Membuat Kontroller Angle Servo dengan Magnetometer GY-273 (HMC5883L)

Membuat Kontroller Angle Servo dengan Magnetometer GY-273 (HMC5883L)

          Pada kesempatan kali ini saya akan menjelaskan mengenai bagaimana cara membuat sebuah alat yang bisa digunakan untuk mengendalikan sudut servo, aplikasi dari alat ini sangat banyak sekali diantara yaitu untuk mengendalikan hover pesawat, sebagai joystick robot, kendali arah belokan dan sebagainya, Alat ini menggunakan sensor compass HMC5883L atau nama lainnya GY-273, sensor ini memberikan output 0 derajat sampai 360 derajat, sehingga cocok dengan gerakan servo yang ada di range 10 - 220, maka dari itu kedua device ini sangat bagus sekali jika dikombinasikan, untuk lebih jelasnya berikut skema dan programnya.

a. Minimum System

b. Sensor GY-273

c. Motor Servo 

d. Program Bascom AVR

$regfile = "m16def.dat"
$crystal = 8000000
$hwstack = 64
$swstack = 64
$framesize = 64
'-------------------------------------------------------------------------------
Config Servos = 1 , Servo1 = Portb.0 , Reload = 10
Config Portb.0 = Output

'=====[ Global Vars & Constants ]========
Dim Hmc_x As Integer
Dim Hmc_xl As Byte At Hmc_x + 0 Overlay
Dim Hmc_xh As Byte At Hmc_x + 1 Overlay

Dim Hmc_y As Integer
Dim Hmc_yl As Byte At Hmc_y + 0 Overlay
Dim Hmc_yh As Byte At Hmc_y + 1 Overlay

Dim Hmc_z As Integer
Dim Hmc_zl As Byte At Hmc_z + 0 Overlay
Dim Hmc_zh As Byte At Hmc_z + 1 Overlay
Dim Hmc_status As Byte

Dim X As Single
Dim Y As Single
Dim Z As Single
Dim Angle As Single
Dim Angleup As Single
Dim Angledown As Single
Dim A As Integer

Const Hmc_w = &H3C
Const Hmc_r = &H3D

'-------------------------------------------------------------------------------
'=====[ Misc. config ]==============
Config Scl = Portc.0
Config Sda = Portc.1
Config Twi = 400000
I2cinit

Ddrc.7 = 0
Set Portc.7

Gosub Hmc_initialize
'-------------------------------------------------------------------------------
Enable Interrupts

Main:

Do
   Gosub Hmc_readdata
   Gosub Hmc_readstatus

   ' convert integer to float
   X = Hmc_x
   Y = Hmc_y
   Z = Hmc_z

   Angle = Atn2(y , X)
   Angle = Angle * 57.29577951
   Angle = Angle + 180

   If Angle > 200 Then
   Angle = 200
   Elseif Angle < 40 Then
   Angle = 40
   Else
   A = Angle
   Servo(1) = Angle
   End If

   If Pinc.7 = 0 Then
   Servo(1) = 100
   Angleup = Angle + 10
   Angledown = Angle - 10

   Goto Awal
   End If

   Waitms 100

'Servo(1) = 40
'Wait 1

'Servo(1) = 200
'Wait 1

Loop

Awal:
Do
   Gosub Hmc_readdata
   Gosub Hmc_readstatus

   ' convert integer to float
   X = Hmc_x
   Y = Hmc_y
   Z = Hmc_z

   Angle = Atn2(y , X)
   Angle = Angle * 57.29577951
   Angle = Angle + 180

If Angle > Angleup Or Angle < Angledown Then
Goto Main
End If

Loop

'=====[ Initialize HMC Compass ]========
Hmc_initialize:
   I2cstart
    I2cwbyte Hmc_w
    I2cwbyte &H00
    I2cwbyte &B0101_1000
    I2cwbyte &H0010_0000
    I2cwbyte &H0000_0000
   I2cstop
Return
'-------------------------------------------------------------------------------

'=====[ Read HMC Compass ]===========
Hmc_readstatus:
' Read HMC Compass status
   I2cstart
    I2cwbyte Hmc_w
    I2cwbyte &H09
   I2cstart
    I2cwbyte Hmc_r
    I2crbyte Hmc_status , Nack
   I2cstop
Return
'-------------------------------------------------------------------------------

'=====[ Read HMC Compass ]=========
Hmc_readdata:
   I2cstart
    I2cwbyte Hmc_w
    I2cwbyte &H03
   I2cstart
    I2cwbyte Hmc_r
    I2crbyte Hmc_xh , Ack
    I2crbyte Hmc_xl , Ack
    I2crbyte Hmc_zh , Ack
    I2crbyte Hmc_zl , Ack
    I2crbyte Hmc_yh , Ack
    I2crbyte Hmc_yl , Nack
   I2cstop
Return
'------

e. VIDEO HASILNYA