LAMPIRAN A PROGRAM UTAMA ROBOT NOMOR 2
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1 LAMPIRAN A PROGRAM UTAMA ROBOT NOMOR 2
2 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: [Bioloid Premium]-Robot 2 v 2 22: 23: 24: 25: A-1
3 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: A-2
4 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: A-3
5 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102: 103: 104: A-4
6 105: 106: 107: 108: 109: 110: 111: 112: 113: 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: 126: 127: 128: 129: A-5
7 130: 131: 132: 133: 134: 135: 136: 137: 138: 139: 140: 141: 142: 143: 144: 145: 146: 147: 148: 149: 150: 151: 152: A-6
8 153: 154: 155: 156: 157: 158: 159: 160: 161: 162: 163: 164: 165: 166: 167: 168: 169: 170: 171: 172: 173: 174: 175: 176: 177: 178: 179: A-7
9 180: 181: 182: 183: 184: 185: 186: 187: 188: 189: 190: 191: 192: 193: 194: 195: 196: 197: 198: 199: 200: 201: 202: 203: 204: 205: A-8
10 206: 207: 208: 209: 210: 211: 212: 213: 214: 215: 216: 217: 218: 219: 220: 221: 222: 223: 224: 225: 226: 227: 228: 229: 230: 231: 232: A-9
11 233: 234: 235: 236: 237: 238: 239: 240: 241: 242: 243: 244: 245: 246: 247: 248: 249: 250: 251: 252: 253: 254: 255: 256: 257: A-10
12 258: 259: 260: 261: 262: 263: 264: 265: 266: 267: 268: 269: 270: 271: 272: 273: 274: 275: 276: 277: 278: 279: 280: 281: 282: 283: 284: A-11
13 285: 286: 287: 288: 289: 290: 291: 292: 293: 294: 295: 296: 297: 298: 299: 300: 301: 302: 303: 304: 305: 306: 307: 308: 309: A-12
14 310: 311: 312: 313: 314: 315: 316: 317: 318: 319: 320: 321: 322: 323: 324: 325: 326: 327: 328: 329: 330: 331: 332: 333: A-13
15 334: 335: 336: 337: 338: 339: 340: 341: 342: 343: 344: 345: 346: 347: 348: 349: 350: 351: 352: 353: 354: 355: 356: 357: A-14
16 358: 359: 360: 361: 362: 363: 364: 365: 366: 367: 368: 369: 370: 371: 372: 373: 374: 375: 376: 377: 378: 379: 380: 381: 382: 383: A-15
17 384: 385: 386: 387: 388: 389: 390: 391: 392: 393: 394: 395: 396: 397: 398: 399: 400: 401: 402: 403: 404: 405: 406: 407: 408: 409: A-16
18 410: 411: 412: 413: 414: 415: 416: 417: 418: 419: 420: 421: 422: 423: 424: 425: 426: 427: 428: 429: 430: 431: 432: 433: 434: 435: 436: A-17
19 437: 438: 439: 440: 441: 442: 443: 444: 445: 446: 447: 448: 449: 450: 451: 452: 453: 454: 455: 456: 457: 458: 459: 460: 461: 462: 463: A-18
20 464: 465: 466: 467: 468: 469: 470: 471: 472: 473: 474: 475: 476: 477: 478: 479: 480: 481: 482: 483: 484: 485: 486: 487: 488: 489: 490: A-19
21 491: 492: 493: 494: 495: 496: 497: 498: 499: 500: 501: 502: 503: 504: 505: 506: 507: 508: 509: 510: 511: 512: 513: 514: 515: 516: A-20
22 517: 518: 519: 520: 521: 522: 523: 524: 525: 526: 527: 528: 529: 530: 531: 532: 533: 534: 535: 536: 537: 538: 539: 540: 541: 542: 543: A-21
23 544: 545: 546: 547: 548: 549: 550: 551: 552: 553: 554: 555: 556: 557: 558: 559: 560: 561: 562: 563: 564: 565: 566: 567: 568: 569: 570: A-22
24 571: 572: 573: 574: 575: 576: 577: 578: A-23
25 LAMPIRAN B PROGRAM UTAMA ROBOT NOMOR 3
