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

This program was produced by the

CodeWizardAVR V2.04.4a Advanced
Automatic Program Generator
Copyright 1998-2009 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project :
Version :
Date
: 05/05/2011
Author : NeVaDa
Company : DarkOS
Comments:
Chip type
: ATmega8535
Program type
: Application
AVR Core Clock frequency: 4,000000 MHz
Memory model
: Small
External RAM size
: 0
Data Stack size
: 128
*****************************************************/
#include <mega8535.h>
#include <stdio.h>
#include <delay.h>
#include <stdlib.h>
// I2C Bus functions
#asm
.equ __i2c_port=0x15 ;PORTC
.equ __sda_bit=1
.equ __scl_bit=0
#endasm
#include <i2c.h>
// Alphanumeric LCD Module functions
#asm
.equ __lcd_port=0x18 ;PORTB
#endasm
#include <lcd.h>
#define ADC_VREF_TYPE 0x00
//kipas
// c0.1
#define
#define
#define
#define

& Servo
compas
servo PORTC.3
uv PINA.1
act PINC.4
kipas PORTC.5

//inisialisasi ping
//#define in_ping PINA
#define inp1 PINA.2
#define inp2 PINA.3
#define inp3 PINA.4
#define inp4 PINA.5
#define inp5 PINA.6
#define inp6 PINA.7
#define inp7 PINC.6
#define inp8 PINC.7

//#define dirping DDRA

#define dirp1 DDRA.2
#define dirp2 DDRA.3
#define dirp3 DDRA.4
#define dirp4 DDRA.5
#define dirp5 DDRA.6
#define dirp6 DDRA.7
#define dirp7 DDRC.6
#define dirp8 DDRC.7
//#define out_ping PORTA
#define outp1 PORTA.2
#define outp2 PORTA.3
#define outp3 PORTA.4
#define outp4 PORTA.5
#define outp5 PORTA.6
#define outp6 PORTA.7
#define outp7 PORTC.6
#define outp8 PORTC.7
//--------------inisialisasi motor-----------------------------------#define dirA_Ki
PORTD.0
// Direction A untuk motor kiri
#define dirB_Ki
PORTD.1
// Direction B untuk motor kiri
#define EnKi
PORTD.6
// Enable L298 untuk motor kiri
#define EnKa
PORTD.7
// Enable L298 untuk motor kanan
#define dirC_Ka
PORTD.2
// Direction C untuk motor kanan
#define dirD_Ka
PORTD.3

unsigned
unsigned
unsigned
unsigned
unsigned

char a,lpwm,rpwm;
int crt1,crt2,crt3,crt4,crt5,crt6,crt7, crt8;
int us1,us2,us3,us4,us5,us6,us7, us8, i;
char buff[16];
char Msg1[20], Msg2[20];

// Read the AD conversion result

unsigned int 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 ADCW;
}
// Declare your global variables here
unsigned char baris1[16];
unsigned int sound;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here

a++;
if(a<=lpwm)
{
EnKi=1;
}
else
{
EnKi=0;
}
if(a<=rpwm)
{EnKa=1;
}
else
{
EnKa=0;
}
}
//--------------------kompas-------------------------------unsigned char data;
unsigned char read_compas(unsigned char address)
{ //
//unsigned char data;
i2c_start();
i2c_write(0xC0);
//i2c_write(0x01);
i2c_write(address);
i2c_start();
i2c_write(0xC0| 1);
//i2c_write(0xc0);
data=i2c_read(0);
i2c_stop();
return data;
}
void compas()
{ sprintf(Msg1,"COMPAS
",);
lcd_gotoxy(0,1);
lcd_puts(Msg1);
sprintf(Msg2,"DATA = %3d ",read_compas(0x01));
lcd_gotoxy(0,0);
lcd_puts(Msg2);
}
//------------------------sound-----------------------------------------------void suara()
{ sound=read_adc(0);
sprintf(baris1,"sound = %d",sound);
lcd_gotoxy(0,1);
lcd_puts(baris1);
}
//---------------------kendali motor-----------------------------------------void maju()
{
dirA_Ki=1;
dirB_Ki=0;
dirC_Ka=1;
dirD_Ka=0;
}
void maju_lrs()

