MODUL PRAKTEK

MICROCONTROLER DAN ROBOTIKA

OLEH :
Defi Pujianto., M.KOM

PROGRAM STUDI TEKNIK INFORMATIKA

AKADEMI MANAJEMEN INFORMATIKA DAN KOMPUTER
AKMI BATURAJA
2016

1|Modul Microcontroler & Robotika

 KATA PENGANTAR

Alhamdulillah. Penulis memanjatkan puji syukur kehadirat Allah SWT, Sang Maha

Pencipta yang telah memberikan rahmat dan hidayah pada semua makhluk ciptaan-Nya,

sehingga penulis dapat menyelesaikan Modul Praktek Microcontroler dan Robotika.

Modul ini disusun untuk membantu para mahasiswa dalam mempelajari matakuliah

Microcontroler dan Robotika. Modul ini juga dapat dijadikan sebagai literatur guna

menambah pengetahuan dan keahlian khususnya dibidang Microkontroler dan Robotika

Penulis mengharap kritik dan saran yang membangun dalam rangka perbaikan kualitas,

baik untuk diri pribadi maupun untuk perbaikan dan penyempurnaan modul ini di masa yang

akan datang.

Palembang, Juli 2016

Penulis

2|Modul Microcontroler & Robotika

 DAFTAR ISI

HALAAN JUDUL ....................................................................................................................................... 1

KATA PENGANTAR ................................................................................................................................ 2
DAFTAR ISI ................................................................................................................................................. 3

BAB I BASCOM AVR .............................................................................................................................. 5

A. Software Bascom-Avr ............................................................................................................... 5
B. Penggunaan Software Bascom-Avr ......................................................................................... 5

BAB II PROGAM LAMPU LED.......................................................................................................... 11

A. Program Lampu LED Sederhana ........................................................................................ 11
B. Program Lampu LED Hidup Bergantian .......................................................................... 11
C. Program Lampu LED Berjalan ............................................................................................ 12

BAB III PROGRAM 7 SEGMEN......................................................................................................... 13

A. Program angka 0 ...................................................................................................................... 13
B. Program Counting Down dari 9 sampai 0 ........................................................................ 14
C. Program Penggabungan LED dengan 7 segmen ............................................................ 14

BAB IV PROGRAM KEYPAD DENGAN LED ............................................................................ 18

A. Program Keypad Pengendali LED ..................................................................................... 18
B. Program Keypad Pengendali LED dan 7 Segmen ......................................................... 19

BAB V PROGRAM LCD 2 X 16 ........................................................................................................... 21

A. Porgam Menampilkan Text pada LCD ............................................................................. 21
B. Program Menampilkan Karakter Pada LCD.................................................................... 22
C. Program Menampilkan Animasi Geser Ke Kiri Pada LCD ........................................ 22
D. Program Menampilkan Animasi Geser Ke Kiri Pada LCD ........................................ 23
E. Program Menampilkan Animasi Berkedip Pada LCD ................................................. 24
F. Program Menentuan Lokasi Text Pada LCD .................................................................. 24

3|Modul Microcontroler & Robotika

BAB VI IMPLEMENTASI PRORAM DAN HARDWARE ..................................................... 25
A. Pemrograman Digital Thermometer .................................................................................. 25
B. Program ADC ........................................................................................................................... 25
C. Pemrograman Timer ............................................................................................................... 26
D. Pemrograman Counter ........................................................................................................... 27

BAB VII ROBOT SEDERHANA LINE FOLLOWER ............................................................... 30

A. Rangkaian Line Follower ...................................................................................................... 30
B. Listing Program Line Follower ........................................................................................... 31
DAFTAR PUSTAKA ................................................................................................................................. 33

4|Modul Microcontroler & Robotika

 BAB I
BASCOM AVR

Menggunakan BASCOM-AVR. Tutorial ini akan menjelaskan mengenai penggunaan software

BASCOM-AVR untuk membuat program dalam bahasa BASIC dari mulai menjalankan software,
membuat program, hingga cara kompilasi program sehingga mendapatkan file yang kita butuhkan
untuk di isikan kedalam IC mikrokontroler, yaitu file *.hex (hexadecimal).

A. SOFTWARE BASCOM-AVR

Software BASCOM-AVR adalah salah satu software yang dapat gunakan untuk belajar
memprogram mikrokontroler AVR. BASCOM-AVR adalah merupakan software IDE (integrated
development environment), karena dalam software tersebut telah dilengkapi dengan text (source
code) editor dan compiler. Aplikasi Bascom AVR dapat dipakai secara gratis dengan ukuran file
program maksimal 4 kilobyte.Untuk dapat mengikuti tutorial ini, pastikan software BASCOM-AVR
telah ter-install di komputer anda.