26 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: [Bioloid Premium]-Robot 3v1 22: 23: 24: 25: B-1
27 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: B-2
28 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: B-3
29 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: B-4
30 102: 103: 104: 105: 106: 107: 108: 109: 110: 111: 112: 113: 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: B-5
31 126: 127: 128: 129: 130: 131: 132: 133: 134: 135: 136: 137: 138: 139: 140: 141: 142: 143: 144: 145: 146: 147: 148: 149: 150: B-6
32 151: 152: 153: 154: 155: 156: 157: 158: 159: 160: 161: 162: 163: 164: 165: 166: 167: 168: 169: 170: 171: 172: 173: 174: 175: 176: B-7
33 177: 178: 179: 180: 181: 182: 183: 184: 185: 186: 187: 188: 189: 190: 191: 192: 193: 194: 195: 196: 197: 198: 199: 200: 201: 202: 203: B-8
34 204: 205: 206: 207: 208: 209: 210: 211: 212: 213: 214: 215: 216: 217: 218: 219: 220: 221: 222: 223: 224: 225: 226: 227: 228: B-9
35 229: 230: 231: 232: 233: 234: 235: 236: 237: 238: 239: 240: 241: 242: 243: 244: 245: 246: 247: 248: 249: 250: 251: 252: 253: 254: 255: B-10
36 256: 257: 258: 259: 260: 261: 262: 263: 264: 265: 266: 267: 268: 269: 270: 271: 272: 273: 274: 275: 276: 277: 278: 279: 280: 281: B-11
37 282: 283: 284: 285: 286: 287: 288: 289: 290: 291: 292: 293: 294: 295: 296: 297: 298: 299: 300: 301: 302: 303: 304: 305: 306: B-12
38 307: 308: 309: 310: 311: 312: 313: 314: 315: 316: 317: 318: 319: 320: 321: 322: 323: 324: 325: 326: 327: 328: 329: B-13
39 330: 331: 332: 333: 334: 335: 336: 337: 338: 339: 340: 341: 342: 343: 344: 345: 346: 347: 348: 349: 350: 351: 352: 353: 354: B-14
40 355: 356: 357: 358: 359: 360: 361: 362: 363: 364: 365: 366: 367: 368: 369: 370: 371: 372: 373: 374: 375: 376: 377: 378: 379: 380: B-15
41 381: 382: 383: 384: 385: 386: 387: 388: 389: 390: 391: 392: 393: 394: 395: 396: 397: 398: 399: 400: 401: 402: 403: 404: 405: 406: B-16
42 407: 408: 409: 410: 411: 412: 413: 414: 415: 416: 417: 418: 419: 420: 421: 422: 423: 424: 425: 426: 427: 428: 429: 430: 431: 432: 433: B-17
43 434: 435: 436: 437: 438: 439: 440: 441: 442: 443: 444: 445: 446: 447: 448: 449: 450: 451: 452: 453: 454: 455: 456: 457: 458: 459: 460: B-18
44 461: 462: 463: 464: 465: 466: 467: 468: 469: 470: 471: 472: 473: 474: 475: 476: 477: 478: 479: 480: 481: 482: 483: 484: 485: 486: 487: B-19
45 488: 489: 490: 491: 492: 493: 494: 495: 496: 497: 498: 499: 500: 501: 502: 503: 504: 505: 506: 507: 508: 509: 510: 511: 512: 513: B-20
46 514: 515: 516: 517: 518: 519: 520: 521: 522: 523: 524: 525: 526: 527: 528: 529: 530: 531: 532: 533: 534: 535: 536: 537: 538: 539: 540: B-21
47 541: 542: 543: 544: 545: 546: 547: 548: 549: 550: 551: 552: 553: 554: 555: 556: 557: 558: 559: 560: 561: 562: 563: 564: 565: 566: B-22
48 567: 568: 569: 570: 571: 572: 573: 574: 575: 576: 577: 578: 579: 580: 581: 582: 583: B-23
49 LAMPIRAN C PROGRAM PADA ATMEGA 8
