111)error=9;
if(front_sensor==0b1111111110000111)error=9;
if(front_sensor==0b1111111111000111)error=10;
if(front_sensor==0b1111111111000011)error=10;
if(front_sensor==0b1111111111100011)error=15;
if(front_sensor==0b1111111111100001)error=15;
if(front_sensor==0b1111111111110001)error=15;
if(front_sensor==0b1111111111110000)error=20;
if(front_sensor==0b1111111111111000)error=20;
if(front_sensor==0b1111111111111100)error=20;
if(front_sensor==0b1111111111111110)error=20;

}
void track2(){
variabel_sensor();
if(front_sensor==0b0001111111111111)error=-35;
else if(front_sensor==0b0000111111111111)error=-35;
else if(front_sensor==0b0111111111111111)error=-35;
else if(front_sensor==0b0011111111111111)error=-35;
else if(front_sensor==0b1011111111111111)error=-20;
else if(front_sensor==0b1001111111111111)error=-12;
else if(front_sensor==0b1101111111111111)error=-12;
else if(front_sensor==0b1100111111111111)error=-12;
else if(front_sensor==0b1110111111111111)error=-12;
else if(front_sensor==0b1110011111111111)error=-9;
else if(front_sensor==0b1111011111111111)error=-9;
else if(front_sensor==0b1111001111111111)error=-7;
else if(front_sensor==0b1111101111111111)error=-7;
else if(front_sensor==0b1111100111111111)error=-3;
else if(front_sensor==0b1111110111111111)error=-3;
else if(front_sensor==0b1111110011111111)error=-1;
else if(front_sensor==0b1111111011111111)error=-1;
else if(front_sensor==0b1111111001111111)error=0;
else if(front_sensor==0b1111111101111111)error=1;
else if(front_sensor==0b1111111100111111)error=1;
else if(front_sensor==0b1111111110111111)error=3;
else if(front_sensor==0b1111111110011111)error=3;
else if(front_sensor==0b1111111111011111)error=7;
else if(front_sensor==0b1111111111001111)error=7;
else if(front_sensor==0b1111111111101111)error=9;
else if(front_sensor==0b1111111111100111)error=9;
else if(front_sensor==0b1111111111110111)error=12;
else if(front_sensor==0b1111111111110011)error=12;
else if(front_sensor==0b1111111111111011)error=12;
else if(front_sensor==0b1111111111111001)error=20;
else if(front_sensor==0b1111111111111101)error=20;
else if(front_sensor==0b1111111111111100)error=20;
else if(front_sensor==0b1111111111111110)error=35;
else if(front_sensor==0b1111111111111000)error=35;
else if(front_sensor==0b1111111111110000)error=35;
// else if(front_sensor==0b1111111111111111){
// if(error>0){error=25;}
// else {error=-25;}
// }

}
void track_1(){
if(front_sensor==0b0000001111111111)error=-23;
else if(front_sensor==0b0000000111111111)error=-23;
else if(front_sensor==0b0000000011111111)error=-23;
else if(front_sensor==0b0000000001111111)error=-23;
else if(front_sensor==0b0000000000111111)error=-23;
else if(front_sensor==0b0000000000011111)error=-23;
else if(front_sensor==0b0000000000001111)error=-23;
else if(front_sensor==0b0000000000000111)error=-23;
else
else
else
else
else
else
else
else
else

if(front_sensor==0b1111111111100000)error=23;
if(front_sensor==0b1111111111000000)error=23;
if(front_sensor==0b1111111110000000)error=23;
if(front_sensor==0b1111111100000000)error=23;
if(front_sensor==0b1111111000000000)error=23;
if(front_sensor==0b1111110000000000)error=23;
if(front_sensor==0b1111100000000000)error=23;
if(front_sensor==0b1111000000000000)error=23;
if(front_sensor==0b1110000000000000)error=23;

