#include <Wire.

h>

#include <LiquidCrystal_I2C.h>

// Function to scan and print I2C addresses

void scanI2CDevices() {

Serial.println("Scanning I2C devices...");

byte count = 0;

Wire.begin();

for (byte i = 8; i < 120; i++) {

Wire.beginTransmission(i);

if (Wire.endTransmission() == 0) {

Serial.print("Found address: ");

Serial.print(i, DEC);

Serial.print(" (0x");

Serial.print(i, HEX);

Serial.println(")");

count++;

delay(1);

Serial.println("Done.");

Serial.print("Found ");

Serial.print(count, DEC);

Serial.println(" device(s).");
}

// Pin definitions

#define LDR_PIN A0

#define LAMPU_PIN 9

// Setpoint and PID constants

#define SETPOINT 500

#define KP 0.1

#define KI 0.01

#define KD 0.05

// LCD I2C address

#define LCD_I2C_ADDRESS 0x27 // Adjust this address according to your I2C module

LiquidCrystal_I2C lcd(LCD_I2C_ADDRESS, 20, 4); // Initialize the LCD with 20 columns and 4 rows

// PID variables

float error, error_prev, error_total, output;

// Timing variables

unsigned long waktu_sekarang, waktu_sebelum, interval;

void setup() {

// Start Serial communication

Serial.begin(9600);
 // Call the function to scan and print I2C addresses

scanI2CDevices();

// Initialize LCD

lcd.begin(20, 4);

lcd.backlight(); // Turn on the backlight

// Display "Sistem Kendali Lampu" on the first line

lcd.print("Sistem Kendali Lampu");

// Set the cursor to the beginning of the second line

lcd.setCursor(0, 1);

// Display "Nilai LDR:" on the second line

lcd.print("Nilai LDR:");

// Set LDR pin as input

pinMode(LDR_PIN, INPUT);

// Set lamp pin as PWM output

pinMode(LAMPU_PIN, OUTPUT);

// Initialize timing variables

waktu_sebelum = millis();

void loop() {
// Read LDR sensor value

int nilai = analogRead(LDR_PIN);

// Display LDR value on LCD after "Nilai LDR:"

lcd.setCursor(10, 1);

lcd.print(nilai);

// Calculate error as the difference between setpoint and actual value

error = SETPOINT - nilai;

// Calculate current time

waktu_sekarang = millis();

// Calculate interval as the difference between current time and previous time

interval = waktu_sekarang - waktu_sebelum;

// Calculate total error as the accumulation of error over time

error_total += error * interval;

// Calculate PID output

output = KP * error + KI * error_total + KD * (error - error_prev) / interval;

// Set output as PWM value for the lamp

analogWrite(LAMPU_PIN, output);

// Update previous error as the current error

error_prev = error;
 // Update previous time as the current time

waktu_sebelum = waktu_sekarang;

// Display information in Serial Monitor

Serial.print("Nilai LDR: ");

Serial.println(nilai);

Serial.print("Error: ");

Serial.println(error);

Serial.print("PID Output: ");

Serial.println(output);

Serial.println("------------------");

// Add a delay to avoid overwhelming the Serial Monitor

delay(1000);