Desain Proteus dan Program Code Vision AVR Robot Kontrol Menggunakan Infra Red RK04

Pada pembahasan sebelumnya, telah dijelaskan tentang kontrol robot menggunakan wireless UHF TLP/RLP 315 MHz. Maka pada materi kali ini, kita juga dapat mengontrol robot menggunakan infra merah (IR).

Prinsip kerja kontrol infra merah ini sama dengan kontrol wireless UHF,  keduanya menggunakan sistem komunikasi serial USART. Yang membedakan wireless UHF dan IR adalah pembawa informasinya saja .….Tiap hari kita tentu sering menggunakan remote TV..?? Pada remote TV tersebut kita menggunakan infra merah untuk menghidupkan, mematikan, dan memilih menu TV kita. Untuk mengontrol robotpun dapat dilakukan menggunakan kontrol IR.

Gambar 1. Ilustrasi kontrol Infra red

 Berikut adalah skema rangkaian transmitter dan receiver IR produk Innovative Electronic.

Transmitter Infra Red

Gambar 2. Skema Transmitter IR Module DT-I/O 38 kHz

Receiver Infra Red

 Gambar 3. Skema Receiver IR Module DT-I/O 38 kHz

 Simulasi Sistem Wireless Infra Red Proteus

Untuk membuat simulasi robot kontrol infra red di proteus, dapat kita lakukan dengan menghubungkan sistem transmitter dan receiver mikrokontroler dengan komponen optocoupler yang sebenarnya menghubungkan tapi tidak secara langsung. Berikut adalah desain simulasi proteus sistem robot kontrol digital menggunakan IR.

 Gambar 4. Skema proteus robot kontrol digital infra red

Untuk membuat robot actual dari skema tersebut, maka optocoupler diganti dengan komponen IR transmitter module 38 KHz di bagian Transmitter remote kontrol dan IR receiver module 38 KHz di bagian Receiver Robot.

Desain Aktual Robot Kontrol Infra Red

Sistem Remot Kontrol Transmitter

 Gambar 5. Rangkaian AT Mega 8 dengan IR Transmitter

Sistem Robot Receiver

 Gambar 6. Rangkaian AT Mega 8 dengan IR Receiver

PROGRAM CV AVR REMOTE CONTROL (TRANSMITTER)

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 IR

Version : I

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;

}

      }

}

Berikut adalah gambar dan video realisasi robot kontrol digital menggunakan infra merah karya Profesor Bolabot

Video robot kontrol digital menggunakan IR

Copyright 2013 @ Profesor Bolabot