SOURCE CODE PROGRAM Code Vision AVR Robot Kontrol Wireless TLP/RLP 315 MHz RK03

PROGRAM CV AVR REMOTE CONTROL (TRANSMITTER)

Sesuai dengan desain hardware rangkaian seperti pada pembahasan sebelumnya tentang Robot Kontrol Wireless TLP/RLP 315 MHz RK03. Berikut adalah program CV AVR untuk remote control robot.

/*****************************************************

This program was produced by the

CodeWizardAVR V2.05.0 Professional

Automatic Program Generator

© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.

http://www.hpinfotech.com

Project : Remote Kontrol Robot Kontrol Wireless

Version : I Hexapod UHF

Date    : 9/16/2012

Author  : Mada Sanjaya WS, Ph.D

Company : Bolabot Techno Robotic School

Comments: "Semangat harapan itu masih ada"

Chip type               : ATmega8

Program type            : Application

AVR Core Clock frequency: 12.000000 MHz

Memory model            : Small

External RAM size       : 0

Data Stack size         : 256

*****************************************************/

#include <mega8.h>

// Standard Input/Output functions

#include <stdio.h>

#include <delay.h>

unsigned char perintah;

// Declare your global variables here

void main(void)

{

// Declare your local variables here

// Input/Output Ports initialization

// 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

// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State6=T State5=T State4=T State3=T State2=T State1=T State0=T

PORTC=0x00;

DDRC=0x00;

// Port D 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

PORTD=0x00;

DDRD=0x00;

// Timer/Counter 0 initialization

// Clock source: System Clock

// Clock value: Timer 0 Stopped

TCCR0=0x00;

TCNT0=0x00;

// Timer/Counter 1 initialization

// Clock source: System Clock

// Clock value: Timer1 Stopped

// Mode: Normal top=0xFFFF

// OC1A output: Discon.

// OC1B output: Discon.

// Noise Canceler: Off

// Input Capture on Falling Edge

// Timer1 Overflow Interrupt: Off

// Input Capture Interrupt: Off

// Compare A Match Interrupt: Off

// Compare B Match Interrupt: Off

TCCR1A=0x00;

TCCR1B=0x00;

TCNT1H=0x00;

TCNT1L=0x00;

ICR1H=0x00;

ICR1L=0x00;

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

MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization

TIMSK=0x00;

// USART initialization

// Communication Parameters: 8 Data, 1 Stop, No Parity

// USART Receiver: Off

// USART Transmitter: On

// USART Mode: Asynchronous

// USART Baud Rate: 1200

UCSRA=0x00;

UCSRB=0x08;

UCSRC=0x86;

UBRRH=0x02;

UBRRL=0x70;

// Analog Comparator initialization

// Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off

ACSR=0x80;

SFIOR=0x00;

// ADC initialization

// ADC disabled

ADCSRA=0x00;

// SPI initialization

// SPI disabled

SPCR=0x00;

// TWI initialization

// TWI disabled

TWCR=0x00;

// mendefinisikan input output

DDRD.5=0;     //input tombol perintah belok kiri

DDRD.6=0;     //input tombol perintah belok kanan

DDRD.7=0;     //input tombol perintah mundur

DDRB.0=0;     //input tombol perintah maju

DDRD.2=1;     //output led indikator ketika tombol ditekan

while (1)

      {

      if (PINB.0!=0)

      //program maju

      {

      perintah=1;

      PORTD.2=0;

      }

      else if (PIND.7!=0)

      //program mundur

      {

      perintah=2;

      PORTD.2=0;

      }

      else if (PIND.6!=0)

      //program belok kanan

      {

      perintah=3;

      PORTD.2=0;

      }

      else if (PIND.5!=0)

      //program belok kiri

      {

      perintah=4;

      PORTD.2=0;

      } 

     

      else

      {

      perintah=0; // diam

      PORTD.2=1;

      }

     

      putchar(perintah); // mengirim tipe data perintah

    

      }

      }

PROGRAM CV AVR ROBOT KONTROL DIGITAL (RECEIVER)  

/*****************************************************

This program was produced by the

CodeWizardAVR V2.05.0 Professional

Automatic Program Generator

© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.

http://www.hpinfotech.com

Project : Receiver Robot Kontrol Wireless

Version : I Hexapod

Date    : 9/16/2012

Author  : Mada Sanjaya WS, Ph.D

Company : Bolabot Techno Robotic School

Comments: "Semangat Harapan itu Masih Ada!!!"

