DAFTAR ISI MATERI PRAKTIKUM

ROBOTIKA 3: Robot Line Follower dengan 8 Sensor

Oleh Robotika Madina Estetik -
A. Alat dan Bahan:

1. Sensor 8 Channel dari Protronik
2. Modul Drivel L298N
3. Arduino UNO
4. Kabel Jumper
5. Baterai Lithium 2 Buah
6. Holder Baterai Lithium
7. Saklar

B. Wiring

ENA = 10; // pengatur kecepatan motor kiri di pin 10 pwm
IN1 = 9; //IN1 motor kiri 
IN2 = 8; //IN2 motor kiri 
IN3 = 5; //IN3 motor kanan
IN4 = 4; //IN4 motor kanan
ENB = 3; // pengatur kecepatan motor kanan di pin 3 pwm

//posisi wiring sensor depan 
int inh=A5;           //ena
int selA=A4;          //A
int selB=A3;          //B
int selC=A2;          //C
int sensor_depan=A1;  //Out

C. Sketch yang Sudah diketik:

LINE FOLLOWER TYPE BIASA

int sensor0;
int sensor1;
int sensor2;
int sensor3;
int sensor4;
int sensor5;
int sensor6;
int sensor7;

// Inisialisasi nilai sensor
int sensor[8] = {0, 0, 0, 0, 0, 0, 0, 0 };

// Penetapan Nama Variabel motor dan pin yang ditentukan
int ENA = 10; // pengatur kecepatan motor kiri di pin 10 pwm
int IN1 = 9; //IN1 motor kiri 
int IN2 = 8; //IN2 motor kiri 
int IN3 = 5; //IN3 motor kanan
int IN4 = 4; //IN4 motor kanan
int ENB = 3; // pengatur kecepatan motor kanan di pin 3 pwm

//inisialisasi penetapan power kecepatan motor
int Speed_Utama = 200; // Speed_Utama bernilai 0 hingga 250

float error = 0;

//posisi wiring sensor depan 
int inh=A5;           //ena
int selA=A4;          //A
int selB=A3;          //B
int selC=A2;          //C
int sensor_depan=A1;  //Out

int data_sensor_depan[8];

void read_sensor_values(){
  //void sensing
  digitalWrite(inh, LOW);
  
  digitalWrite(selA, LOW);
  digitalWrite(selB, LOW);
  digitalWrite(selC, LOW);
  data_sensor_depan[0]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, LOW);
  digitalWrite(selC, LOW);
  data_sensor_depan[1]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, LOW);
  data_sensor_depan[2]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, LOW);
  data_sensor_depan[3]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, LOW);
  digitalWrite(selC, HIGH);
  data_sensor_depan[4]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, LOW);
  digitalWrite(selC, HIGH);
  data_sensor_depan[5]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, HIGH);
  data_sensor_depan[6]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, HIGH);
  data_sensor_depan[7]=analogRead(sensor_depan);
  delay(20);

  
 //definisikan menjadi angka biner
  
  if(data_sensor_depan[0]>750){sensor0=1;}else{sensor0=0;}

  if(data_sensor_depan[1]>750){sensor1=1;}else{sensor1=0;}

  if(data_sensor_depan[2]>750){sensor2=1;}else{sensor2=0;}

  if(data_sensor_depan[3]>750){sensor3=1;}else{sensor3=0;}

  if(data_sensor_depan[4]>750){sensor4=1;}else{sensor4=0;}

  if(data_sensor_depan[5]>750){sensor5=1;}else{sensor5=0;}

  if(data_sensor_depan[6]>750){sensor6=1;}else{sensor6=0;}

  if(data_sensor_depan[7]>750){sensor7=1;}else{sensor7=0;}

  
  //definisi ke sensor 0-7
  sensor[0] = sensor0;
  sensor[1] = sensor1;
  sensor[2] = sensor2;
  sensor[3] = sensor3;
  sensor[4] = sensor4;
  sensor[5] = sensor5;
  sensor[6] = sensor6;
  sensor[7] = sensor7;

