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DAFTAR ISI

Halaman
KATA PENGANTAR ....................................................................................... i
ABSTRAK....................................................................................................... iii
DAFTAR ISI.................................................................................................... v
DAFTAR TABEL ............................................................................................. viii
DAFTAR GAMBAR......................................................................................... ix
DAFTAR LAMPIRAN ......................................................................................
BAB I PENDAHULUAN
1.1 .Latarbelakang Masalh................................................................... 1
1.2 Rumusan Masalah ........................................................................ 2
1.3. Tujuan penelitian........................................................................... 2
1.4. Manfaat penelitian........................................................................ 3
1.5. Ruang Lingkup Masalah............................................................... 3
1.6. Metode Penelitian ........................................................................ 4
1.6.1 Jenis data........................................................................... 4
1.6.2 Teknik Pengumppulan Data ............................................... 5
1.6.3 Teknik analisa Data............................................................ 5
1.6.4 Metode Analisa Data ........................................................... 5
1.6.5 Implementasi system........................................................... 5
1.6.6 Pengujian Sistem ................................................................ 5
1.6.7 Operasi dan Pemeliharaan.................................................. 6
1.6.8 Penulisan Laporan .............................................................. 6
BAB II TINJAUAN PUSTAKA
2.1. Pengertian Robot ......................................................................... 7
2.2. Perkembangan Robot .................................................................. 7
2.3. klasifikasi obot.............................................................................. 9
2.4. Robot Line Follower ..................................................................... 10
2.5. Mikrokontroler AT89S52Dan Pendukungnya................................ 10
2.5.1. Aktuator Robot ................................................................. 11
2.5.2. Resistor............................................................................ 11

2.5.3. Kapasitor .......................................................................... 12


2.5.4. Dioda................................................................................ 13
2.5.5. Light Emmiting Dioda(LED) .............................................. 14
2.5.6

photodioda ....................................................................... 14

2.5.7. Mikrikontroler AT89S52 .................................................... 15


2.5.7.1. Deskripsi Mikrokontroler AT89S52....................... 16
2.5.7.2. Konfigurasi Pin .................................................... 17
2.5.7.3. Deskripsi pin AT89S52 ........................................ 18
2.5.7.4. Organisasi Memori .............................................. 19
2.5.7.5 Osilator ................................................................ 21
2.5.7.6. interrupt ................................................................ 22
2.5.7.7. Timer/counter ....................................................... 23
2.6. Seven Segment ............................................................................ 24
2.7. Persiapan Perancangan Blok........................................................ 25
2.7.1. Fungsi Blok Sistem.............................................................. 26
2.7.2. Blok Catu Daya ................................................................... 27
2.7.3 .Blok Sensor......................................................................... 27
2.7.4. IC LM324 ............................................................................ 28
2.7.5. Blok Mikrokontroler.............................................................. 30
2.7.6. Blok Penggerak Motor ()Motot Driver) ................................. 30
2.7.7. Motor................................................................................... 31
2.8 Komponen Perancangan perangkat Keras.................................... 32
2.9 .pemograman Mikrokontroler AT89S52.......................................... 33
2.9.1. Bahasa Mesin Dan Bahasa assembly ................................. 33
2.9.2. Bahasa C

........................................................................ 34

2.9.3. Programmer/Writer Mikrokontroler AT89S52....................... 34


2.9.4. ISP-30a ............................................................................... 36
2.10. UML (Unified modeling Leaguge)............................................... 37
2.10.1. use case diagram .......................................................... 38
2.10.2. Class Diagram............................................................... 40
2.10.3.sequence diagram.......................................................... 42
BAB III PERANCANGAN SISTEM
3.1. Analisa system........................................................................... 44
3.1.1. Analisa Masalah Sistem .................................................. 44
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3.1.2. Analisa Dan Identifikasi Kebutuhan ................................. 44


3.2. Perancangan Sistem.................................................................. 45
3.2.1. Use Case Diagram .......................................................... 45
3.2.2. Sequence Diagram.......................................................... 56
3.2.3. Activity Diagram .............................................................. 57
3.2.4. Activity Diagram Robot Line Follower Pengangkut Barang59
3.2.5. Activity Diagram Robot Line Follower Belok Kanan .......... 60
3.2.6. Activity Diagram Robot Line Follower Belok Kiri ............... 61
3.2.7. Activity Diagram Robot LineFollower Gerak Lurus............ 62
3.2.8.Activity Diagram Robot Line Follower Diam Delay 10 menit63
3.2.9. Class Diagram................................................................. 64
3.2.10.Diployment Diagram........................................................ 65
BAB IV PEMBAHASAN DAN HASIL PENELITIAN
4.1. Gambaran Umum Sistem............................................................ 66
4.2. Proses Penanaman Program ...................................................... 66
4.2.1 Compile Program ............................................................. 66
4.2.2. Download Program Ke Dalam Mikrokontroler................... 67
4.2.3. Tampilan Gambar Proses Penanaman Program .............. 70
4.3. Prinsip Alur Kerja Robot Line Follower ......................................... 70
4.4. Pegujian sensor Infra Merah Berdasarkan Warna Lintasan.......... 72
4.4.1 Penjelasan Program Line Follower................................... 75
4.5. Pemasanhan Dan Perakitan ........................................................ 76
4.5.1. Pemasangan sensor Dan Dynamo................................... 77
4.5.2. Pemasangan Seven segment........................................... 78
4.5.3. Pemasangan Rangkaian Mikrokontroler Dengan Dynamo 78
4.5.4. Kontruksi Robot Inti Line Follower .................................... 79
4.5.5. Pemasangan Bak Pengangkut Barang............................ 79
4.5.6. Lintasan Robot ................................................................. 80
4.6. Uji Coba Robot Line Follower Pada Lintasan .............................. 81
4.6.1. Pada Lintasan Tikungan................................................... 81
4.6.2. Pada Lintasan Lurus ........................................................ 82
4.6.3. Pada Lintasan Diam ......................................................... 83

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