B. PENGGUNAAN SOFTWARE BASCOM-AVR

Langkah 1: Buka software BASCOM-AVR

Start>>All Program>>MCS electronics>> BASCOM-AVR.Atau dapat juga dengan double click icon
software BASCOM-AVR yang tersedia di desktop.

5|Modul Microcontroler & Robotika

 Langkah 2: Membuka jendela text-editor baru

Untuk membuka jendela text editor baru, pilih opsi toolbar File>>New.

Setelah itu maka akan terbuka sebuah halaman baru yang dapat digunakan untuk membuat
(mengetik) program.

6|Modul Microcontroler & Robotika

 Langkah 3: Membuat program BASIC

Buatlah program dalam bahasa BASIC pada jendela text-editor yang telah kita buka sebelumnya.
Misalnya ketik program berikut ini:

Langkah 4: Menyimpan program BASIC

Cara menyimpan file program adalah sebagai berikut. Pilih opsi toolbar File>>Save (Ctrl+S).

7|Modul Microcontroler & Robotika

 Jika sudah, maka tentukan nama file program BASIC yang kita buat dengan diberi ekstensi *.bas.
Kemudian tentukan folder atau direktori tempat kita akan menyimpan file program tersebut.

8|Modul Microcontroler & Robotika

 Langkah 5: Melakukan proses kompilasi program

Jika program sudah selesai dibuat maka langkah selanjutnya adalah mengkompilasi (compile)
program tersebut sehingga didapatkan file-file baru yang kita butuhkan. Langkahnya adalah pada
toolbar pilih Program>>compile atau cukup tekan tombol shortcut F7.

Jika di dalam program masih ada kesalahan, maka akan muncul pesan error.

Jika hal itu terjadi, perbaiki terlebih dahulu kesalahan yang diinformsikan pada jendela Error. Jika
perbaikan telah selesai dilakukan, maka selanjutnya lakukan kompilasi program kembali. Apabila
langkah ini berhasil maka akan diperoleh beberapa file baru, salah satunya adalah file berekstensi
*hex (heksa) yang akan kita download kedalam IC mikrokontroler AVR. Berikut ini hasil kompilasi
program dalam file *.hex.

9|Modul Microcontroler & Robotika

Dengan demikian, file program yang kita buat dengan bahasa BASIC telah siap diaplikasikan kedalam
IC mikrokontroler yang kita gunakan. Ingat!, software ini hanya dapat digunakan untuk memprogram
IC mikrokontroler ATMEL AVR. Seperti nama software ini, Basic Compiler AVR (BASCOM-AVR).

10 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB II
PROGRAM LAMPU LED

A. Program Lampu Led Sederhana

Program pada bahasa Compailer (BASCOM) Menghidupkan lampu LED
Rangkaian Lampu Led

Listing Program :
'*************************************
'Program 1: Menghidupkan LED
’Modul Praktek AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddrb = &B11111111
Portb = &B11111111
End

B. Program Lampu Berkedip (BLINK) Listing

Program :
'*************************************
'Program 2: LED Blink
'Modul Prkatek AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddrb = &B11111111
Do
Portb = &B01010101
Wait 1
Portb = &B10101010
Wait 1
Loo
p
End

11 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 C. Program Lampu Berjalan Listing Program
'*************************************
'Program 3: LED Berjalan
'MODUL AMIK AKMI BATURAJA
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddrb = &B11111111
Do
Portb = &B00000001
Wait 1
Portb = &B00000010
Wait 1
Portb = &B00000100
Wait 1
Portb = &B00001000
Wait 1
Portb = &B00010000
Wait 1
Portb = &B00100000
Wait 1
Portb = &B01000000
Wait 1
Portb = &B10000000
Wait 1
Loo
p
End

12 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB III
PEMROGRMAN 7 SEGMEN

A. Program Angka 0
Rangkaian Elektronika

Listing Program :
'*************************************
'Program 4: seven segment angka 0
'Mosul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddra = &B11111111
Porta = &B11000000
End

13 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
B. Program Counting Down dari 9 sampai 0
Listing Program
'*************************************
'Program 5: seven segment counting down
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddra = &B11111111
Do
Porta =
&B00010000 Wait 1
Porta =
&B00000000 Wait 1
Porta =
&B00000111 Wait 1
Porta =
&B00000010 Wait 1
Porta =
&B00010010 Wait 1
Porta =
&B00011001 Wait 1
Porta = &B00110000
Wait 1
Porta =
&B00100100 Wait 1
Porta =
&B01111001 Wait 1
Porta =
&B01000000 Wait 1
Loo
p
End