Chip type               : ATmega8

Program type            : Application

AVR Core Clock frequency: 12.000000 MHz

Memory model            : Small

External RAM size       : 0

Data Stack size         : 256

*****************************************************/

#include <mega8.h>

#ifndef RXB8

#define RXB8 1

#endif

#ifndef TXB8

#define TXB8 0

#endif

#ifndef UPE

#define UPE 2

#endif

#ifndef DOR

#define DOR 3

#endif

#ifndef FE

#define FE 4

#endif

#ifndef UDRE

#define UDRE 5

#endif

#ifndef RXC

#define RXC 7

#endif

#define FRAMING_ERROR (1<<FE)

#define PARITY_ERROR (1<<UPE)

#define DATA_OVERRUN (1<<DOR)

#define DATA_REGISTER_EMPTY (1<<UDRE)

#define RX_COMPLETE (1<<RXC)

unsigned char dataku;      // mendefinisikan data

// USART Receiver buffer

#define RX_BUFFER_SIZE 8

char rx_buffer[RX_BUFFER_SIZE];

#if RX_BUFFER_SIZE <= 256

unsigned char rx_wr_index,rx_rd_index,rx_counter;

#else

unsigned int rx_wr_index,rx_rd_index,rx_counter;

#endif

// This flag is set on USART Receiver buffer overflow

bit rx_buffer_overflow;

// USART Receiver interrupt service routine

interrupt [USART_RXC] void usart_rx_isr(void)

{

char status,data;

status=UCSRA;

data=UDR;

if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)

   {

   rx_buffer[rx_wr_index++]=data;

#if RX_BUFFER_SIZE == 256

   // special case for receiver buffer size=256

   if (++rx_counter == 0)

      {

#else

   if (rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;

   if (++rx_counter == RX_BUFFER_SIZE)

      {

      rx_counter=0;

#endif

      rx_buffer_overflow=1;

      }

   }

}

#ifndef _DEBUG_TERMINAL_IO_

// Get a character from the USART Receiver buffer

#define _ALTERNATE_GETCHAR_

#pragma used+

char getchar(void)

{

char data;

while (rx_counter==0);

data=rx_buffer[rx_rd_index++];

#if RX_BUFFER_SIZE != 256

if (rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;

#endif

#asm("cli")

--rx_counter;

#asm("sei")

return data;

}

#pragma used-

#endif

// Standard Input/Output functions

#include <stdio.h>

// Declare your global variables here

void main(void)

{

// Declare your local variables here

// Input/Output Ports initialization

// Port B initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=Out Func1=Out Func0=In

// State7=T State6=T State5=T State4=T State3=T State2=0 State1=0 State0=T

PORTB=0x00;

DDRB=0x06;

// Port C initialization

// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State6=T State5=T State4=T State3=T State2=T State1=T State0=T

PORTC=0x00;

DDRC=0x00;

// Port D 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

PORTD=0x00;

DDRD=0x00;

// Timer/Counter 0 initialization

// Clock source: System Clock

// Clock value: Timer 0 Stopped

TCCR0=0x00;

TCNT0=0x00;

// Timer/Counter 1 initialization

// Clock source: System Clock

// Clock value: 11.719 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: Off

// Input Capture Interrupt: Off

// Compare A Match Interrupt: Off

// Compare B Match Interrupt: Off

TCCR1A=0xA1;

TCCR1B=0x0D;

TCNT1H=0x00;

TCNT1L=0x00;

ICR1H=0x00;

ICR1L=0x00;

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

MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization

TIMSK=0x00;

// USART initialization

// Communication Parameters: 8 Data, 1 Stop, No Parity

// USART Receiver: On

// USART Transmitter: Off

// USART Mode: Asynchronous

// USART Baud Rate: 1200

UCSRA=0x00;

UCSRB=0x90;

UCSRC=0x86;

UBRRH=0x02;

UBRRL=0x70;

// Analog Comparator initialization

// Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off

ACSR=0x80;

SFIOR=0x00;

// ADC initialization

// ADC disabled

ADCSRA=0x00;

// SPI initialization

// SPI disabled

SPCR=0x00;

// TWI initialization

// TWI disabled

TWCR=0x00;

// Global enable interrupts

#asm("sei")

// mendefinisikan output motor DC

DDRD.5=1;  //output motor kiri

DDRD.6=1;  //output motor kiri

DDRD.7=1;  //output motor kanan

DDRB.0=1;  //output motor kanan

// kondisi awal

PORTD.5=1;

PORTD.6=1;

PORTD.7=1;

PORTB.0=1;

// mengatur kecepatan motor dengan PWM

OCR1A=200; // kecepatan motor kiri

OCR1B=200; // kecepatan motor kanan

while (1)

      {

dataku=rx_buffer[0];

if(dataku==1)    // program maju, kedua motor bergerak kedepan

{

PORTD.5=1;      

PORTD.6=0;

PORTD.7=1;

PORTB.0=0;

}

else if (dataku==2)   //program mundur, kedua motor bergerak kebelakang

{

PORTD.5=0;

PORTD.6=1;

PORTD.7=0;

PORTB.0=1;

}

else if (dataku==3)  //program belok kanan, motor kanan mundur, motor kiri maju

{

PORTD.5=1;

PORTD.6=0;

PORTD.7=0;

PORTB.0=1;

}

else if (dataku==4) //program belok kiri, motor kanan maju, motor kiri mundur

{

PORTD.5=0;

PORTD.6=1;

PORTD.7=1;

PORTB.0=0;

}

else           // tidak ada perintah kedua motor diam

{

PORTD.5=0;

PORTD.6=0;

PORTD.7=0;

PORTB.0=0;

}

      }

}

Copyright 2013@ Profesor Bolabot