Membuat Robot Line Tracer atau Robot Line Follower Menggunakan ARDUINO

Membuat Robot Line Tracer atau Robot Line Follower Menggunakan ARDUINO

           Pada kesempatan kali ini saya akan menjelaskan mengenai bagaimana cara membuat sebuah robot dengan menggunakan Arduino sebagai kontrollernya. robot ini menggunakan sensor photodioda dan driver motor yang digunakan adalah modul drver L298. untuk lebih jelasnya berikut adalah daftar komponen dan programnya.

a. Arduino Uno

b. Driver Motor L298

c. Sensor Photodioda dan LED 

d. Motor DC dan Roda

e. Program Arduino IDE

#include <Wire.h>

int a,b,c,d,e,f,g,h ;
int aa = A3;
int bb = A4;
int cc = A5;

int a1 = 950;
int b1 = 850;
int c1 = 850;
int d1 = 900;
int e1 = 860;
int f1 = 850;
int g1 = 860;
int h1 = 750;

int kecepatan = 155;

void setup(){
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
pinMode(2,OUTPUT);
pinMode(3,OUTPUT);
pinMode(4,OUTPUT);
pinMode(5,OUTPUT);
pinMode(aa,OUTPUT);
pinMode(bb,OUTPUT);
pinMode(cc,OUTPUT);
pinMode(11,OUTPUT);
digitalWrite(11,LOW);
Serial.begin (9600);
}


void loop(){
digitalWrite(aa,LOW);
digitalWrite(bb,LOW);
digitalWrite(cc,LOW);
a = analogRead(A0);

digitalWrite(aa,LOW);
digitalWrite(bb,LOW);
digitalWrite(cc,HIGH);
b = analogRead(A0);

digitalWrite(aa,LOW);
digitalWrite(bb,HIGH);
digitalWrite(cc,LOW);
c = analogRead(A0);

digitalWrite(aa,LOW);
digitalWrite(bb,HIGH);
digitalWrite(cc,HIGH);
d = analogRead(A0);

digitalWrite(aa,HIGH);
digitalWrite(bb,LOW);
digitalWrite(cc,LOW);
e = analogRead(A0);

digitalWrite(aa,HIGH);
digitalWrite(bb,LOW);
digitalWrite(cc,HIGH);
f = analogRead(A0);

digitalWrite(aa,HIGH);
digitalWrite(bb,HIGH);
digitalWrite(cc,LOW);
g = analogRead(A0);

digitalWrite(aa,HIGH);
digitalWrite(bb,HIGH);
digitalWrite(cc,HIGH);
h = analogRead(A0);

Serial.print (a);
Serial.print (" ");
Serial.print (" ");
Serial.print (b);
Serial.print (" ");
Serial.print (" ");
Serial.print (c);
Serial.print (" ");
Serial.print (" ");
Serial.print (d);
Serial.print (" ");
Serial.print (" ");
Serial.print (e);
Serial.print (" ");
Serial.print (" ");
Serial.print (f);
Serial.print (" ");
Serial.print (" ");
Serial.print (g);
Serial.print (" ");
Serial.print (" ");
Serial.println (h);


if ((a > a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}

if ((a < a1)&&(b > b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}

if ((a < a1)&&(b < b1)&&(c > c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}

if ((a < a1)&&(b < b1)&&(c < c1)&&(d > d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan); 
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e > e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f > f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g > g1)&&(h < h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h > h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan); 
}
if ((a > a1)&&(b > b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b > b1)&&(c > c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c > c1)&&(d > d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d > d1)&&(e > e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e > e1)&&(f > f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f > f1)&& (g > g1)&&(h < h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g > g1)&&(h > h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a > a1)&&(b < b1)&&(c < c1)&&(d > d1)&&(e > e1)&&(f > f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, LOW);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a < a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f < f1)&& (g < g1)&&(h < h1)) {
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, HIGH);
digitalWrite(5, LOW);
analogWrite(10,kecepatan);
}
if ((a > a1)&&(b > b1)&&(c > c1)&&(d > d1)&&(e > e1)&&(f > f1)&& (g > g1)&&(h > h1)) {
  digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, HIGH);
analogWrite(10,kecepatan);
}
if ((a > a1)&&(b < b1)&&(c < c1)&&(d < d1)&&(e < e1)&&(f > f1)&& (g > g1)&&(h > h1)) {
  digitalWrite(2, HIGH);
digitalWrite(3, LOW);
analogWrite(9,kecepatan);
digitalWrite(4, LOW);
digitalWrite(5, HIGH);
analogWrite(10,kecepatan);
delay(5000);
}
}





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