DAFTAR PUSTAKA. Agus Naba Belajar Cepat Fuzzy Logic Menggunakan MATLAB. Yogyakarta: Penerbit ANDI.

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1 DAFTAR PUSTAKA Abdul Kadir Panduan Praktis Mempelajari Aplikasi Mikrokontroler dan Pemrogramannya Menggunakan Arduino. Yogyakarta: Penerbit ANDI Agus Naba Belajar Cepat Fuzzy Logic Menggunakan MATLAB. Yogyakarta: Penerbit ANDI. Dwi Ana Ratna Wati Sistem Kendali Cerdas. Yogyakarta: Graha Ilmu Muhammad Syahwil Panduan Mudah Simulasi & Praktek Mikrokontroler Arduino. Yogyakarta: ANDI OFFSET Sri Kusumadewi dan Hari Purnomo Aplikasi Logika Fuzzy Untuk Pendukung Keputusan Edisi 2. Yogyakarta: Graha Ilmu. 67

2 LAMPIRAN /***************************************************************** ZUL IRFAN PROGRAM FUZZY LOGIC TUGAS AKHIR ****************************************************************/ #include <FuzzyRule.h> #include <FuzzyComposition.h> #include <Fuzzy.h> #include <FuzzyRuleConsequent.h> #include <FuzzyOutput.h> #include <FuzzyInput.h> #include <FuzzyIO.h> #include <FuzzySet.h> #include <FuzzyRuleAntecedent.h> #include <NewPing.h> #define TRIGGER_PIN 12 // pin Arduino dihubungkan ke pin trigger ultrasonic sensor. #define ECHO_PIN 11 // pin Arduino dihubungkan ke pin echo ultrasonic sensor. #define MAX_DISTANCE 380 // Jarak maksimum ping yang kita inginkan (dalam cm). NewPing sonar(trigger_pin, ECHO_PIN, MAX_DISTANCE); //motor int arahki = 8; int arahka = 9; int enaki = 4; int enaka = 7; int pwmki = 5; int pwmka = 6; int pwmr; int pwml; //Fuzzy const int numofreadings = 10; int readings[numofreadings]; int arrayindex = 0; int total = 0; int jaraknormal = 0; int echopin = 10; int initpin = 13; unsigned long pulsetime = 0; unsigned long dist = 0;

3 Fuzzy* fuzzy = new Fuzzy(); int ledb = A0; int ledd = A1; void setup() { Serial.begin(115200); pinmode(initpin, OUTPUT); pinmode(echopin, INPUT); pinmode(arahki, OUTPUT); pinmode(arahka, OUTPUT); pinmode(pwmki, OUTPUT); pinmode(pwmka, OUTPUT); pinmode(enaki, OUTPUT); pinmode(enaka, OUTPUT); pinmode(ledd, OUTPUT); pinmode(ledb, OUTPUT); // Membuat array loop untuk iterate over setiap item dalam array for (int thisreading = 0; thisreading < numofreadings; thisreading++) { readings[thisreading] = 0; // membuat FuzzyInput jarak FuzzyInput* jarak = new FuzzyInput(1); // Membuat FuzzySet dari Jarak FuzzySet* sangatdekat = new FuzzySet(0, 0, 10, 10); // Jarak Sangat Dekat -> Motor DC Diam jarak->addfuzzyset(sangatdekat); FuzzySet* dekat = new FuzzySet(11, 11, 20, 40); // Jarak Dekat jarak->addfuzzyset(dekat); FuzzySet* aman = new FuzzySet(20, 45, 45, 70); // Jarak Aman jarak->addfuzzyset(aman); FuzzySet* jauh = new FuzzySet(50, 70, 130, 150); // Jarak jauh jarak->addfuzzyset(jauh); FuzzySet* sangatjauh = new FuzzySet(151, 170, 380, 380); // Jarak sangat jauh jarak->addfuzzyset(sangatjauh); fuzzy->addfuzzyinput(jarak); //menambahkan fuzzy input dalam kerangka Fuzzy // membuat FuzzyOutput kecepatan FuzzyOutput* velocity = new FuzzyOutput(1); // membuat FuzzySet dari kecepatan motor kanan FuzzySet* sangatlambat = new FuzzySet(0, 0, 5, 60); // Kecepatan sangat lambat