  //tampilkan ke serial monitor
  Serial.print(sensor0);
  Serial.print(sensor1);
  Serial.print(sensor2);
  Serial.print(sensor3);
  Serial.print(sensor4);
  Serial.print(sensor5);
  Serial.print(sensor6);
  Serial.print(sensor7);
  
 //menentukan nilai definisi error dari hasil sensor menjadi nilai error
    if ((sensor[0] == 1) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0) && (sensor[5]==0) && (sensor[6] == 0)&&(sensor[7]==0)) 
    error = 6; // 10000000
    else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 5; // 11000000 
    else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 4; // 01000000 
    else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 3; // 01100000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 2; // 00100000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 1)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 1; // 00110000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00010000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00011000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==1)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00001000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==1)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = -1; // 00001100
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==1)&& (sensor[6] == 1)&&(sensor[7]==0))
    error = -2; // 00000100
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 1)&&(sensor[7]==0))
    error = -3; // 00000110 
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 1)&&(sensor[7]==1))
    error = -4; // 00000010
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==1))
    error = -5; // 00000011
    // kondisi khas tertentu        
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0) && (sensor[6] == 0)&&(sensor[7]==1)) 
    error = -6; // 00000001 

    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0) && (sensor[6] == 0)&&(sensor[7]==0)) 
    error = 10; // 00000000
}

void tampil_sensor(){
  Serial.print(" ERROR: ");
  Serial.print(error);
  
  Serial.print(data_sensor_depan[0]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[1]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[2]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[3]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[4]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[5]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[6]);
  Serial.print(", ");
  Serial.println(data_sensor_depan[7]);
}

void setup() {
  Serial.begin(9600);
  pinMode (inh, OUTPUT);
  pinMode (selA, OUTPUT);
  pinMode (selB, OUTPUT);
  pinMode (selC, OUTPUT);
}

void loop(){
  read_sensor_values();
  
  if(error==0){
  forward();
  }else if(error==5){
    sharpLeftTurn();
  }else if(error==-5){
    sharpRightTurn();
  }else if(error==10){
     stop_bot();
  }
}


void forward(){
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama); 
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void reverse(){
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama);
  digitalWrite(IN1, LOW); 
  digitalWrite(IN2, HIGH); 
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void right(){
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}
void left(){
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void sharpLeftTurn(){
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void sharpRightTurn() {
  analogWrite(ENA, Speed_Utama); 
  analogWrite(ENB, Speed_Utama);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW); 
  
}
void stop_bot(){
  analogWrite(ENA, 0); //Left Motor Speed
  analogWrite(ENB, 0); //Right Motor Speed
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}




ROBOT LINE FOLLOWER PID:

int sensor0;
int sensor1;
int sensor2;
int sensor3;
int sensor4;
int sensor5;
int sensor6;
int sensor7;

// Inisialisasi nilai sensor
int sensor[8] = {0, 0, 0, 0, 0, 0, 0, 0 };

// Penetapan Nama Variabel motor dan pin yang ditentukan
int ENA = 10; // pengatur kecepatan motor kiri di pin 10 pwm
int IN1 = 9; //IN1 motor kiri 
int IN2 = 8; //IN2 motor kiri 
int IN3 = 5; //IN3 motor kanan
int IN4 = 4; //IN4 motor kanan
int ENB = 3; // pengatur kecepatan motor kanan di pin 3 pwm

//inisialisasi penetapan power kecepatan motor
int Speed_Utama = 130; // Speed_Utama bernilai 0 hingga 250
int Speed_Kiri = Speed_Utama; //penentuan kecepatan motor kiri
int Speed_Kanan = Speed_Utama; //penentuan kecepatan motor kanan

int left_motor_speed; // membuat variabel kecepatan motor kiri
int right_motor_speed; // membuat variabel kecepatan motor kanan