{
maju();lpwm=100;rpwm=110;
}
void maju_cpt()
{
maju();lpwm=120;rpwm=130;
}
void maju_scan()
{
maju();lpwm=60;rpwm=70 ;
}
void kiri()
{
dirA_Ki=0;
dirB_Ki=1;
dirC_Ka=1;
dirD_Ka=0;
}
void kekiri(){
//kiri();
maju();
rpwm=50;lpwm=70;
}
void kanan()
{
dirA_Ki=1;
dirB_Ki=0;
dirC_Ka=0;
dirD_Ka=1;
}
void belok_kanan()
{
kanan();
lpwm=70;rpwm=40;}
void belok_kiri(){
kiri();
lpwm=50;rpwm=70;
}
void Turnki_1(unsigned char torki, unsigned char torka, unsigned char t)
{
unsigned int i;
belok_kiri();
rpwm=torka;
lpwm=torki;
delay_ms(t);
for(i=0;i<200;i++) while(!uv){};
for(i=0;i<200;i++) while(uv){};
}
void Turnka_1(unsigned char torki, unsigned char torka, unsigned char t)
{
unsigned int i;
belok_kanan();
rpwm=torka;
lpwm=torki;
delay_ms(t);
for(i=0;i<200;i++) while(!uv){};
for(i=0;i<200;i++) while(uv){};

}
void stop()
{
dirA_Ki=0;
dirB_Ki=0;
dirC_Ka=0;
dirD_Ka=0;
//lpwm=0;rpwm=0;
}
void mandeg()
{
lpwm=0;rpwm=0;
}
void mundur()
{
dirA_Ki=0;
dirB_Ki=1;
dirC_Ka=0;
dirD_Ka=1;
lpwm=70;rpwm=80;
}
void mun()
{
dirA_Ki=0;
dirB_Ki=1;
dirC_Ka=0;
dirD_Ka=1;
lpwm=30;rpwm=40;
delay_ms(500);
}
void kekanan()
{ //kanan();
maju();
rpwm=70;lpwm=50;
}
void lurus(){
maju();
rpwm=70;
lpwm=84;
// for(lpwm=30;lpwm<=74;lpwm++)
// for(rpwm=42;rpwm<=84;rpwm++}
}
void power(){
maju();
// rpwm=110;
// lpwm=110;
for(lpwm=20;lpwm<=100;lpwm++){}
for(rpwm=20;rpwm<=90;rpwm++){}}
//control pingvoid tampil()
{
lcd_clear();
sprintf(buff,"%3d",us1);lcd_gotoxy(0,0);lcd_puts(buff);
sprintf(buff,"%3d",us2);lcd_gotoxy(4,0);lcd_puts(buff);
sprintf(buff,"%3d",us3);lcd_gotoxy(8,0);lcd_puts(buff);
sprintf(buff,"%3d",us4);lcd_gotoxy(12,0);lcd_puts(buff);
sprintf(buff,"%3d",us5);lcd_gotoxy(16,0);lcd_puts(buff);
sprintf(buff,"%3d",us6);lcd_gotoxy(4,1);lcd_puts(buff);
sprintf(buff,"%3d",us7);lcd_gotoxy(8,1);lcd_puts(buff);

sprintf(buff,"%3d",us8);lcd_gotoxy(12,1);lcd_puts(buff);
delay_ms(10);
}
void serv()
{ /* if(uv==1)
{
mundur();
delay_ms(100);
stop();
delay_ms(500);
kipas=1;
lcd_clear();
lcd_gotoxy(0,0);
lcd_putsf("api");
*/
for(i=0;i<50;i++)
{
PORTC.2=1;
delay_us(1200); //2000
PORTC.2=0;
delay_us(18100);
}
for(i=0;i<50;i++)
{
PORTC.2=1;
delay_us(600); //2000
PORTC.2=0;
delay_us(18100);
}
for(i=0;i<50;i++)
{
PORTC.2=1;
delay_us(1200);
PORTC.2=0;
delay_us(18900);
}
for(i=0;i<50;i++)
{
PORTC.2=1;
delay_us(2000);
PORTC.2=0;
delay_us(18900);
}
kipas=0;
delay_ms(300);
stop();
delay_ms(100);
//
}
// else
//
if(uv==0){
// PORTC.5=0;
// }
}
void ping(){

