Program Robot Line follower

// PROGRAM LINE FOLLOWER

// OLEH : FAHMIZAL

// DIPLOMA TEKNIK ELEKTRO UGM 2007

#include<mega8535.h>

#include<delay.h>

unsigned char sensor;

void maju ();

void kanan_dikit ();

void kanan_banyak ();

void kiri_dikit ();

void kiri_banyak ();

void kanan_banyaki ();

void kanan_banyak2 ();

void kanan_banting ();

void kiri_banyak2 ();

void kiri_banting ();

void ada_garis ();

void cabang ();

void henti ();

void main(void)

{

DDRD=DDRB=0xFF;

DDRA=0x00;

//----inisialisasi pwm----//            

TCCR1A=0xa3;

TCCR1B=0x0b;

TCNT1=0x0000;//000016 bit

OCR1A=0x03ff;

OCR1B=0x03FF;

TIFR=0;   

//------------------------//

                while (1)

                {

       //       PORTA=0xff;// tambahan, jangan dipakai dlam sebenarnya

                sensor=PINA;

                sensor&=0b11111111;

                switch(sensor)

        {

                case 0b11100111: maju ();  // maju lurus

                break;

                case 0b11100011: kanan_dikit (); // nyalakan kanan (dikit)

                break;

                case 0b11110001: kanan_banyak ();  // nyalakan kanan (banyak)

                break;

                case 0b11100001: kanan_banyaki ();  // nyalakan kanan (banyak)

                break; 

                case 0b11111000: kanan_banyak2 ();  // nyalakan kanan (banyak)

                break;

                case 0b11110000: kanan_banting ();  // nyalakan kiri (banyak)

                break;

                case 0b11000111: kiri_dikit ();  // nyalakan kiri (dikit)

                break;

                case 0b10001111: kiri_banyak ();  // nyalakan kiri (banyak)

                break;

                case 0b00011111: kiri_banyak2 ();  // nyalakan kiri (banyak)

                break;

                case 0b00001111: kiri_banting ();  // nyalakan kiri (banyak)

                break;

                case 0b00000000: ada_garis ();  // nyalakan kiri (banyak)

                break;

                case 0b11000011: cabang ();  // nyalakan kiri (banyak)

                break;

                case 0b11111111: henti();

                break;// pilih orientasi kanan

                }

                };

} 

//---maju---//

void maju ()

{PORTB=0b00001010;

OCR1A=0x3ff; //KANAN OCR1A

OCR1B=0x3ff;

}

//---kanan dikit---//

void kanan_dikit ()

{PORTB=0b00001010;

OCR1A=0x200;

OCR1B=0x2ee;

}

//---kanan banyak---//

void kanan_banyak ()

{PORTB=0b00001010;

OCR1A=0x100;

OCR1B=0x3ff;

}

void kanan_banyaki ()

{PORTB=0b00001010;

OCR1A=0x100;

OCR1B=0x3ff;

}

//---kanan banyak2---//

void kanan_banyak2 ()

{PORTB=0b00001001;

OCR1A=0x3ff;

OCR1B=0x3ff;

}

//---kanan banyak2---//

void kanan_banting ()

{PORTB=0b00001001;

OCR1A=0x3ff;

OCR1B=0x3ff;

} 

//---kiri dikit---//

void kiri_dikit ()

{PORTB=0b00001010;

OCR1A=0x2ee;

OCR1B=0x200;

}

//---kiri banyak---//

void kiri_banyak ()

{PORTB=0b00001010;

OCR1A=0x2ee;

OCR1B=0x100;

}

void kiri_banyak2 ()

{PORTB=0b00000110;

OCR1A=0x3ff;

OCR1B=0x3ff;

}

//---kanan banyak2---//

void kiri_banting ()

{PORTB=0b00000110;

OCR1A=0x3ff;

OCR1B=0x3ff;

}

//---ada garis---

void ada_garis ()

{PORTB=0b00001010;

OCR1A=0x03ff;

OCR1B=0x03ff;

}

//---cabang---//

void cabang ()

{PORTB=0b00001010;

OCR1A=0x03ff;

OCR1B=0x0020;

} 

//---henti

void henti ()

{PORTB=0b00000101;

OCR1A=0x03ff; //KANAN OCR1A

OCR1B=0x03ff;