4 velocity->addfuzzyset(sangatlambat); FuzzySet* lambat = new FuzzySet(5, 60, 60, 115); // Kecepatan lambat velocity->addfuzzyset(lambat); FuzzySet* normal = new FuzzySet(60, 115, 115, 170); // Kecepatan normal velocity->addfuzzyset(normal); FuzzySet* cepat = new FuzzySet(115, 170, 255, 255); // Kecepatan Cepat velocity->addfuzzyset(cepat); // Adicionando o FuzzySet cepat em velocity fuzzy->addfuzzyoutput(velocity); // Menambahkan velocity sebagai fuzzy output // Masuk ke aturan fuzzy "IF jarak = dekat THEN velocity = lambat" FuzzyRuleAntecedent* ifjarakdekat = new FuzzyRuleAntecedent(); ifjarakdekat->joinsingle(dekat); FuzzyRuleConsequent* thenvelocitycepat = new FuzzyRuleConsequent(); thenvelocitycepat->addoutput(cepat); FuzzyRule* fuzzyrule01 = new FuzzyRule(1, ifjarakdekat, thenvelocitycepat); fuzzy->addfuzzyrule(fuzzyrule01); "IF jarak = aman THEN velocity = normal" FuzzyRuleAntecedent* ifjarakaman = new FuzzyRuleAntecedent(); ifjarakaman->joinsingle(aman); FuzzyRuleConsequent* thenvelocitynormal = new FuzzyRuleConsequent(); thenvelocitynormal->addoutput(normal); FuzzyRule* fuzzyrule02 = new FuzzyRule(2, ifjarakaman, thenvelocitynormal); fuzzy->addfuzzyrule(fuzzyrule02); "IF jarak = jauh THEN velocity = cepat" FuzzyRuleAntecedent* ifjarakjauh = new FuzzyRuleAntecedent(); ifjarakjauh->joinsingle(jauh); FuzzyRuleConsequent* thenvelocitylambat = new FuzzyRuleConsequent(); thenvelocitylambat->addoutput(lambat); FuzzyRule* fuzzyrule03 = new FuzzyRule(3, ifjarakjauh, thenvelocitylambat); fuzzy->addfuzzyrule(fuzzyrule03); "IF jarak = sangatdekat THEN velocity = sangatlambat" FuzzyRuleAntecedent* ifjaraksangatdekat = new FuzzyRuleAntecedent(); ifjaraksangatdekat->joinsingle(sangatdekat); FuzzyRuleConsequent* thenvelocitysangatlambat = new FuzzyRuleConsequent(); thenvelocitysangatlambat->addoutput(sangatlambat); FuzzyRule* fuzzyrule04 = new FuzzyRule(4, ifjaraksangatdekat, thenvelocitysangatlambat);

5 fuzzy->addfuzzyrule(fuzzyrule04); "IF jarak = sangatdekat THEN velocity = sangatlambat" FuzzyRuleAntecedent* ifjaraksangatjauh = new FuzzyRuleAntecedent(); ifjaraksangatjauh->joinsingle(sangatjauh); FuzzyRule* fuzzyrule05 = new FuzzyRule(5, ifjaraksangatjauh, thenvelocitysangatlambat); fuzzy->addfuzzyrule(fuzzyrule05); void utama() { // send 10 microsecond pulse digitalwrite(initpin, HIGH); // wait 10 microseconds before turning off delaymicroseconds(10); // stop sending the pulse digitalwrite(initpin, LOW); // Look for a return pulse, it should be high as the pulse goes low-high-low pulsetime = pulsein(echopin, HIGH); // jarak = pulse time / 58 to convert to cm. dist = pulsetime / 58; // kurangi jarak terakhir total = total - readings[arrayindex]; // tambahkan baca jarak to array readings[arrayindex] = dist; // tambahkan pembacaan tersebut ke total total = total + readings[arrayindex]; arrayindex = arrayindex + 1; // go to the next item in the array // At the end of the array (10 items) then start again if (arrayindex >= numofreadings) { arrayindex = 0; // calculate the jarak Normal jaraknormal = total / numofreadings; fuzzy->setinput(1, jaraknormal); fuzzy->fuzzify();

6 int output = fuzzy->defuzzify(1); Serial.print(" Jarak: "); Serial.print(jarakNormal); Serial.print(" Velocity: "); Serial.print(output); /**/ if ((jaraknormal < 10) (jaraknormal > 85)) { motor(0); pwmr = 0; pwml = 0; analogwrite(pwmka, pwmr); analogwrite(pwmki, pwml); digitalwrite(ledb, LOW); else { motor(1); pwmr = output; pwml = (output + 10); analogwrite(pwmka, pwmr); analogwrite(pwmki, pwml); digitalwrite(ledb, HIGH); Serial.print(" kanan: "); Serial.print(pwmR); Serial.print(" kiri: "); Serial.print(pwmL); // wait 100 milli seconds before looping again //delay(100); void motor(bool ena) { if (ena) { digitalwrite(enaka, 1); digitalwrite(enaki, 1); digitalwrite(arahka, 0); digitalwrite(arahki, 1); if (!ena) { digitalwrite(enaka, 0); digitalwrite(enaki, 0); digitalwrite(arahka, 1); digitalwrite(arahki, 0);

7 void loopl(){ motor(1); analogwrite(pwmka, 100); delay(1000); motor(0); analogwrite(pwmka, 100); delay(1000); void loop() { delay(100); // menunggu 50ms antara ping (sekitar 20 pings/sec). //keterlambatan terpendek antara ping sekitar 29ms. unsigned int us = sonar.ping(); // mengirim Ping dan mendapatkan nilai dalam us. unsigned int usrcm = us / US_ROUNDTRIP_CM; unsigned int jarakcm = usrcm - 1; Serial.print(" Ping: "); Serial.print(jarakCM); // Konversi waktu ping ke dalam cm Serial.println("cm"); //dan cetak hasil ke serial if (jarakcm > 40) { utama(); digitalwrite(ledd, HIGH); else { motor(0); digitalwrite(ledd, LOW);