}
void analog(){
variabel_sensor();
if(front_sensor==0b1111111111111111){speed_ka=150;speed_ki=-150;PWM_out();}
else if(front_sensor==0b0111111111111111){speed_ka=100;speed_ki=40;PWM_out()
;}
else if(front_sensor==0b0011111111111111){speed_ka=100;speed_ki=50;PWM_out()
;}
else if(front_sensor==0b0001111111111111){speed_ka=100;speed_ki=60;PWM_out()
;}
else if(front_sensor==0b0000111111111111){speed_ka=100;speed_ki=70;PWM_out()
;}
else if(front_sensor==0b0000011111111111){speed_ka=100;speed_ki=80;PWM_out()
;}
else if(front_sensor==0b1100011111111111){speed_ka=100;speed_ki=100;PWM_out(
);}
else if(front_sensor==0b1110011111111111){speed_ka=100;speed_ki=100;PWM_out(
);}
else {speed_ka=-150;speed_ki=150;PWM_out();}
}
void cakram_b(){
while(1){
variabel_sensor();
if(ka==0 || ki==0){
speed_ki=speed_ka=0;
PWM_out();
speed_ki=speed_ka=-180;
PWM_out();delay_ms(30);
speed_ki=speed_ka=0;
PWM_out();delay_ms(20);goto end;
}
else {speed_ka=speed_ki=60;PWM_out();}
}

end:
}
void cakram(){
speed_ki=speed_ka=0;
PWM_out();
speed_ki=speed_ka=-120;
PWM_out();delay_ms(5);
speed_ki=speed_ka=0;
PWM_out();delay_ms(5);
}
void belokR(){
speed_ki=-170;
speed_ka=90;
PWM_out();delay_ms(70);
speed_ki=speed_ka=0;PWM_out();
jo:
speed_ki=-220;
speed_ka=110;
PWM_out();
variabel_sensor();
if(sensor[3]!=0){goto jo;}
speed_ki=120;
speed_ka=-90;
PWM_out();delay_ms(15);
speed_ki=speed_ka=0;
PWM_out();
}
void belokL(){
speed_ki=90;
speed_ka=-170;
PWM_out();delay_ms(70);
speed_ki=speed_ka=0;PWM_out();
ji:
speed_ki=110;
speed_ka=-220;
PWM_out();
variabel_sensor();
if(sensor[12]!=0){goto ji;}
speed_ki=-90;
speed_ka=120;
PWM_out();delay_ms(15);
speed_ki=speed_ka=0;
PWM_out();
}
void jalan(){
//while(1){
variabel_sensor();
// track_1();
track2();
PID();
PWM_out();
//}

}
void jalan2(){
//
while(1){
variabel_sensor();
track2();
PID();
PWM_out();
//
}
}
unsigned int rrr;
unsigned int start2(unsigned int hhh){
speed=90;kp=4;kd=11;
for(rrr=0;rrr<hhh;rrr++){
jalan2();
delay_ms(1);
}
speed_ka=speed_ki=0;PWM_out();delay_ms(10);
}
unsigned char xx;
unsigned char itung_siku(unsigned char hh){
xx=0;
while(xx<=hh){
jalan();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0){cakram();belokL();xx++;}
if(sensor[0]==0 && sensor[1]==0){cakram();belokR();xx++;}
}
xx=0;hh=0;
}
void start_ki(){
speed_ki=speed_ka=100;PWM_out();delay_ms(150);
speed_ki=speed_ka=0;PWM_out();delay_ms(10);
speed=95;kp=4;kd=11;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[2]==0)break;
}
cakram();belokR();
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
speed=95;
itung_siku(4);
}
void check_1_ki(){
speed=75;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();belokL();

speed_ki=90;
speed_ka=-190;
PWM_out();delay_ms(50);
speed_ki=speed_ka=0;
PWM_out();delay_ms(20);
while(1){
speed_ki=speed_ka=80;
PWM_out();
variabel_sensor();
if(sensor[1]==0 && sensor[2]==0)break;
}
cakram();belokR();
speed=65;
while(1){
jalan();
variabel_sensor();
if(sensor[1]==0 && sensor[2]==0)break;
}
cakram();belokR();
while(1){
speed_ki=speed_ka=80;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
speed=75;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();belokL();
speed_ki=90;
speed_ka=-190;
PWM_out();delay_ms(60);
speed_ki=speed_ka=0;
PWM_out();delay_ms(20);
speed=75;
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[1]==0 && sensor[0]==0)break;
}
speed_ki=speed_ka=100;PWM_out();delay_ms(30);
cakram();belokR();
while(1){
jalan();
variabel_sensor();
if(sensor[1]==0 && sensor[0]==0)break;
}
cakram();belokR();
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;

