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Line Follower PDF
Line Follower PDF
$MOD51
;------------------------------------------------------------------------------;program untuk robot pengikut garis
;------------------------------------------------------------------------------kutub_A
bit
P1.0 ; motor 1
kutub_B
bit
P1.1
kutub_C
bit
P1.2 ; motor 2
kutub_D
bit
P1.3
sense_A
sense_B
sense_C
start
finish
bit
bit
bit
bit
bit
P3.0
P3.1
P3.2
; Sensor garis-A
; Sensor garis-B (center)
; Sensor garis-C
P3.3
P3.4
; saklar1
; saklar2
PWM_R
bit
P2.0 ; flag PWM motor kanan
PWM_L
bit
P2.1 ; flag PWM motor kiri
;--------------------------------------------org
00h
sjmp
main
org
0bh
ljmp
interupsi_timer0
;--------------------------------------------main:
call
init_timer
jb
start,$
call
sensor
jb
finish,loop
call
bounce
call
stop
loop:
sjmp loop
;---------------------------init_timer:
mov TMOD,#1
mov TH0,#high (-1000)
mov TL0,#low (-1000)
setb
EA
setb
ET0
setb
TR0
ret
maju:
kutub_A
kutub_B
kutub_C
kutub_D
;
kanan:
kutub_A
kutub_B
kutub_C
kutub_D
setb
clr
clr
setb
ret
kutub_A
kutub_B
kutub_C
kutub_D
;
kiri:
;
koreksi_kanan:
clr kutub_A
setb kutub_B
setb kutub_C
clr kutub_D
ret
;
koreksi_kiri:
setb kutub_A
clr kutub_B
clr kutub_C
setb kutub_D
ret
;
stop:
setb kutub_A
setb kutub_B
setb kutub_C
setb kutub_D
ret
;
mundur:
setb kutub_A
clr kutub_B
setb kutub_C
; robot berhenti
clr kutub_D
ret
;----------------------akhir program ini-------------------------end