50 /***************************************************** This program was produced by the CodeWizardAVR V Professional Automatic Program Generator Copyright Pavel Haiduc, HP InfoTech s.r.l. Project : Version : Date : 6/27/2012 Author : NeVaDa Company : Comments: Chip type : ATmega8L Program type : Application AVR Core Clock frequency: MHz Memory model : Small External RAM size : 0 Data Stack size : 256 *****************************************************/ #include <mega8.h> #include <delay.h> #include <stdio.h> #include <stdlib.h> #ifndef RXB8 #define RXB8 1 #endif #ifndef TXB8 #define TXB8 0 #endif #ifndef UPE #define UPE 2 #endif #ifndef DOR #define DOR 3 #endif #ifndef FE #define FE 4 #endif #ifndef UDRE #define UDRE 5 #endif #ifndef RXC #define RXC 7 #endif #define FRAMING_ERROR (1<<FE) #define PARITY_ERROR (1<<UPE) #define DATA_OVERRUN (1<<DOR) #define DATA_REGISTER_EMPTY (1<<UDRE) #define RX_COMPLETE (1<<RXC) //GLOBAL VARIABLES //int test; //int Start=0,Test; int Mulai=0; // USART Receiver buffer #define RX_BUFFER_SIZE 32 char rx_buffer[rx_buffer_size]; #if RX_BUFFER_SIZE <= 256 unsigned char rx_wr_index,rx_rd_index,rx_counter; C - 1
51 #else unsigned int rx_wr_index,rx_rd_index,rx_counter; #endif // This flag is set on USART Receiver buffer overflow bit rx_buffer_overflow; int udppointer=0,z; char udp[128]; //<-VARIABLE HERE // USART Receiver interrupt service routine interrupt [USART_RXC] void usart_rx_isr(void) { char status,data; status=ucsra; data=udr; if (data==0x52) { udppointer=0; z=1; } if( z==1) { udp[udppointer]=data; udppointer++; if(udppointer>=20)z=0; } if ((status & (FRAMING_ERROR PARITY_ERROR DATA_OVERRUN))==0) { rx_buffer[rx_wr_index++]=data; #if RX_BUFFER_SIZE == 256 // special case for receiver buffer size=256 if (++rx_counter == 0) { #else if (rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0; if (++rx_counter == RX_BUFFER_SIZE) { rx_counter=0; #endif rx_buffer_overflow=1; } } } #ifndef _DEBUG_TERMINAL_IO_ // Get a character from the USART Receiver buffer #define _ALTERNATE_GETCHAR_ #pragma used+ char getchar(void) { char data; while (rx_counter==0); data=rx_buffer[rx_rd_index++]; #if RX_BUFFER_SIZE!= 256 if (rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0; #endif #asm("cli") --rx_counter; #asm("sei") return data; } #pragma used- #endif // Standard Input/Output functions #include <stdio.h> // Declare your global variables here void main(void) { // Declare your local variables here C - 2
52 // Input/Output Ports initialization // Port B initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTB=0x00; DDRB=0x00; // Port C initialization // Func6=In Func5=In Func4=In Func3=Out Func2=Out Func1=Out Func0=Out // State6=T State5=T State4=T State3=0 State2=0 State1=0 State0=0 PORTC=0x00; DDRC=0xFF; // Port D initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTD=0x00; DDRD=0x00; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped TCCR0=0x00; TCNT0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer1 Stopped // Mode: Normal top=0xffff // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge // Timer1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0x00; TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00; // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer2 