LAMPIRAN A SKEMATIK RANGKAIAN

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LAMPIRAN B FOTO ALAT

Lampiran B-

A.

Foto Lengan Robot

Foto Lengan Robot

Lampiran B-

B.

Foto Lengan Pengendali

Foto Lengan Pengendali

Lampiran B-3

C.

Foto Rangkaian Elektronika

Foto Rangkaian

LAMPIRAN C LISTING PROGRAM

$crystal = 4000000 $baud = 19200 $regfile = "m8535.dat" Config Adc = Single , Prescaler = Auto Start Adc Config Portc = Output Servo1 Alias Portc.0 Servo2 Alias Portc.1 Servo3 Alias Portc.2 Servo4 Alias Portc.3 Servo5 Alias Portc.4 Servo6 Alias Portc.5

Dim Vr1 As Word , Vr2 As Word , Vr3 As Word , Vr4 As Word , Vr5 As Word , Vr6 As Word Dim Vr1o As Word , Vr2o As Word , Vr3o As Word , Vr4o As Word , Vr5o As Word , Vr6o As Word

Dim _adc As Word

Dim H1 As Word , H2 As Word , H3 As Word , H4 As Word , H5 As Word , H6 As Word Dim F As Word Dim Buffer As Integer

Dim Nputaran As Integer

Nputaran = 10

Declare Sub Getsensor

H1 = 150 H2 = 220 H3 = 60 H4 = 40 H5 = 80 H6 = 125

Buffer = Nputaran Vr1 = 0 Vr2 = 0 Vr3 = 0 Vr4 = 0 Vr5 = 0 Vr6 = 0

Print

Main:

' Set Servo1 For F = 0 To H1 Step 1 Next F

Reset Servo1 For F = H1 To 250 Step 1 Next F ' Set Servo2 For F = 0 To H2 Step 1 Next F

Reset Servo2 For F = H2 To 250 Step 1 Next F

' Set Servo3 For F = 0 To H3 Step 1 Next F

Reset Servo3 For F = H3 To 250 Step 1

Next F ' Set Servo4 For F = 0 To H4 Step 1 Next F

Reset Servo4 For F = H4 To 250 Step 1 Next F ' Set Servo5 For F = 0 To H5 Step 1 Next F

Reset Servo5 For F = H5 To 250 Step 1 Next F ' Set Servo6 For F = 0 To H6 Step 1 Next F

Reset Servo6 For F = H6 To 250 Step 1

Next F ' Call Getsensor Waitus 20000 'Waitms 50

Goto Main

End

Sub Getsensor: _adc = Getadc(0) Vr1o = _adc * 19 Vr1o = Vr1o / 62

_adc = Getadc(1) Vr2o = _adc - 240 Vr2o = Vr2o * 85 Vr2o = Vr2o / 316

_adc = Getadc(2) Vr3o = _adc * 35 Vr3o = Vr3o / 151

_adc = Getadc(3) Vr4o = _adc * 14 Vr4o = Vr4o / 57

_adc = Getadc(4) Vr5o = _adc 'Vr5o = Vr5o / 13

_adc = Getadc(5) Vr6o = _adc * 9 Vr6o = Vr6o / 50

'Print Chr(13); 'Print "VR1:" ; H1 ; " VR2:" ; H2 ; " VR3:" ; H3 ; " VR4:" ; H4 ; " VR5:" ; H5 ; " VR6:" ; H6 ; " "; 'Print "VR1:" ; Vr1o ; " VR2:" ; Vr2o ; " VR3:" ; Vr3o ; " VR4:" ; Vr4o ; " VR5:" ; Vr5o ; " VR6:" ; Vr6o ; " ";

If Buffer = 0 Then Buffer = Nputaran

Vr1 = Vr1 / Buffer H1 = Vr1 Vr1 = 0 '* 10

Vr2 = Vr2 / Buffer H2 = Vr2 Vr2 = 0 '* 10

Vr3 = Vr3 / Buffer H3 = Vr3 Vr3 = 0 '* 10

Vr4 = Vr4 / Buffer H4 = Vr4 Vr4 = 0 '* 10

Vr5 = Vr5 / Buffer 'H5 = Vr5 If Vr5 < 80 Then H5 = 80 Else H5 = 150 End If Vr5 = 0 '* 10

Vr6 = Vr6 / Buffer H6 = Vr6 '* 10

Vr6 = 0

Else Vr1o = Vr1o + 50 Vr1 = Vr1 + Vr1o

Vr2o = Vr2o + 50 Vr2 = Vr2 + Vr2o

Vr3o = Vr3o + 50 Vr3 = Vr3 + Vr3o

Vr4o = Vr4o + 40 Vr4 = Vr4 + Vr4o

'Vr5o = Vr5o + 80 Vr5 = Vr5 + Vr5o

Vr6o = Vr6o + 40 Vr6 = Vr6 + Vr6o

End If Decr Buffer

End Sub

'Servo 1 = Servo terbawah. Makin besar nilai, berputar CCW (Lawan Jam) (H: 50 - 240) 'Servo 2 = 2 dari bawah. Makin besar nilai, makin mundur (H: 170: Vertikal, H: 50 - 220) 'Servo 3 = 3 dari bawah. Makin besar nilai, makin mundur (H: 130: Vertikal, H: 70 - 200) 'Servo 4 = 4 dari bawah. Makin besar nilai, makin mundur (H: 140: Lurus, H: 40 - 180) 'Servo 5 = Jari. Makin besar nilai, makin terbuka (H: 80 - 150) 'Servo 6 = Sebelum Jari (Pergelangan). Makin besar nilai, berputar CW (Sama Jam) (H: 125: Tengah, H: 35 - 215)