}
cakram();belokL();
}
void check_2_ki(){
speed=110;
kp=3;kd=11;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();
start2(220);
/*
while(1){
jalan();
variabel_sensor();
if(front_sensor==0b1111111111111111)break;
}
cakram();belokR();
*/
while(1){
jalan();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
while(1){
jalan();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
itung_siku(2);
delay_ms(10000);
}
void start_ka(){
speed_ki=speed_ka=100;PWM_out();delay_ms(150);
speed_ki=speed_ka=0;PWM_out();delay_ms(10);
speed=95;kp=4;kd=11;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[2]==0)break;
}
cakram();belokR();
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
speed=95;
itung_siku(4);
}
void check_1_ka(){
speed=75;

while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();belokL();
speed_ki=90;
speed_ka=-190;
PWM_out();delay_ms(50);
speed_ki=speed_ka=0;
PWM_out();delay_ms(20);
while(1){
speed_ki=speed_ka=80;
PWM_out();
variabel_sensor();
if(sensor[1]==0 && sensor[2]==0)break;
}
cakram();belokR();
speed=65;
while(1){
jalan();
variabel_sensor();
if(sensor[1]==0 && sensor[2]==0)break;
}
cakram();belokR();
while(1){
speed_ki=speed_ka=80;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
speed=75;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();belokL();
speed_ki=90;
speed_ka=-190;
PWM_out();delay_ms(60);
speed_ki=speed_ka=0;
PWM_out();delay_ms(20);
speed=75;
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[1]==0 && sensor[0]==0)break;
}
speed_ki=speed_ka=100;PWM_out();delay_ms(30);
cakram();belokR();
while(1){
jalan();
variabel_sensor();
if(sensor[1]==0 && sensor[0]==0)break;
}

cakram();belokR();
while(1){
speed_ki=speed_ka=90;
PWM_out();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokL();
}
void check_2_ka(){
speed=110;
kp=3;kd=11;
while(1){
jalan();
variabel_sensor();
if(sensor[3]==0 && sensor[12]==0)break;
}
cakram();
start2(220);
/* while(1){
jalan();
variabel_sensor();
if(front_sensor==0b1111111111111111)break;
}
cakram();belokL();
*/
while(1){
jalan();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokR();
while(1){
jalan();
variabel_sensor();
if(sensor[14]==0 && sensor[15]==0)break;
}
cakram();belokR();
itung_siku(2);
delay_ms(10000);
}
void setting()
{
lcd_clear();
set=1;
while(1){
if(kanan==0) {delay_ms(200);set++;};
if(kiri==0){delay_ms(200);set--;};
if(back==0) {delay_ms(200);lcd_clear();break;};
if(set<1) {set=5;}
else if(set>5) {set=1;};
lcd_gotoxy(0,0);lcd_putsf("Mode Pengesetan");
lcd_gotoxy(0,1);
switch(set){
case 1 : lcd_putsf("1. Set KP ");if(enter==0){delay_ms(200);set_kp();};b
reak;
case 2 : lcd_putsf("2. Set KD ");if(enter==0){delay_ms(200);set_kd();;};
break;

case 3 : lcd_putsf("3. Set Speed ");if(enter==0){delay_ms(200);set_speed();
};break;
case 4 : lcd_putsf("4.Look Setting");if(enter==0){delay_ms(200);look_setting
();};break;
};
};
}
void pilih_ki(void)
{
menu=1;
lcd_clear();
while(1){
if(kanan==0) {delay_ms(100);menu++;};
if(kiri==0){delay_ms(100);menu--;};
if(back==0) {delay_ms(100);lcd_clear();break;};
if(menu<1) {menu=3;}
else if(menu>3) {menu=1;};
PORTD.2=1;PORTD.1=0;
delay_ms(50);
PORTD.2=0;PORTD.1=1;
delay_ms(50);
PORTD.2=PORTD.1=1;
delay_ms(50);
lcd_gotoxy(3,0);lcd_putsf("pilih ki");
lcd_gotoxy(0,1);
switch(menu){
case 1 : lcd_putsf("1. START ");if(enter==0){delay_ms(100);lcd_clear();PORT
D.2=PORTD.1=0;delay_ms(100);start_ki();check_1_ki();check_2_ki();};break;
case 2 : lcd_putsf("2. Check 1");if(enter==0){delay_ms(200);lcd_clear();PORT
D.2=PORTD.1=0;delay_ms(100);check_1_ki();check_2_ki();};break;
case 3 : lcd_putsf("3. Check 2 ");if(enter==0){delay_ms(200);lcd_clear();PO
RTD.2=PORTD.1=0;delay_ms(100);check_2_ki();};break;
};
};
}
void pilih_ka(void)
{
menu=1;
lcd_clear();
while(1){
if(kanan==0) {delay_ms(100);menu++;};
if(kiri==0){delay_ms(100);menu--;};
if(back==0) {delay_ms(100);lcd_clear();break;};
if(menu<1) {menu=3;}
else if(menu>3) {menu=1;};
PORTD.2=1;PORTD.1=0;
delay_ms(50);
PORTD.2=0;PORTD.1=1;
delay_ms(50);
PORTD.2=PORTD.1=1;
delay_ms(50);
lcd_gotoxy(3,0);lcd_putsf("pilih ka");
lcd_gotoxy(0,1);
switch(menu){

