KODIKLAT TNI ANGKATAN DARAT

POLTEKAD

SISTEM KENDALI DAN TELEMETRI DARI ROBOT CQB MK1

(CLOSE QUARTER BATTLE) KE BASE STATION
MENGGUNAKAN FREQUENCY 5.8 GHz

TUGAS AKHIR

Untuk Memenuhi Persyaratan

Memperoleh Gelar Sarjana Terapan Teknik

Oleh,

MUHAMMAD IQBAL GALIH B.S.

NIM : 20180315-E

PROGRAM PENDIDIKAN DIPLOMA 4

JURUSAN TEKNIK ELEKTRO

PRODI TEKNIK ELEKTRONIKA SISTEM SENJATA
POLITEKNIK ANGKATAN DARAT
TP. 2018/2022
 DAFTAR ISI

COVER DEPAN

LEMBAR PENGESAHAN KOMANDAN POLTEKAD

LEMBAR PERNYATAAN ORISINALITAS

LEMBAR PENGESAHAN

UCAPAN TERIMA KASIH

MOTTO

KATA PENGANTAR......................................................................... i

RINGKASAN ................................................................................. iii

SUMMARY ................................................................................. iv

DAFTAR ISI ................................................................................. v

DAFTAR NOTASI (BILA ADA)........................................................ v

DAFTAR GAMBAR.......................................................................... ix

DAFTAR TABEL.............................................................................. xi

BAB I PENDAHULUAN

1.1 Latar Belakang........................................................................ 1

1.2 Rumusan Masalah................................................................3

1.3 Tujuan Penelitian.................................................................... 3

1.4 Batasan Masalah.................................................................... 4

1.5 Manfaat Penelitian.................................................................. 4

BAB II TINJAUAN PUSTAKA

2.1 Penelitian Terdahulu............................................................... 5

2.2 Landasan Teori....................................................................... 6

2.2.1 Arduino Nano.......................................................................... 6

2.2.2 Arduino Mega 2560................................................................. 7

2.2.3 Motor Driver............................................................................ 12

2.2.4 Motor DC................................................................................. 13

2.2.5 Joystick................................................................................... 14

2.2.6 Baterai LiPo............................................................................ 16

2.2.7 Switch Toggle......................................................................... 18

2.2.8 Wireless Access Point............................................................ 19

2.2.9 NodeMCU ESP8266............................................................... 21

2.2.10 Air Soft Gun Glok 17............................................................... 22

2.2.11 Motor DC Power Window....................................................... 23

2.2.12 Step Down DC USB 5V.......................................................... 24

2.3 Hipotesis................................................................................. 25
BAB III METODE PENELITIAN

3.1 Tempat dan waktu penelitian.................................................. 26

3.2 Metode Yang Dipilih Untuk Penelitian.................................... 26

3.2.1 Variabel Terikat....................................................................... 27

3.2.2 Variabel Bebas........................................................................ 27

3.3 Diagram Alir Penelitian........................................................... 28

3.4 Perencanaan Sistem............................................................... 29

3.4.1 Alat dan Bahan....................................................................... 30

3.4.2 Desain 3D Robot CQB dan Remote Control.......................... 30

3.4.3 Blok Diagram.......................................................................... 35

3.4.5 Flowchart................................................................................. 39

3.4.6 Perancang Perangkat Lunak (Softtware)............................... 41

3.4.7 Perancang Remot Control...................................................... 42

3.4.8 Perancang Skematic pada Robot........................................... 43

3.5 Pengambilan Data.................................................................. 44

3.5.1 Pengambilan Data Primer....................................................... 44

3.5.2 Pengambilan Data Sekunder.................................................. 45

BAB IV HASIL DAN PEMBAHASAN

4.1 Hasil ..................................................................................... 46

4.1.1 Hasil Pengujian Nilai ADC Joystick Motor DC........................ 47

4.1.2 Hasil Pengujian Nilai ADC Joystick Motor Windows.............. 51

4.1.3 Hasil Pengujian Jarak Koneksi Pergerakan Maju, Mundur dan

Delay Antara Remote Control Dengan Robot........................ 54

4.1.4 Hasil Pengujian Jarak Koneksi Pergerakan Belok Kanan Dan Kiri

Antara Remote Control Dengan Robot................................... 58

4.2 Pembahasan........................................................................... 62

4.2.1 Pembahasan Koneksi Robot CQB Dengan Remote Control

Menggunakan Frequency 5.8 GHz......................................... 62

4.2.2 Pembahasan Jarak Jangkau Maksimal Pada Sistem Koneksi

Wireless Jaringan Lokal.......................................................... 66

