Program Robot Line Follower

/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.3 Standard
Automatic Program Generator
© Copyright 1998-2011 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project :
Version :
Date
: 9/24/2013
Author : saya
Company : pakai bajakan yg gratis aja!
Comments:
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 <stdio.h>
#include <delay.h>
// Alphanumeric LCD functions
#include <alcd.h>
#define dir_r
#define dir_l

PORTD.3
PORTD.6

#define
#define
#define
#define

PINC.0
PINC.1
PINC.2
PINC.3

start
menu
up
down

// Timer1 overflow interrupt service routine
unsigned char pwm_kiri,pwm_kanan,pwm_r,pwm_l;
unsigned char lcd[16];
interrupt [TIM1_OVF] void timer1_ovf_isr(void)
{
// Place your code here
OCR1A=255-pwm_kiri;
OCR1B=255-pwm_kanan;
}
#define ADC_VREF_TYPE 0x20
// 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;
}
// Declare your global variables here
void maju(unsigned char pwm_l,unsigned char pwm_r)
{
dir_l=1;
dir_r=1;
pwm_kiri=pwm_l;
pwm_kanan=pwm_r;
}
void mundur(unsigned char pwm_l,unsigned char pwm_r)
{
dir_l=0;
dir_r=0;
pwm_kiri=pwm_l;
pwm_kanan=pwm_r;
}
void b_kanan(unsigned char pwm_l,unsigned char pwm_r)
{
dir_l=0;
dir_r=1;
pwm_kiri=pwm_l;
pwm_kanan=pwm_r;
}
void b_kiri(unsigned char pwm_l,unsigned char pwm_r)
{
dir_l=1;
dir_r=0;
pwm_kiri=pwm_l;
pwm_kanan=pwm_r;
}
void stop()
{
dir_l=0;
dir_r=0;
pwm_kiri=0;
pwm_kanan=0;
}
void baca_garis()
{
lcd_gotoxy(0,0);
sprintf(lcd,"%3d %3d %3d %3d", read_adc(0),read_adc(1),read_adc(2),read_adc(
3));
lcd_puts(lcd);
lcd_gotoxy(0,1);
sprintf(lcd,"%3d %3d %3d %3d", read_adc(4),read_adc(5),read_adc(6),read_adc(
7));
lcd_puts(lcd);
}

unsigned char sendat;
unsigned char s[9],sensor[9];
void isi_datsens()
{
s[1]=read_adc(0); s[2]=read_adc(1);
;
s[5]=read_adc(4); s[6]=read_adc(5);
;
if
if
if
if
if
if
if
if

(s[1]<=20){sensor[1]=0;}
(s[2]<=20){sensor[2]=0;}
(s[3]<=20){sensor[3]=0;}
(s[4]<=20){sensor[4]=0;}
(s[5]<=20){sensor[5]=0;}
(s[6]<=20){sensor[6]=0;}
(s[7]<=20){sensor[7]=0;}
(s[8]<=20){sensor[8]=0;}

else
else
else
else
else
else
else
else

s[3]=read_adc(2);

s[4]=read_adc(3)

s[7]=read_adc(6);

s[8]=read_adc(7)

{sensor[1]=1;}
{sensor[2]=1;}
{sensor[3]=1;}
{sensor[4]=1;}
{sensor[5]=1;}
{sensor[6]=1;}
{sensor[7]=1;}
{sensor[8]=1;}

sendat=(sensor[8]*1)+(sensor[7]*2)+(sensor[6]*4)+(sensor[5]*8)+(sensor[4]*16)
+(sensor[3]*32+(sensor[2]*64)+(sensor[1]*128));
}
void tampil_logic()
{
isi_datsens();
lcd_gotoxy(0,0);
lcd_putsf("logic 0/1 sensor");
lcd_gotoxy(0,1);
sprintf(lcd,"%i%i%i%i%i%i%i%i",sensor[1],sensor[2],sensor[3],sensor[4],senso
r[5],sensor[6],sensor[7],sensor[8]);
lcd_puts(lcd);
}
void scan()
{
bit x;
isi_datsens();
sendat&=0b11111111;
switch(sendat)
{
case 0b11111110 :
b_kanan(100,100);
case 0b11111100 :
maju(60,130);
case 0b11111001 :
maju(70,120);
case 0b11110011 :
maju(80,110);
case 0b11100111 :
case 0b11001111 :
maju(110,80);
case 0b10011111 :
maju(120,70);
case 0b00111111 :
maju(130,60);
case 0b01111111 :
b_kiri(100,100);
case 0b11111111 :
if(x==0)
{
b_kanan(100,100);
}
else if(x==1)
{
b_kiri(100,100);
}
else

x=0;
x=0;
x=0;
x=0;
x=1;
x=1;
x=1;
x=1;

break;
break;
break;
break;
break;
break;
break;
break;
break;

{
maju(100,100);
}
break;
};
tampil_logic();
}
void scan_cab(unsigned char count)
{
unsigned int i;
unsigned char xx;
xx=0;
while(xx<count)
{
for (i=0;i<1000;i++)

while ((sendat&=0b00111111)!=0b00000000)

for (i=0;i<1000;i++)

while ((sendat&=0b00111111)==0b00000000)

scan();
scan();
xx++;
}
}
void awal()
{
lcd_gotoxy(0,0);
lcd_putsf("1.start 2.sensor");
lcd_gotoxy(0,1);
lcd_putsf("3.logic");
if(start==0)
{
while(1)
{
scan();
}
}
if(menu==0)
{
while(1)
{
lcd_clear();
baca_garis();
}
}
if(up==0)
{
while(1)
{
lcd_clear();
tampil_logic();
}
}

}
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=P State2=P State1=P State0=P
PORTC=0x0F;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=Out Func5=Out Func4=Out Func3=Out Func2=In Func1=In Func0=In
// State7=T State6=0 State5=0 State4=0 State3=0 State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x78;
// 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: 1382.400 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: On
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0xA1;
TCCR1B=0x0A;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x2B;
ICR1L=0x33;
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=(1<<JTD);
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x04;
// 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 Clock frequency: 691.200 kHz
// ADC Voltage Reference: AREF pin
// ADC Auto Trigger Source: ADC Stopped
// Only the 8 most significant bits of
// the AD conversion result are used
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:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTB Bit 4
// D5 - PORTB Bit 5
// D6 - PORTB Bit 6
// D7 - PORTB Bit 7
// Characters/line: 16
lcd_init(16);
// Global enable interrupts

#asm("sei")
while (1)
{
// Place your code here
//baca_garis();
//tampil_logic();
//scan();
awal();
}
}