Stopped // Mode: Normal top=0xff // OC2 output: Disconnected ASSR=0x00; TCCR2=0x00; TCNT2=0x00; OCR2=0x00; // External Interrupt(s) initialization // INT0: Off // INT1: Off MCUCR=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00; // USART initialization // Communication Parameters: 8 Data, 1 Stop, No Parity // USART Receiver: On // USART Transmitter: On // USART Mode: Asynchronous // USART Baud Rate: UCSRA=0x00; C - 3
53 UCSRB=0x98; UCSRC=0x86; UBRRH=0x00; UBRRL=0x03; // Analog Comparator initialization // Analog Comparator: Off // Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80; SFIOR=0x00; // ADC initialization // ADC disabled ADCSRA=0x00; // SPI initialization // SPI disabled SPCR=0x00; // TWI initialization // TWI disabled TWCR=0x00; // Global enable interrupts #asm("sei") while (1) { //start(03) if (udp[9]==0x03 && Mulai==1)PORTC.1=1; if (udp[9]==0x03 && Mulai==0)PORTC.1=0; if (udp[9]==0x02)portc.1=0; if (udp[9]==0x01)portc.1=0; if (udp[9]==0x03)portc.1=0; //Periksa tim 03 yang akan kick off atau tidak if (udp[11]==0x03)portc.2=1; else PORTC.2=0; //Penalti untuk Robot 2 if (udp[20]==0x07) //periksa status untuk tim 07 atau yang lain? { if (udp[21]==0x01)portc.3=1; //Warna Tim Magenta if (udp[21]==0x00)portc.3=0; //Warna Tim Cyan if (udp[22]==0x01)portc.4=1; //Gawang Kuning if (udp[22]==0x00)portc.4=0; //Gawang Biru if (udp[30]!=0x00) Mulai=0; //terjadi penalti (robot out) if (udp[30]==0x00) Mulai=1; // countdown penalti selesai } if (udp[68]==0x07) //periksa status untuk tim 07 atau yang lain? { if (udp[69]==0x01)portc.3=1; //Warna Tim Magenta if (udp[69]==0x00)portc.3=0; //Warna Tim Cyan if (udp[70]==0x01)portc.4=1; //Gawang Kuning if (udp[70]==0x00)portc.4=0; //Gawang Biru if (udp[78]!=0x00) Mulai=0; //terjadi penalti (robot out) if (udp[78]==0x00) Mulai=1; // countdown penalti selesai } //Penalti untuk Robot 3 // if (udp[20]==0x07) //periksa status untuk tim 07 atau yang lain? // { // if (udp[21]==0x01)portc.3=1; //Warna Tim Magenta // if (udp[21]==0x00)portc.3=0; //Warna Tim Cyan // // if (udp[22]==0x01)portc.4=1; //Gawang Kuning C - 4
54 // if (udp[22]==0x00)portc.4=0; //Gawang Biru // // if (udp[34]!=0x00) Mulai=0; //terjadi penalti (robot out) // if (udp[34]==0x00) Mulai=1; // countdown penalti selesai // } // // if (udp[68]==0x07) //periksa status untuk tim 07 atau yang lain? // { // if (udp[69]==0x01)portc.3=1; //Warna Tim Magenta // if (udp[69]==0x00)portc.3=0; //Warna Tim Cyan // // if (udp[70]==0x01)portc.4=1; //Gawang Kuning // if (udp[70]==0x00)portc.4=0; //Gawang Biru // // if (udp[82]!=0x00) Mulai=0; //terjadi penalti (robot out) // if (udp[82]==0x00) Mulai=1; // countdown penalti selesai // } // Test=0x03 ; udp[udppointer] = 0x00; // delay_ms(100); } } C - 5
55 LAMPIRAN D STRUKTUR DATA SOFTWARE REFEREE BOX
56
57 D-2
58 D-3
59 D-4
60 D-5
61 D-6
62 D-7
63 D-8
64 LAMPIRAN E DATASHEET KAMERA HAVIMO
65 E-1
66 E-2
67 E-3
68 E-4
69 E-5
70 E-6
71 E-7
72 E-8
73 E-9
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