C. Program Penggabungan LED dengan 7

segmen Listing Program
'*************************************
'Program 5: seven segment counting down
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"

14 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 $crystal = 16000000
DDRA = &B11111111
DDRB = &B11111111
Do
PortB=& B00000001
Porta = &B00010000
Wait 1
Porta = &B00000000
Wait 1
Porta = &B00000111
Wait 1
Porta = &B00000010
Wait 1
Porta = &B00010010
Wait 1
Porta = &B00011001
Wait 1
Porta = &B00110000
Wait 1
Porta = &B00100100
Wait 1
Porta = &B01111001
Wait 1
Porta = &B01000000
Wait 1
PortB=& B00000010
Porta = &B00010000
Wait 1
Porta = &B00000000
Wait 1
Porta = &B00000111
Wait 1
Porta = &B00000010
Wait 1
Porta = &B00010010
Wait 1
Porta = &B00011001
Wait 1
Porta = &B00110000
Wait 1
Porta = &B00100100

15 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Wait 1
Porta = &B01111001
Wait 1
Porta = &B01000000
Wait 1
PortB=& B00000100
Porta = &B00010000
Wait 1
Porta = &B00000000
Wait 1
Porta = &B00000111
Wait 1
Porta = &B00000010
Wait 1
Porta = &B00010010
Wait 1
Porta = &B00011001
Wait 1
Porta = &B00110000
Wait 1
Porta = &B00100100
Wait 1
Porta = &B01111001
Wait 1
Porta = &B01000000
Wait 1
PortB=& B00010000
Porta = &B00010000
Wait 1
Porta = &B00000000
Wait 1
Porta = &B00000111
Wait 1
Porta = &B00000010
Wait 1
Porta = &B00010010
Wait 1
Porta = &B00011001
Wait 1
Porta = &B00110000
Wait 1

16 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Porta = &B00100100
Wait 1
Porta = &B01111001
Wait 1
Porta = &B01000000
Wait 1
Loop
End

17 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB IV
PROGRAM KEYPAD DENGAN LED

A. Program Keypad Pengendali LED

Rangkaian Keypad

Listing Program
'*************************************
'Program 7: digital input 2
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddrb = &B11111111
Ddrd = &B00000000
Portd = &B11111111
Do
If Pind.0 = 0 Then
Portb = &B00000001
Elseif Pind.1 = 0 Then
Portb = &B00000010
Elseif Pind.2 = 0 Then
Portb = &B00000100
Elseif Pind.3 = 0 Then
Portb = &B00001000

18 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Elseif Pind.4 = 0 Then
Portb = &B00010000
Elseif Pind.5 = 0 Then
Portb = &B00100000
Elseif Pind.6 = 0 Then
Portb = &B01000000
Elseif Pind.7 = 0 Then
Portb = &B10000000
End If
Loop
End

B. Program Keypad Pengendali LED dan 7

Segmen Listing Program
'*************************************
'Program 7: digital input 2
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Ddrb = &B11111111
Ddrd = &B00000000
DdrA = &B11111111
Portd = &B11111111
Do
If Pind.0 = 0 Then
Portb = &B00000001
Porta = &B11111001
Elseif Pind.1 = 0 Then
Portb = &B00000010
PortA = &B01000100
Elseif Pind.2 = 0 Then
Portb = &B00000100
PortA = &B00110000
Elseif Pind.3 = 0 Then
Portb = &B00001000
PortA = &B00110000
Elseif Pind.4 = 0 Then
Portb = &B00010000
PortA = &B00011001

19 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Elseif Pind.5 = 0 Then
Portb = &B00100000
PortA = &B00010010
Elseif Pind.6 = 0 Then
Portb = &B01000000
PortA = &B00000010
Elseif Pind.7 = 0 Then
Portb = &B00000111
End If
Loop
End

20 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB V
PEMROGRAMAN LCD

A. Porgam Menampilkan Text pada LCD

Rangkaian LCD

Listing Program
'*************************************
'Program 9: LCD 1
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Cursor Off
Cls
Lcd "AMIK AKMI Baturaja"
21 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Lowerline
Lcd "Kampus Lokal"
End

