Membuat Kendali Robot Menggunakan Bluetooth dan Computer ( Komputer PC )
Kali ini saya akan menjelaskan mengenai bagaimana cara membuat sebuah robot yang canggih yaitu robot yang bisa dikendalikan maju, mundur, kiri dan kanan menggunakan komputer, komunikasi yang digunakan adalah bluetooth, jadi untuk masalah jarak tidak bisa terlalu jauh tergantung spesifikasi yang dipakai baik itu bluetooth komputer maupun HC-05 yang dipakai oleh robot, robot ini menggunakan program interface VB 6. untuk lebih jelasnya berikut penjelasanya.
a. Minimum System + L293
b. Bluetooth HC-05
c. Program Bascom AVR
$regfile = "m8def.dat"
$crystal = 12000000
$baud = 9600
Config Timer1 = Pwm , Pwm = 8 , Prescale = 64 , Compare A Pwm = Clear Up , Compare B Pwm = Clear Up
Enable Interrupts
Dim Perintah As String * 1
Ddrb.0 = 1
Ddrd.7 = 1
Ddrd.6 = 1
Ddrd.5 = 1
Dirkiri1 Alias Portb.0
Dirkiri2 Alias Portd.7
Dirkanan1 Alias Portd.6
Dirkanan2 Alias Portd.5
Do
Perintah = Waitkey()
Select Case Perintah
Case "1" :
'maju
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "2" :
'mundur
Dirkiri1 = 0 'motor kiri
Dirkiri2 = 1
Dirkanan1 = 1 'motor kanan
Dirkanan2 = 0
Pwm1a = 200
Pwm1b = 200
Case "3" :
'kanan
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 1 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "4" :
'kiri
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 1
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "7" :
'kiri
Dirkiri1 = 0 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 0
Pwm1a = 0
Pwm1b = 0
End Select
$crystal = 12000000
$baud = 9600
Config Timer1 = Pwm , Pwm = 8 , Prescale = 64 , Compare A Pwm = Clear Up , Compare B Pwm = Clear Up
Enable Interrupts
Dim Perintah As String * 1
Ddrb.0 = 1
Ddrd.7 = 1
Ddrd.6 = 1
Ddrd.5 = 1
Dirkiri1 Alias Portb.0
Dirkiri2 Alias Portd.7
Dirkanan1 Alias Portd.6
Dirkanan2 Alias Portd.5
Do
Perintah = Waitkey()
Select Case Perintah
Case "1" :
'maju
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "2" :
'mundur
Dirkiri1 = 0 'motor kiri
Dirkiri2 = 1
Dirkanan1 = 1 'motor kanan
Dirkanan2 = 0
Pwm1a = 200
Pwm1b = 200
Case "3" :
'kanan
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 1 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "4" :
'kiri
Dirkiri1 = 1 'motor kiri
Dirkiri2 = 1
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 1
Pwm1a = 200
Pwm1b = 200
Case "7" :
'kiri
Dirkiri1 = 0 'motor kiri
Dirkiri2 = 0
Dirkanan1 = 0 'motor kanan
Dirkanan2 = 0
Pwm1a = 0
Pwm1b = 0
End Select
Loop
d. Program Interface VB 6
Dim arrdata()
Dim TotalBaca As Integer
Dim BMI As Single
Dim Keterangan As String
Const MAKSBACA = 10
'-----------------------------
Private Sub atas_Click()
MSComm2.Output = "1" + Chr(13) 'mengirimkan angka 1 ke serial
End Sub
'-----------------------------
Private Sub bawah_Click()
MSComm2.Output = "2" + Chr(13) 'mengirimkan angka 2 ke serial
End Sub
'-----------------------------
Private Sub berhenti_Click()
start.Enabled = True
berhenti.Enabled = False
TimerBaca.Enabled = False
End Sub
'-----------------------------
Private Sub BUZZ_Click()
MSComm2.Output = "5" + Chr(13)
End Sub
Private Sub Command1_Click()
MSComm2.Output = "7" + Chr(13)
End Sub
'-----------------------------
Private Sub Command2_Click()
Unload Me
End Sub
Private Sub Down_Click()
End Sub
'-----------------------------
Private Sub Form_Load()
Dim i As Byte
For i = 1 To 16
ComboCOM.AddItem (i)
Next i
End Sub
Private Sub kanan_Click()