4.2.3 Pembahasan Frequency 5.8 GHz Mempunyai Noise Atau

Gangguan Lebih Kecil Dari Frequency 2.4 GHz.................... 67

BAB V PENUTUP

5.1 Kesimpulan............................................................................. 68

5.2 Saran ...................................................................................... 68

DAFTAR PUSTAKA
LAMPIRAN A GAMBAR RANGKAIAN KESELURUHAN

LAMPIRAN B FOTO ALAT TUGAS AKHIR

LAMPIRAN C LISTING PROGRAM

LAMPIRAN D DATA SHEET

DAFTAR RIWAYAT HIDUP

 DAFTAR GAMBAR

Gambar 2.1 Arduino Nano (Sumber ; perancangan)................................. 7

Gambar 2.2 Arduino Mega 2560 (Sumber ; perancangan)..................... 9

Gambar 2.3 Tampilan Program Arduino (Sumber : Perancangan)...........10

Gambar 2.4 Motor Driver BTS7960 (Sumber : Perancangan).................12

Gambar 2.5 Motor DC (Sumber : Perancangan).......................................14

Gambar 2.6 Joystick (Sumber : Perancangan)..........................................15

Gambar 2.7 Baterai LiPo 1800mAh (Sumber : Perancangan)..................17

Gambar 2.8 Baterai LiPo 3200mAh (Sumber : Perancangan).................17

Gambar 2.9 Switch Toggle  (Sumber : Perancangan)...............................18

Gambar 2.10 Wireless Acces Point comfast cf-ew74................................20

Gambar 2.11 NodeMCU ESP8266  (Sumber : Perancangan)..................21

Gambar 2.12 Air Soft Gun Glok 17  (Sumber : Perancangan)..................22

Gambar 2.13 Motor DC Power Window  (Sumber : Perancangan)...........23

Gambar 2.13 Step Down LM2596  (Sumber : Perancangan)....................24

Gambar 3.1 Diagram Alir Penelitian (Sumber : Perancangan)..................29

Gambar 3.2 Perancangan 3D Robot CQB (Sumber : Perancangan)........32

Gambar 3.3 Perancangan Remote Control (Sumber : Perancangan)......34

Gambar 3.4 Blok diagram keseluruhan (Sumber : Perancangan)............36

Gambar 3.5 Blok diagram Sistem Kendali dan Telemetry Robot 3D Robot

CQB (Sumber : Perancangan)...................................................................37

Gambar 3.6 Diagram Alir Input Joystick (Sumber : Perancangan)...........39

Gambar 3.7 Diagram Alir Input Router Wifi (Sumber : Perancangan)......40

Gambar 3.8 Diagram Alir Data Input Router Wifi (Sumber:Perancangan)

....................................................................................................................42

Gambar 3.9 Diagram Alir Data Input Router Wifi (Sumber:Perancangan)

....................................................................................................................43

Gambar 4.0 Grafik Perhitungan ADC Motor DC (Sumber : Perancangan)

....................................................................................................................48

Gambar 4.1 Perhitungan Uji Coba Output Joystick ADC Motor DC

(Sumber : Perancangan )...........................................................................49

Gambar 4.2 Grafik Perhitungan ADC Motor Windows

(Sumber : Perancangan )...........................................................................52

Gambar 4.3 Grafik Jarak Jangkauan Koneksi Robot Bergerak Maju

(Sumber : Perancangan )...........................................................................55

Gambar 4.4 Grafik Jarak Jangkauan Koneksi Robot Bergerak Mundur

(Sumber : Perancangan )...........................................................................57

Gambar 4.5 Grafik Jarak Jangkauan Koneksi Robot Bergerak Berbelok

kekanan (Sumber : Perancangan )............................................................60

Gambar 4.6 Grafik Jarak Jangkauan Koneksi Robot Bergerak Berbelok

kekiri (Sumber : Perancangan ).................................................................61

Gambar 4.7 Rangkaian Pada Remote Kontrol (Sumber : Perancangan )

....................................................................................................................62

Gambar 4.8 Rangkaian Sistem Koneksi TX Remote Control

(Sumber : Perancangan ) ..........................................................................63

Gambar 4.9 Pengaturan Frequensi Router Comfast CF EW74

(Sumber : Perancangan ) ..........................................................................64

Gambar 4.10 Diagram Alir Sistem Koneksi Robot (Sumber :

Perancangan) ............................................................................................65

Gambar 4.11 Rangkaian Sistem Koneksi RX Pada Robot

(Sumber : Perancangan) ...........................................................................65

Gambar 4.12 Peta Jarak Jangkauan Koneksi Robot

(Sumber : Perancangan) ...........................................................................67

 DAFTAR TABEL

Table 2.1 Tabel spesifikasi Arduino Nano...................................................7

Table 2.2 Tabel Arduino Mega 2560........................................................ 9

Table 2.3 Tabel spesifikasi Motor Driver BTS7960............................... 13

Table 2.4 Tabel spesifikasi Motor DC........................................................14

15

Table 2.6 Table Spesifikasi Baterai LiPo 1800mAh17

Table 2.7 Table Spesifikasi Baterai LiPo 3200mAh17

20