// konstanta proporsional, integral, dan derivatif. disini nilai disesuaikan
float Kp = 0 ;
float Ki = 0 ;
float Kd = 0 ;

float error = 0, P = 0, I = 0, D = 0, PID_value = 0; // penetapan nilai awal = 0
float previous_error = 0, previous_I = 0;


//posisi wiring sensor depan 
int inh=A5;           //ena
int selA=A4;          //A
int selB=A3;          //B
int selC=A2;          //C
int sensor_depan=A1;  //Out
int data_sensor_depan[8];

void read_sensor_values(){
  //void sensing
  digitalWrite(inh, LOW);
  
  digitalWrite(selA, LOW);
  digitalWrite(selB, LOW);
  digitalWrite(selC, LOW);
  data_sensor_depan[0]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, LOW);
  digitalWrite(selC, LOW);
  data_sensor_depan[1]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, LOW);
  data_sensor_depan[2]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, LOW);
  data_sensor_depan[3]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, LOW);
  digitalWrite(selC, HIGH);
  data_sensor_depan[4]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, LOW);
  digitalWrite(selC, HIGH);
  data_sensor_depan[5]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, LOW);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, HIGH);
  data_sensor_depan[6]=analogRead(sensor_depan);
  delay(20);
  digitalWrite(selA, HIGH);
  digitalWrite(selB, HIGH);
  digitalWrite(selC, HIGH);
  data_sensor_depan[7]=analogRead(sensor_depan);
  delay(20);

  
 //definisikan menjadi angka biner
  
  if(data_sensor_depan[0]>750){sensor0=1;}else{sensor0=0;}

  if(data_sensor_depan[1]>750){sensor1=1;}else{sensor1=0;}

  if(data_sensor_depan[2]>750){sensor2=1;}else{sensor2=0;}

  if(data_sensor_depan[3]>750){sensor3=1;}else{sensor3=0;}

  if(data_sensor_depan[4]>750){sensor4=1;}else{sensor4=0;}

  if(data_sensor_depan[5]>750){sensor5=1;}else{sensor5=0;}

  if(data_sensor_depan[6]>750){sensor6=1;}else{sensor6=0;}

  if(data_sensor_depan[7]>750){sensor7=1;}else{sensor7=0;}

  
  //definisi ke sensor 0-7
  sensor[0] = sensor0;
  sensor[1] = sensor1;
  sensor[2] = sensor2;
  sensor[3] = sensor3;
  sensor[4] = sensor4;
  sensor[5] = sensor5;
  sensor[6] = sensor6;
  sensor[7] = sensor7;

  //tampilkan ke serial monitor
  Serial.print(sensor0);
  Serial.print(sensor1);
  Serial.print(sensor2);
  Serial.print(sensor3);
  Serial.print(sensor4);
  Serial.print(sensor5);
  Serial.print(sensor6);
  Serial.print(sensor7);
  
 //menentukan nilai definisi error dari hasil sensor menjadi nilai error
    if ((sensor[0] == 1) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0) && (sensor[5]==0) && (sensor[6] == 0)&&(sensor[7]==0)) 
    error = 6; // 10000000
    else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 5; // 11000000 
    else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 4; // 01000000 
    else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 3; // 01100000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 2; // 00100000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 1)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 1; // 00110000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00010000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00011000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 1)&&(sensor[5]==1)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = 0; // 00001000
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==1)&& (sensor[6] == 0)&&(sensor[7]==0))
    error = -1; // 00001100
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==1)&& (sensor[6] == 1)&&(sensor[7]==0))
    error = -2; // 00000100
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 1)&&(sensor[7]==0))
    error = -3; // 00000110 
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 1)&&(sensor[7]==1))
    error = -4; // 00000010
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0)&& (sensor[6] == 0)&&(sensor[7]==1))
    error = -5; // 00000011
    // kondisi khas tertentu        
    else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0)&& (sensor[4] == 0)&&(sensor[5]==0) && (sensor[6] == 0)&&(sensor[7]==0)) 
    error = -6; // 00000001  
}

