Cara Membuat Robot Light Follower Micro Atmega 8 dan Driver L293D

Robot-ID.Com, Robot light follower merupakan robot yang mudah dan sederhana tanpa micro pun kita bisa membuatnya hanya dengan sebuah ic opamp dan transistor driver seperti yang sudah dibahas sebelumnya dalam postingan saya Cara Membuat Robot Light Following Simple dan Mudah

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PCB LFR Micro sudah dirakit
Untuk siswa SMP/SMA/SMK atau pemula yang ingin mengembangkan robot light follower menggunakan micro atmega 8 anda bisa ikuti panduan berikut ini:

Desain PCB minimum system atmega 8 yang ditambahkan 2 buah photodioda dan ic driver L293D sebagai pemacu motor dc 12v, adapun pin-pin yang dipakai adalah:
PIN MICRO ATMEGA 8 YANG DIPAKAI
SENSOR PD1 = PIN PC2 (ADC2)
SENSOR PD2 = PIN PC4 (ADC4)
SAMBUNGAN KE L293D
0C1A => PB1 ENABLE PD7
0C1B => PB2 ENABLE PD6
LAMPU LED INDICATOR SENSOR DETEKSI PB0

Untuk desain pcb bisa menggunakan software diptrace sbb:
Desain PCB Diptrace
PCB Tampak atas
PCB Tampak Bawah

Kode program CAVR bisa anda kembangkan lagi, silahkan dicek:

/*****************************************************
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 : light-follow-micro
Version : 1
Date    : 12/15/2015
Author  : Tim Mutekla
Company : Mutekla robotic center
Comments: TokoRobot.NET

Chip type               : ATmega8
Program type            : Application
AVR Core Clock frequency: 11.059200 MHz
Memory model            : Small
External RAM size       : 0
Data Stack size         : 256
*****************************************************/

#include
#include

#define ADC_VREF_TYPE 0x20

// Read the 8 most significant bits
// of the AD conversion result
unsigned char read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCH;
}

// Declare your global variables here
#define LED PORTB.0
int sensorL,sensorR;


//==Motor==================================================
// PWM plus(+) maju ,, PWM minus(-) mundur
void motor(int pwmL,int pwmR){
    if(pwmL>255){pwmL=255;}
    else
    if(pwmL<-255 pwml="-255;}</p">    if(pwmR>255){pwmR=255;}
    else
    if(pwmR<-255 pwmr="-255;}</p">
    //kiri maju
    if(pwmR>=0){
    PORTD.7=0;
    OCR1A=pwmR;
    }
    else{
    //kiri mundur
    PORTD.7=1;
    OCR1A=255+(pwmR);
    }

    //kanan maju
    if(pwmL>=0){
    PORTD.6=0;
    OCR1B=pwmL;
    }
    else{
    //kanan mundur
    PORTD.6=1;
    OCR1B=255+(pwmL);
    }
}


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=Out
// State7=T State6=T State5=T State4=T State3=T State2=0 State1=0 State0=0
PORTB=0x00;
DDRB=0x07;

// 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=Out Func6=Out Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=0 State6=0 State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0xC0;

// 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: 172.800 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=0x0B; //0x03; 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
// USART disabled
UCSRB=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC Clock frequency: 691.200 kHz
// ADC Voltage Reference: AREF pin
// Only the 8 most significant bits of
// the AD conversion result are used
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x84;

// SPI initialization
// SPI disabled
SPCR=0x00;

// TWI initialization
// TWI disabled
TWCR=0x00;

while (1)
      {
      // Place your code here
      //baca adc
      sensorL=read_adc(2);
      sensorR=read_adc(4);
   
      if(sensorL<80 amp="" sensorr="">80){LED=1;motor(60,0);delay_ms(10);}else 
      if(sensorR<80 amp="" sensorl="">80){LED=1;motor(0,60);delay_ms(10);}else
      if(sensorL<80 amp="" delay_ms="" motor="" p="" sensorr="">      else{LED=0;motor(0,0);delay_ms(50);};

      }
}
Hasil testing robot berjalan dengan baik, lihat video dibawah ini:

Berminat bisa wa/sms : 085788800225
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