crt1=0;
dirp1=1;
//set as output
outp1=1;
//set low
delay_us(5);
outp1=0; //set high
dirp1=0;
//set as input
outp1=1;
while (inp1==0)
{};
while(inp1==1)
{ crt1++;}
us1=(crt1*0.034441); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt2=0;
dirp2=1;
//set as output
outp2=0;
//set low
delay_us(5);
outp2=1;
//set high
delay_us(5);
outp2=0;
//set low
delay_us(10);
dirp2=0;
//set as input
while (inp2==0)
{};
while(inp2==1)
{ crt2++;}
us2=(crt2*0.034442); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt3=0;
dirp3=1;
//set as output
outp3=0;
//set low
delay_us(5);
outp3=1;
//set high
delay_us(5);
outp3=0;
//set low
delay_us(10);
dirp3=0;
//set as input
while (inp3==0)
{};
while(inp3==1)
{ crt3++;}
us3=(crt3*0.034442); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt4=0;
dirp4=1;
//set as output
outp4=0;
//set low
delay_us(5);
outp4=1;
//set high
delay_us(5);
outp4=0;
//set low
delay_us(10);
dirp4=0;
//set as input
while (inp4==0)
{};
while(inp4==1)
{ crt4++;}
us4=(crt4*0.034442); // Untuk clock 4,0000 Mhz

delay_ms(10);
crt5=0;
dirp5=1;
//set as output
outp5=0;
//set low
delay_us(5);
outp5=1;
//set high
delay_us(5);
outp5=0;
//set low
delay_us(10);
dirp5=0;
//set as input
while (inp5==0)
{};
while(inp5==1)
{ crt5++;}
us5=(crt5*0.034442); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt6=0;
dirp6=1;
//set as output
outp6=1;
//set low
delay_us(5);
outp6=0; //set high
dirp6=0;
//set as input
outp6=1;
while (inp6==0)
{};
while(inp6==1)
{ crt6++;}
us6=(crt6*0.034442); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt7=0;
dirp7=1;
//set as output
outp7=1;
//set low
delay_us(5);
outp7=0; //set high
dirp7=0;
//set as input
outp7=1;
while (inp7==0)
{};
while (inp7==1)
{ crt7++;}
us7=(crt7*0.034442); // Untuk clock 4,0000 Mhz
delay_ms(10);
crt8=0;
dirp8=1;
//set as output
outp8=1;
// set high
delay_us(5);
outp8=0;
//set low
dirp8=0;
outp8=1;
//set as input
while (inp8==0)
{};
while(inp8==1)
{ crt8++;}
us8=(crt8*0.034442); // Untuk clock 4,0000 Mhz
// delay_ms(10);