void tampil_sensor(){
  Serial.print(data_sensor_depan[0]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[1]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[2]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[3]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[4]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[5]);
  Serial.print(", ");
  Serial.print(data_sensor_depan[6]);
  Serial.print(", ");
  Serial.println(data_sensor_depan[7]);
}
void setup() {
  Serial.begin(9600);
  pinMode (inh, OUTPUT);
  pinMode (selA, OUTPUT);
  pinMode (selB, OUTPUT);
  pinMode (selC, OUTPUT);
}

void loop(){
  read_sensor_values();
  calculate_pid();
  motor_control();
  forward();
 
}
void calculate_pid(){ //perhitungan nilai PID
  previous_I = I;
  previous_error = error;
  P = error;
  I = I + previous_I; 
  D = error - previous_error;

  PID_value = (Kp * P) + (Ki * I) + (Kd * D);
  }

void motor_control()
{
  // Calculating the effective motor speed:
  int left_motor_speed = Speed_Utama - PID_value;
  int right_motor_speed = Speed_Utama + PID_value;

  // The motor speed should not exceed the max PWM value
  left_motor_speed = constrain(left_motor_speed, 0, Speed_Kiri);
  right_motor_speed = constrain(right_motor_speed, 0, Speed_Kanan);
  
  analogWrite(ENA, left_motor_speed); //kecepatan motor kiri yang sudah dipengaruhi PID 
  analogWrite(ENB, right_motor_speed); //Kecepatan motor kanan yang sudah dipengaruhi PID

  // Menampilkan nilai-nilai di serial monitor
  Serial.print(" ERROR: ");
  Serial.print(error);
  Serial.print(" PID: ");
  Serial.print(PID_value);
  Serial.print(" KEC KIRI: ");
  Serial.print(left_motor_speed);
  Serial.print(" KEC KANAN: ");
  Serial.println(right_motor_speed);
}

void forward(){
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void reverse(){
  digitalWrite(IN1, LOW); 
  digitalWrite(IN2, HIGH); 
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void right(){
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}
void left(){
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void sharpLeftTurn(){
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void sharpRightTurn() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW); 
  
}
void stop_bot(){
  analogWrite(ENA, 0); //Left Motor Speed
  analogWrite(ENB, 0); //Right Motor Speed
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}

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Oleh Robotika Madina Estetik -
Gambar
  SKETCH YANG PERLU DIKETIK: // pasang 11 lampu led dari pin 2 sampai 12 void setup() { int pinLED; for(pinLED = 2; pinLED < 13; pinLED ++) {pinMode(pinLED, OUTPUT);} } void loop() { int LED; for(LED = 13; LED > 1; LED --) {digitalWrite(LED, HIGH); delay(20); digitalWrite(LED, LOW); delay(20);} }
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T4. SKETCH DASAR EMPAT LED

Oleh Robotika Madina Estetik -
Gambar
  Gambar. coba dasar 4 led SKETCH YANG PERLU DIKETIK: const int pinLED1 = 12; const int pinLED2 = 13; const int pinLED3 = 3; const int pinLED4 = 4; void setup() { pinMode(pinLED1, OUTPUT); pinMode(pinLED2, OUTPUT); pinMode(pinLED3, OUTPUT); pinMode(pinLED4, OUTPUT); } void loop() { digitalWrite(pinLED1, HIGH); delay(500); digitalWrite(pinLED1, LOW); delay(500); digitalWrite(pinLED2, HIGH); delay(500); digitalWrite(pinLED2, LOW); delay(500); digitalWrite(pinLED3, HIGH); delay(500); digitalWrite(pinLED3, LOW); delay(500); digitalWrite(pinLED4, HIGH); delay(500); digitalWrite(pinLED4, LOW); delay(500); }
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