LAMPIRAN GAMBAR RANGKAIAN BLOK DIAGRAM

Gambar Blok Catu Daya

Gambar Blok Sensor

Gambar Blok Mikro

Gambar Block Seven Segment

Gambar Master Block Robot Line Follower Dari gambar rangkaian master blok diagram diatas kita bisa merangkai rangkaian robot line follower yang akan di bangun secara detail.dan diaplikasikan ke

hardware dikombinasikan dengan interface software maka fungsi robot line follower bisa kita dapatkan, Denagn alur system block ini system rangkaian terlihat jelas pada struktur hardwarenya.

KODING

#include <sfr51.inc> org 0000h; mov p2,#ffh; mov p3,#ffh; acall jam; mov p0,#ffh; start : mulai: mov a,p0; cjne a,#ffh,cari2;{mati} mov p1,#00h; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; acall delay; mov p1,#17h; acall delay10; sjmp mulai; cari2: cjne a,#11000111b,cari3;{,urus} mov P1,#17h; sjmp mulai; cari3: cjne a,#110000111b,cari4;{lurus} mov P1,#17h; sjmp mulai; cari4: cjne a,#11001111b,cari5;{kanan} mov p1,#1bh; sjmp mulai;

cari5: cjne a,#11001111b,cari6;{kanan} mov P1,#1bh; sjmp mulai; cari6: cjne a,#11010111b,cari7;{ lurus} mov p1,#17h; sjmp mulai; cari7: cjne a,#11010111b,cari8;{lurus} mov P1,#17h; sjmp mulai; cari8: cjne a,#11100111b,cari9;{ kiri} mov p1,#27h; sjmp mulai; cari9: cjne a,#11100111b,cari10;{kiri} mov p1,#27h; sjmp mulai; cari10: cjne a,#11101111b,cari11;{diam } mov P1,#00h; sjmp mulai; cari11: cjne a,#11100111b,cari12;{diam} mov P1,#00h; sjmp mulai; cari12: cjne a,#11110111b,cari13;{ kiri} mov P1,#27h; sjmp mulai; cari13: cjne a,#11110111b,cari14;{kiri} mov P1,#27h; ljmp mulai; cari14: cjne a,#11011111b,cari15;{ kanan} mov P1,#1bh; ljmp mulai; cari15: cjne a,#11011111b,cari16;{kanan} mov P1,#1bh; ljmp mulai; cari16 : ljmp mulai;

jam : mov p2,#c4h; acall delay

mov p2,#a6h; acall delay; mov p2,#94h acall delay; mov p2,#91h; acall delay; mov p2,#beh; acall delay; mov p2,#88h acall delay; mov p2,#Ffh; ret delay : mov r0,#10h; delay1 : mov r1,#50h; delay2: mov r2,$ delay3: djnz r2,delay3 djnz r1,delay2; djnz r0,delay1; ret delay10 : mov r0,#05h; delay11 : mov r1,#10h; delay12: mov r2,$ delay13: djnz r2,delay13 djnz r1,delay12; djnz r0,delay11; ret end