DESAIN PROTEUS & PROGRAM Code Vision AVR ROBOT LINE FOLLOWER DIGITAL RA04

/*****************************************************This program was produced by theCodeWizardAVR V2.05.0 ProfessionalAutomatic Program Generator© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project : Robot Line followerVersion : IDate    : 11/8/2012Author  : Mada Sanjaya WS, Ph.DCompany : Bolabot Techno Robotic SchoolComments: www. bolabot. com
Chip type                 : ATmega16Program type            : ApplicationAVR Core Clock frequency: 12.000000 MHzMemory model            : SmallExternal RAM size       : 0Data Stack size         : 256*****************************************************/#include <mega16.h># include <delay.h> //tambahan program untuk membuat waktu tunda
// Alphanumeric LCD Module functions#include <alcd.h>
// Declare your global variables here
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=TPORTA=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=TPORTB=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=TPORTC=0x00;DDRC=0x00;
// Port D initialization// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=TPORTD=0x00;DDRD=0x30;
// Timer/Counter 0 initialization// Clock source: System Clock// Clock value: Timer 0 Stopped// Mode: Normal top=0xFF// OC0 output: DisconnectedTCCR0=0x00;TCNT0=0x00;OCR0=0x00;
// Timer/Counter 1 initialization// Clock source: System Clock// Clock value: 11.719 kHz// Mode: Fast PWM top=0x00FF// OC1A output: Non-Inv.// OC1B output: Non-Inv.// Noise Canceler: Off// Input Capture on Falling Edge// Timer1 Overflow Interrupt: Off// Input Capture Interrupt: Off// Compare A Match Interrupt: Off// Compare B Match Interrupt: OffTCCR1A=0xA1;TCCR1B=0x0D;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: Timer2 Stopped// Mode: Normal top=0xFF// OC2 output: DisconnectedASSR=0x00;TCCR2=0x00;TCNT2=0x00;OCR2=0x00;
// External Interrupt(s) initialization// INT0: Off// INT1: Off// INT2: OffMCUCR=0x00;MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initializationTIMSK=0x00;
// USART initialization// USART disabledUCSRB=0x00;
// Analog Comparator initialization// Analog Comparator: Off// Analog Comparator Input Capture by Timer/Counter 1: OffACSR=0x80;SFIOR=0x00;
// ADC initialization// ADC disabledADCSRA=0x00;
// SPI initialization// SPI disabledSPCR=0x00;
// TWI initialization// TWI disabledTWCR=0x00;
// Alphanumeric LCD initialization// Connections specified in the// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:// RS - PORTC Bit 0// RD - PORTC Bit 1// EN - PORTC Bit 2// D4 - PORTC Bit 4// D5 - PORTC Bit 5// D6 - PORTC Bit 6// D7 - PORTC Bit 7// Characters/line: 16lcd_init(16);
// Tambahan kode mendefinisikan input outputDDRB.0=0; // input sensor kiriDDRB.1=0; // input sensor kananDDRD.0=1; // output motor kiriDDRD.1=1; // output motor kiriDDRD.2=1; // output motor kananDDRD.3=1; // output motor kanan// Tambahan kode mendefinisikan kecepatan motor PWMOCR1A=200;// kecepatan dapat diubah sesuai kebutuhanOCR1B=200;// kecepatan dapat diubah sesuai kebutuhan// Tambahan kode mendefinisikan kondisi awalPORTB.0=1;   //sensor kiriPORTB.1=1;   //sensor kananPORTD.0=0;PORTD.1=0;PORTD.2=0;PORTD.3=0;while (1)      {if (PINB.0==1 &  PINB.1==0)   //    Tambahan kode sensor kiri hitam, kanan putih, maka belok kiri{ PORTD.0=1;PORTD.1=0;PORTD.2=0;PORTD.3=1;lcd_clear ();lcd_gotoxy(0,0);lcd_putsf("B0=1 B1=0");lcd_gotoxy(0,1);lcd_putsf("BELOK KIRI");delay_ms(100);}else if (PINB.0==0 &  PINB.1==1)   //    Tambahan kode sensor kiri putih, kanan hitam, maka belok kanan{ PORTD.0=0;PORTD.1=1;PORTD.2=1;PORTD.3=0;lcd_clear();lcd_gotoxy(0,0);lcd_putsf("B0=0 B1=1");lcd_gotoxy(0,1);lcd_putsf("BELOK KANAN");delay_ms(100);}else if (PINB.0==1 &  PINB.1==1)   //    Tambahan kode sensor kiri hitam, kanan hitam, maka mati{ PORTD.0=0;PORTD.1=0;PORTD.2=0;PORTD.3=0;lcd_clear ();lcd_gotoxy(0,0);lcd_putsf("B0=1 B1=1");lcd_gotoxy(0,1);lcd_putsf("MATI");delay_ms(100);}else      //    Tambahan kode sensor kiri putih, kanan putih, maka bergerak maju{ PORTD.0=0;PORTD.1=1;PORTD.2=0;PORTD.3=1;lcd_clear();lcd_gotoxy(0,0);lcd_putsf("B0=0 B1=0");lcd_gotoxy(0,1);lcd_putsf("MAJU");delay_ms(100);}      }}

ROBOT LINE FOLLOWER DIGITAL SEDERHANA DENGAN ATMEGA 8
Jika desain diatas dibuat menggunakan mikrokontroler AT mega 8, maka berikut ini merupakan desain robot line follower digital menggunakan mikrokontroler ATmega 8, dan 2 buah sensor phototransistor yang lebih sederhana.