case 1 : lcd_putsf("1. START ");if(enter==0){delay_ms(100);lcd_clear();PORT
D.2=PORTD.1=0;delay_ms(100);start_ka();check_1_ka();check_2_ka();};break;
case 2 : lcd_putsf("2. Check 1");if(enter==0){delay_ms(200);lcd_clear();PORT
D.2=PORTD.1=0;delay_ms(100);check_1_ka();check_2_ka();};break;
case 3 : lcd_putsf("3. Check 2 ");if(enter==0){delay_ms(200);lcd_clear();PO
RTD.2=PORTD.1=0;delay_ms(100);check_2_ka();};break;
};
};
}
void main_menu(void)
{
menu=1;
lcd_clear();
while(1){
if(kanan==0) {delay_ms(100);menu++;};
if(kiri==0){delay_ms(100);menu--;};
if(back==0) {delay_ms(100);lcd_clear();break;};
if(menu<1) {menu=6;}
else if(menu>6) {menu=1;};
PORTD.2=1;PORTD.1=0;
delay_ms(50);
PORTD.2=0;PORTD.1=1;
delay_ms(50);
PORTD.2=PORTD.1=1;
delay_ms(50);
lcd_gotoxy(3,0);lcd_putsf("JOSSSSSS");
lcd_gotoxy(0,1);
switch(menu){
case 1 : lcd_putsf("1. START KI ");if(enter==0){delay_ms(100);lcd_clear();P
ORTD.2=PORTD.1=0;delay_ms(100);pilih_ki();};break;
case 2 : lcd_putsf("2. START KA ");if(enter==0){delay_ms(200);lcd_clear();P
ORTD.2=PORTD.1=0;delay_ms(100);pilih_ka();};break;
case 3 : lcd_putsf("3.Tampil Analog");if(enter==0){delay_ms(200);lcd_clear()
;PORTD.2=PORTD.1=0;delay_ms(100);tampil_analog();};break;
case 4 : lcd_putsf("3. Tampil Bit ");if(enter==0){delay_ms(200);lcd_clear()
;PORTD.2=PORTD.1=0;delay_ms(100);tampil_bit();};break;
case 5 : lcd_putsf("4. Set Sensor ");if(enter==0){delay_ms(200);lcd_clear()
;PORTD.2=PORTD.1=0;delay_ms(100);auto_set();};break;
case 6 : lcd_putsf("6. setting ");if(enter==0){delay_ms(200);lcd_clear();s
etting();};break;
};
};
}
// 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=0x07;
// 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=0xF0;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=Out Func0=Out
// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=0 State0=0
PORTD=0x00;
DDRD=0x7E;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 46.875 kHz
// Mode: Ph. correct PWM top=00FFh
// 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=0x04;
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=FFh
// 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;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC Clock frequency: 750.000 kHz
// ADC Voltage Reference: AREF pin
// ADC Auto Trigger Source: None
// Only the 8 most significant bits of
// the AD conversion result are used
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x84;
// LCD module initialization
lcd_init(16);
init_RAM();
while (1)
{
// Place your code here
main_menu();
// speed_ki=speed_ka=-50;
// PWM_out();
// delay_ms(1000);
// baca_adc();
//baca_adc();
//tampil_lcd(0,0, "%3d %3d %3d %3d", adc_masuk[8],adc_masuk[9],adc_masuk[10],ad
c_masuk[11]);
//tampil_lcd(1,0, "%3d %3d %3d %3d", adc_masuk[12],adc_masuk[13],adc_masuk[14],
adc_masuk[15]);
};
}