#define s1 PINA.0 //Pendekalrasian sensor 1 di pinA.0
#define s2 PINA.1 //Pendekalrasian sensor 2 di pinA.1
#define s3 PINA.2 //Pendekalrasian sensor 3 di pinA.2
#define s4 PINA.3 //Pendekalrasian sensor 4 di pinA.3
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=0x00;
DDRA=0x00;
// 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
// 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=0xFF;
// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State7=T State6=T 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: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 12000,000 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// 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=0xA1;
TCCR1B=0x09;
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=0x00;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// Tambahkan kode program dibawah u/mengatur Kecepatan motor Dc(pwm=50)
OCR1AL=50;
OCR1BL=50;
while (1)
{
/*posisi sensor
s1 s2 s3 s4
kiri kanan
*/
if (s1==0&&s2==1&&s3==1&&s4==0) //Sensor 2 & 3 yang mendeteksi line(inp>=3 volt)
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=0; //Motor maju semua
}
if(s1==1&&s2==1&&s3==0&&s4==0) //Sensor 1 & 2 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=1;
PORTC.2=1;
PORTC.3=0; //Motor 1 stop motor 2 maju
}
if(s1==1&&s2==1&&s3==1&&s4==0) //Sensor 1, 2 & 3 yang mendeteksi line
{
PORTC.0=0;
PORTC.1=1;
PORTC.2=1;
PORTC.3=0; //Motor 1 Mundur motor 2 maju
}
if(s1==1&&s2==0&&s3==0&&s4==0) //Hanya Sensor 1 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=1;
PORTC.2=1;
PORTC.3=0; //Motor 1 Stop motor 2 maju
}
if(s1==0&&s2==1&&s3==0&&s4==0) //Hanya Sensor 2 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=1;
PORTC.2=1;
PORTC.3=0; //Motor 1 Stop motor 2 maju
}
if(s1==0&&s2==0&&s3==1&&s4==1) //Sensor 3 & 4 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=1; //Motor 1 maju motor 2 stop
}
if(s1==0&&s2==1&&s3==1&&s4==1) //Sensor 2, 3 & 4 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=0;
PORTC.3=1; //Motor 1 maju motor 2 mundur
}
if (s1==0&&s2==0&&s3==0&&s4==1) //Hanya Sensor 4 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=1; //Motor 1 maju motor 2 stop
}
if (s1==0&&s2==0&&s3==1&&s4==0) //Hanya Sensor 3 yang mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=1; //Motor 1 maju motor 2 stop
}
if(s1==0&&s2==0&&s3==0&&s4==0) //Tidak ada sensor yang mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=0; //Motor 1 maju motor 2 maju
}
if (s1==1&&s2==1&&s3==1&&s4==1) //Semua sensor mendeteksi line
{
PORTC.0=1;
PORTC.1=0;
PORTC.2=1;
PORTC.3=0; //Motor 1 maju motor 2 maju
}
};
}
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