Disusun Oleh:
BANDUNG
2019
DAFTAR ISI
DAFTAR ISI...................................................................................................................................2
BAB I PENDAHULUAN ...............................................................................................................3
1.1 Latar Belakang .......................................................................................................................3
1.2 Tujuan.....................................................................................................................................3
1.3 Rumusan Masalah ..................................................................................................................3
1.4 Batasan Masalah .....................................................................................................................3
BAB II METODE PELAKSANAAN ...........................................................................................4
2.1 Tahap Pembuatan Desain Rancangan ....................................................................................4
2.2 Tahap Pembuatan Alat dan Komponen ..................................................................................4
2.3 Tahap Pembuatan Alat ...........................................................................................................4
2.4 Tahap Pengujian .....................................................................................................................4
BAB III PERANCANGAN ...........................................................................................................5
3.1 Bagian Utama Robot Line Follower ......................................................................................5
3.2 Skema Rangkaian Arduino.....................................................................................................7
3.3 Program Software Arduino ....................................................................................................8
BAB IV ANGGARAN BIAYA ...................................................................................................14
4.1 Anggaran Biaya ....................................................................................................................14
2
BAB I
PENDAHULUAN
1.2 Tujuan
1. Komponen apa saja yang diperlukan untuk pembuatan robot Line Follower?
2. Bagaimana cara agar robot dapat dapat berjalan mengikuti garis?
3
BAB II
METODE PELAKSANAAN
4
BAB III
PERANCANGAN ALAT
5
Sensor
Sensor digunakan sebagai input dari robot, pada sensor ini terdapat 3 buah
photo transistor dan 3 buah led, dan beberapa resistor sebagai pembagi tegangan.
Pada gambar dibawah rangkaian sensor sebagai input.
6
Mikrokontroler Arduino UNO
Mikrokontroler bagian utama dari robot ini, dimana pada bagian ini
digunakan untuk menghubungkan semua komponen dari sensor, motor,
power supply, dll. Selain itu mikrokontroler ini digunakan sebagai otak untuk
menggerakan komponen agar sesuai dengan fungsinya.
Keterangan Rangkaian :
Bisa Menggunakan Segala Jenis Arduino (UNO, NANO, MEGA, MINI, dll), karena
penomoran pinnya sama. Tinggal cocokkan Saja nomor Pin-Pin nya.
Pin Modul Sensor no. 1 ==> Pin A5 Arduino
7
Pin Modul Sensor no. 2 ==> Pin A4 Arduino
Pin Modul Sensor no. 3 ==> Pin A3 Arduino
Pin Modul Sensor no. 4 ==> Pin A2 Arduino
Pin In1 Driver Motor ==> Pin 7 Arduino
Pin In2 Driver Motor ==> Pin 6 Arduino
Pin In3 Driver Motor ==> Pin 5 Arduino
Pin In4 Driver Motor ==> Pin 4 Arduino
Pin ENA-bawah Driver Motor ==> Pin 9 Arduino
Pin ENB-bawah Driver Motor ==> Pin 9 Arduino
Pin ENA-atas Driver Motor ==> Pin 5V Arduino
Pin ENB-atas Driver Motor ==> Pin 5V Arduino
OUT1 dan OUT2 Driver Motor ==> Motor 1
OUT3 dan OUT4 Driver Motor ==> Motor 2
Pin 12V Driver Motor ==> Hubungkan ke baterai
Pin GND Driver Motor ==> Hubungkan ke Ground(-) Baterai dan Ground(GND)
Arduino
Kaki vcc pada masing-masing komponen hubungkan ke sumber power positif 5v
(bisa dari 5v Arduino)
Kaki gnd/ground pada masing-masing komponen hubungkan ke sumber negatif
power (dihubungkan ke pin gnd Arduino)
8
// sensor1 dan snsor2 = sensor sebelah kanan
// sensor3 dan sensor4 = sensor sebelah kiri
const int sensor1 = A5;
const int sensor2 = A4;
const int sensor3 = A3;
const int sensor4 = A2;
void setup()
{
// inialisasi pin motor sebagai output
pinMode(motor1, OUTPUT);
pinMode(motor2, OUTPUT);
pinMode(motor3, OUTPUT);
pinMode(motor4, OUTPUT);
void loop ()
9
{
// masing2 variabel data menyimpan hasil pembacaan sensor
// berupa logic LOW/HIGH
data1 = digitalRead(sensor1);
data2 = digitalRead(sensor2);
data3 = digitalRead(sensor3);
data4 = digitalRead(sensor4);
if (data1 == LOW && data2 == LOW && data3 == LOW && data4 == LOW)
{
//maju
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == HIGH && data2 == HIGH && data3 == HIGH && data4 ==
LOW)
{
//kanan
digitalWrite(motor1, LOW);
digitalWrite(motor2, HIGH);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == LOW && data2 == HIGH && data3 == HIGH && data4 ==
HIGH)
{
//kiri
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, LOW);
digitalWrite(motor4, HIGH);
}
10
else if (data1 == HIGH && data2 == HIGH && data3 == LOW && data4 ==
LOW)
{
//kanan
digitalWrite(motor1, LOW);
digitalWrite(motor2, HIGH);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == LOW && data2 == LOW && data3 == HIGH && data4 ==
HIGH)
{
//kiri
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, LOW);
digitalWrite(motor4, HIGH);
}
else if (data1 == HIGH && data2 == LOW && data3 == LOW && data4 ==
LOW)
{
//kanan
digitalWrite(motor1, LOW);
digitalWrite(motor2, HIGH);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == LOW && data2 == LOW && data3 == LOW && data4 ==
HIGH)
{
//kiri
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, LOW);
digitalWrite(motor4, HIGH);
}
11
else if (data1 == HIGH && data2 == LOW && data3 == HIGH && data4 ==
LOW)
{
//kanan
digitalWrite(motor1, LOW);
digitalWrite(motor2, HIGH);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == LOW && data2 == HIGH && data3 == LOW && data4 ==
HIGH)
{
//kiri
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, LOW);
digitalWrite(motor4, HIGH);
}
else if (data1 == LOW && data2 == HIGH && data3 == LOW && data4 ==
LOW)
{
//kanan
digitalWrite(motor1, LOW);
digitalWrite(motor2, HIGH);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == LOW && data2 == LOW && data3 == HIGH && data4 ==
LOW)
{
//kiri
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, LOW);
digitalWrite(motor4, HIGH);
}
12
else if (data1 == LOW && data2 == HIGH && data3 == HIGH && data4 ==
LOW)
{
//maju
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
else if (data1 == HIGH && data2 == HIGH && data3 == HIGH && data4 ==
HIGH)
{
//maju
digitalWrite(motor1, HIGH);
digitalWrite(motor2, LOW);
digitalWrite(motor3, HIGH);
digitalWrite(motor4, LOW);
}
}
13
BAB IV
ANGGARAN BIAYA
4.1 Anggaran Biaya
1 buah Arduino UNO
Rp. 70.000
1 buah Modul Sensor Line Tracking isi 4
Rp. 9.000
1 buah Driver Motor L298N
Rp. 20.000
2 buah Motor DC + Roda
Rp. 20.000
Baterai sesuai kebutuhan, tegangan sekitar 5-12V
Rp. 1.500 – Rp. 5.500/pcs
Kabel jumper secukupnya
Rp. 13.000
Breadboard/Projectboard jika diperlukan
Rp. 20.000
Software Arduino IDE
14