B. Program Menampilkan Animasi Geser Ke Kiri Pada LCD

Listing Program

'*************************************
'Program 10 : LCD geser kiri
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Dim I As Byte
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Wait 1
Cursor Off
Cls
Lcd "AMIK AKMI Baturaja"
Lowerline
Lcd "Kampus Lokal Kualitas Global"
Wait 1
Do
For I = 0 To 16
Shiftlcd Left
Waitms 50
Next
Loo
p
End

C. Program Menampilkan Animasi Geser Ke Kiri Pada LCD

Listing Program
'*************************************
'Program 10 : LCD geser kiri
'Modul AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"

22 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 $crystal = 16000000
Dim I As Byte
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Wait 1
Cursor Off
Cls
Lcd "AMIK AKMI Baturaja"
Lowerline
Lcd "Kampus Lokal Kualitas Global"
Wait 1
Do
For I = 0 To 16
Shiftlcd Right
Waitms 50
Next
Loop
End

D. Program Menampilkan Animasi Berkedip Pada LCD

Listing Program :

'*************************************
'Program 10 : Animasi LCD Berkedip 'Modul
AMIK AKMI Baturaja
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Dim I As Byte
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Cursor Off
Cls
Do Cls
Waitms 50
Locate 1 , 2

Lcd "AMIK AKMI "

Locate 2 , 2

23 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Lcd "Baturaja"
Waitms 500
Loop
End

E. Program Menentuan Lokasi Text Pada LCD

Listing Program
'*************************************
'Program 11 : LCD Locate
'Modul Microcontroler
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Cursor Off
Cls Locate
1,5
Lcd "Row 1 Col 5"
Locate 2 , 2
Lcd "Row 2 Col 2"
End

F. Program Menampilkan Karakter Pada LCD

Listing Program
'*************************************
'Program 11 : LCD Locate
‘Modul Microcontroler AMIK AKMI
'*************************************
$regfile = "m8535.dat"
$crystal = 16000000
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 =
Portc.7 Config Lcd = 16 * 2
Cursor Off
Cls Locate
1,5
Lcd "Row 1 Col 5"
Locate 2 , 2
Lcd "Row 2 Col 2"
End

24 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB VI
IMPLEMENTASI PRORAM DAN HARDWARE

A. Pemrograman Digital Thermometer

Rangkaian digital Termometer

Listing Program
Dim D As Word , V As Word , T As Word
Config Adc = Single , Prescaler = Auto , Reference = Avcc
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4 ,
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Cls
Cursor Off
Lcd "Dig Thermometer"
Lowerline
Lcd "Temp="
Start Adc
Do

25 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 D = Getadc(1)
V=D*5
T=V/10
Locate 2 , 6
Lcd T
Lcd " Celcius "
Waitms 200
Loop
End

B. Pemrograman ADC
Rangkaian Program

Listing Program
'**************************************
'Program 22 : ADC digital voltmeter 'Modul
Microkontroler
'**************************************
$regfile = "m8535.dat"
$crystal = 16000000
Dim D As Word , V As Word
Config Adc = Single , Prescaler = Auto , Reference = Avcc Config
Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4, Config
Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7 Config
Lcd = 16 * 2

26 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Cls
Cursor Off
Lcd "Dig Voltmeter"
Lowerline
Lcd "Tegangan="
Start Adc
Do
D = Getadc(0)
V=D*5
Locate 2 , 10
Lcd V
Lcd " mV "
Waitms 200
Loop
End

C. Pemrograman Timer
Rangkaian Hardware Timer

Listing Program

'**************************************
'Program 14 : Timer 1 detik 'Modul
Microcontroler
'**************************************
$regfile = "m8535.dat"
$crystal = 16000000
Config Timer1 = Timer , Prescale = 1024

27 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Ddrb = &HFF
Portb = 0
Do
Timer1 = 49910
Start Timer1
Do
Loop Until Tifr.2 = 1
Stop Timer1
Tifr.2 = 1
Portb = Not Portb
Loop
End

D. Pemrograman Counter
Rangkain Program

Listing Program
'**************************************
'Program 15 : counter 0 sebagai pencacah pulsa
‘Modul Microcontroler
'**************************************
$regfile = "m8535.dat"
$crystal = 16000000
Config Lcdpin = Pin , Rs = Portc.0 , E = Portc.2 , Db4 = Portc.4
Config Lcdpin = Pin , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7
Config Lcd = 16 * 2
Cursor Off
28 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 Cls
Config Timer0 = Counter , Edge = Falling
Portb.0 = 1
Lcd "Counter 0="
Start Counter0
Do
Locate 1 , 11
Lcd Counter0
Loop
End