MSComm2.Output = "4" + Chr(13)
End Sub
Private Sub kiri_Click()
MSComm2.Output = "3" + Chr(13)
End Sub
'----------------------------
Private Sub start_Click()
Dim u As Integer
On Error GoTo ada_eror
MSComm2.CommPort = ComboCOM.Text
MSComm2.Settings = "9600,N,8,1"
MSComm2.RThreshold = 15
MSComm2.InputLen = 15
MSComm2.InputMode = comInputModeText
MSComm2.PortOpen = True
ReDim arrdata(1 To MAKSBACA + 1)
For u = 1 To MAKSBACA
arrdata(u) = 0
Next
TotalBaca = 0
start.Enabled = False
berhenti.Enabled = True
TimerBaca.Enabled = True
ada_eror:
If ComboCOM.ListIndex < 1 Then
MsgBox "COM berada di Nomor : " & Err.Number & vbCrLf & Err.Description, vbCritical + vbOKOnly, "ERROR"
start.Enabled = True
berhenti.Enabled = True
ComboCOM.Text = "Pilih COM"
End If
End Sub
'-----------------------------------
Private Sub TimerBaca_Timer()
Dim strInput As String
Dim strPotong As String
Dim singleInput As Single
Dim u As Integer
' strInput = MSComm2.Input
' strPotong = strInput
'Text1.Text = Text1.Text + strPotong + vbCrLf
' singleInput = Val(strPotong)
' If TotalBaca >= MAKSBACA Then
' TimerBaca.Enabled = False
' If MSComm2.PortOpen = True Then MSComm2.PortOpen = False
' Call berhenti_Click
' End If
End Sub
Dim TotalBaca As Integer
Dim BMI As Single
Dim Keterangan As String
Const MAKSBACA = 10
'-----------------------------
Private Sub atas_Click()
MSComm2.Output = "1" + Chr(13) 'mengirimkan angka 1 ke serial
End Sub
'-----------------------------
Private Sub bawah_Click()
MSComm2.Output = "2" + Chr(13) 'mengirimkan angka 2 ke serial
End Sub
'-----------------------------
Private Sub berhenti_Click()
start.Enabled = True
berhenti.Enabled = False
TimerBaca.Enabled = False
End Sub
'-----------------------------
Private Sub BUZZ_Click()
MSComm2.Output = "5" + Chr(13)
End Sub
Private Sub Command1_Click()
MSComm2.Output = "7" + Chr(13)
End Sub
'-----------------------------
Private Sub Command2_Click()
Unload Me
End Sub
Private Sub Down_Click()
End Sub
'-----------------------------
Private Sub Form_Load()
Dim i As Byte
For i = 1 To 16
ComboCOM.AddItem (i)
Next i
End Sub
Private Sub kanan_Click()
MSComm2.Output = "4" + Chr(13)
End Sub
Private Sub kiri_Click()
MSComm2.Output = "3" + Chr(13)
End Sub
'----------------------------
Private Sub start_Click()
Dim u As Integer
On Error GoTo ada_eror
MSComm2.CommPort = ComboCOM.Text
MSComm2.Settings = "9600,N,8,1"
MSComm2.RThreshold = 15
MSComm2.InputLen = 15
MSComm2.InputMode = comInputModeText
MSComm2.PortOpen = True
ReDim arrdata(1 To MAKSBACA + 1)
For u = 1 To MAKSBACA
arrdata(u) = 0
Next
TotalBaca = 0
start.Enabled = False
berhenti.Enabled = True
TimerBaca.Enabled = True
ada_eror:
If ComboCOM.ListIndex < 1 Then
MsgBox "COM berada di Nomor : " & Err.Number & vbCrLf & Err.Description, vbCritical + vbOKOnly, "ERROR"
start.Enabled = True
berhenti.Enabled = True
ComboCOM.Text = "Pilih COM"
End If
End Sub
'-----------------------------------
Private Sub TimerBaca_Timer()
Dim strInput As String
Dim strPotong As String
Dim singleInput As Single
Dim u As Integer
' strInput = MSComm2.Input
' strPotong = strInput
'Text1.Text = Text1.Text + strPotong + vbCrLf
' singleInput = Val(strPotong)
' If TotalBaca >= MAKSBACA Then
' TimerBaca.Enabled = False
' If MSComm2.PortOpen = True Then MSComm2.PortOpen = False
' Call berhenti_Click
' End If
End Sub
e. VIDEO HASILNYA
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