}
void melaku()
{
if((us7>6)&&(us3>11)&&(us4>7)){
lcd_clear(); lurus(); lcd_gotoxy(0,0); lcd_putsf("maju");
}
if((us7>6)&&(us3<11)||(us7>6)&&(us2<7)||(us7>6)&&(us3<11)&&(us2<10)){
lcd_clear(); belok_kanan(); lcd_gotoxy(0,0); lcd_putsf("belok kanan");
if(us1<3){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan");
}
}
//if((us7>6)&&(us3<11)&&(us2<10)){lcd_clear(); belok_kanan(); lcd_gotoxy(0,0); l
cd_putsf("belok kanan");
//
if(us1<3){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan"
);}
//
}
if((us7>6)&&(us4<7)||(us7>6)&&(us5<3)||(us7>6)&&(us4<7)&&(us5<7)){
lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd_putsf("belok kiri");
if(us6<2){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");}}
//if((us7>6)&&(us4<7)&&(us5<10)){lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd
_putsf("belok kiri");
//if(us6<2){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");
}}
if((us7<6)&&(us3<12)||(us7<6)&&(us2<1)||(us7<6)&&(us3<12)&&(us2<12)){
lcd_clear(); belok_kanan(); lcd_gotoxy(0,0); lcd_putsf("belok kanan");}
if(us1<4){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan");
}
//if((us7<6)&&(us3<12)&&(us2<12)){lcd_clear(); belok_kanan(); lcd_gotoxy(0,0); l
cd_putsf("belok kanan");}
//
if(us1<4){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan"
);}
if((us7<6)&&(us4<7)||(us7<6)&&(us5<12)||(us7<6)&&(us4<7)&&(us5<7)){
lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd_putsf("belok kiri");
if(us6<4){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");}
}
//if((us7<6)&&(us4<7)&&(us5<12)){lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd
_putsf("belok kiri");
//
if(us6<4){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");
} }
if((us7<6)&&(us3<11)&&(us4<7)||(us7<3)){lcd_clear(); mundur(); lcd_gotoxy(0,0);
lcd_putsf("mundur"); delay_ms(400);
if(us1>us6){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kanan");}
if(us4<us6){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");}
}
if(us8<3){lcd_clear(); lurus(); lcd_gotoxy(0,0); lcd_putsf("lurus");}
//if(uv==1)
//{lcd_clear(); stop(); kipas=1; serv(); lcd_gotoxy(0,0); lcd_putsf("Api"); dela
y_ms(2000); }
//if(uv==0)
// {}
}

/*void mlaku(){
if((us7>6)&&(us3>11)&&(us4>7)&&(us8<3)){lcd_clear(); lurus(); lcd_gotoxy(0,0); l
cd_putsf("maju");}
if((us7<6)&&(us3<11)&&(us2<10)&&(us6>10)){lcd_clear(); belok_kanan(); lcd_gotoxy
(0,0); lcd_putsf("belok kanan");}
// if(us1<3){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan"
);}
//}
//if((us7>6)&&(us4<7)){lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd_putsf("be
lok kiri");
// if(us6<2){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");
}}
//if((us7<6)&&(us3<8)&&(us2<8)){lcd_clear(); belok_kanan(); lcd_gotoxy(0,0); lcd
_putsf("belok kanan");}
// if(us1<4){lcd_clear(); kekanan(); lcd_gotoxy(0,0); lcd_putsf("kekanan"
);}
//if((us7<6)&&(us4<7)&&(us5<10)&&(us1>15)){lcd_clear(); belok_kiri(); lcd_gotoxy
(0,0); lcd_putsf("belok kiri");
// if(us6<4){lcd_clear(); kekiri(); lcd_gotoxy(0,0); lcd_putsf("kekiri");
}
//if((us7<6)&&(us3<11)&&(us4<7)){lcd_clear(); mundur(); lcd_gotoxy(0,0); lcd_put
sf("mundur"); delay_ms(500);
// if((us6<4)&&(us1>10)){lcd_clear(); belok_kiri(); lcd_gotoxy(0,0); lcd_puts
f("kekiri");}
//}
//if(us8<3){lcd_clear(); lurus(); lcd_gotoxy(0,0); lcd_putsf("maju");}
}
*/
void main(void){
// Declare your local variables here
// Input/Output Ports initialization
// Port A 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
PORTA=0x02;
DDRA=0x00;
// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=O
ut
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTB=0x00;
DDRB=0xFF;
// Port C 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

PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=O
ut
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTD=0x00;
DDRD=0xFF;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 4000,000 kHz
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x01;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 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: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization

TIMSK=0x01;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x82;
SFIOR&=0xEF;
// I2C Bus initialization
i2c_init();
// LCD module initialization
lcd_init(16);
// Global enable interrupts
#asm("sei")
while(1)
{
suara();
if((act==1)||(sound>600))
{
while (1)
{
ping();
melaku();
}
}
}
}