29 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 BAB VII
ROBOT SEDERHANA

A. Rangkaian Line Follower

B. Listing Program
// PROGRAM LINE FOLLOWER
// OLEH : FAHMIZAL
// DIPLOMA TEKNIK ELEKTRO UGM
2007 #include<mega8535.h>
#include<delay.h>

unsigned char sensor;

void maju ();
void kanan_dikit ();
void kanan_banyak ();
void kiri_dikit ();
void kiri_banyak ();
void kanan_banyaki ();
void kanan_banyak2 ();
void kanan_banting ();
void kiri_banyak2 ();
void kiri_banting ();
void ada_garis ();
void cabang ();
void henti ();
void main(void)
{
DDRD=DDRB=0xFF;
DDRA=0x00;
//----inisialisasi pwm----//
TCCR1A=0xa3;
TCCR1B=0x0b;
TCNT1=0x0000;//000016 bit
OCR1A=0x03ff;

30 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 OCR1B=0x03FF;
TIFR=0;
//------------------------//
while (1)
{
// PORTA=0xff;// tambahan, jangan dipakai dlam
sebenarnya sensor=PINA;
sensor&=0b11111111;
switch(sensor)
{
case 0b11100111: maju (); // maju lurus
break;
case 0b11100011: kanan_dikit (); // nyalakan kanan (dikit)
break;
case 0b11110001: kanan_banyak (); // nyalakan kanan (banyak)
break;
case 0b11100001: kanan_banyaki (); // nyalakan kanan (banyak)
break;
case 0b11111000: kanan_banyak2 (); // nyalakan kanan (banyak)
break;
case 0b11110000: kanan_banting (); // nyalakan kiri (banyak)
break;
case 0b11000111: kiri_dikit (); // nyalakan kiri (dikit)
break;
case 0b10001111: kiri_banyak (); // nyalakan kiri (banyak)
break;
case 0b00011111: kiri_banyak2 (); // nyalakan kiri (banyak)
break;
case 0b00001111: kiri_banting (); // nyalakan kiri (banyak)
break;
case 0b00000000: ada_garis (); // nyalakan kiri (banyak)
break;
case 0b11000011: cabang (); // nyalakan kiri (banyak)
break;
case 0b11111111: henti();
break;// pilih orientasi kanan
}
};
}

//---maju---//
void maju ()
{PORTB=0b00001010;
OCR1A=0x3ff; //KANAN OCR1A
OCR1B=0x3ff;
}

//---kanan dikit---//
void kanan_dikit ()
{PORTB=0b00001010;
OCR1A=0x200;
OCR1B=0x2ee;
}

//---kanan banyak---//
void kanan_banyak ()
{PORTB=0b00001010;
OCR1A=0x100;
OCR1B=0x3ff;
}
void kanan_banyaki ()
{PORTB=0b00001010;
OCR1A=0x100;
OCR1B=0x3ff;
}
//---kanan banyak2---//
void kanan_banyak2 ()

31 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 {PORTB=0b00001001;
OCR1A=0x3ff;
OCR1B=0x3ff;
}
//---kanan banyak2---//
void kanan_banting ()
{PORTB=0b00001001;
OCR1A=0x3ff;
OCR1B=0x3ff;
}

//---kiri dikit---//
void kiri_dikit ()
{PORTB=0b00001010;
OCR1A=0x2ee;
OCR1B=0x200;
}

//---kiri banyak---//
void kiri_banyak ()
{PORTB=0b00001010;
OCR1A=0x2ee;
OCR1B=0x100;
}
void kiri_banyak2 ()
{PORTB=0b00000110;
OCR1A=0x3ff;
OCR1B=0x3ff;
}
//---kanan banyak2---//
void kiri_banting ()
{PORTB=0b00000110;
OCR1A=0x3ff;
OCR1B=0x3ff;
}
//---ada garis---
void ada_garis ()
{PORTB=0b00001010;
OCR1A=0x03ff;
OCR1B=0x03ff;
}
//---cabang---//
void cabang ()
{PORTB=0b00001010;
OCR1A=0x03ff;
OCR1B=0x0020;
}
//---henti
void henti ()
{PORTB=0b00000101;
OCR1A=0x03ff; //KANAN OCR1A
OCR1B=0x03ff;

32 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a
 DAFTAR PUSTAKA

[1] http://blog.akmi-baturaja.ac.id/dhelphie
[2] www.inkubator-teknologi.com , Master Micro “Gampang Belajar Sediri Micro AVR,

33 | M o d u l M i c r o c o n t r o l e r & R o b o t i k a