A-1 LISTING PROGRAM MIKROKONTROLER

A-1 LISTING PROGRAM MIKROKONTROLER de #inclu <mega32a.h> #include <stdio.h> #include <string.h> #include <stdlib.h> #include <delay.h> // Alphanumeric LCD functions #include <alcd.h> // Declare your global variables here char tampil_lcd[32]; int Mj=1; int nilaisensor, panjangngantar, panjangkembali, nilaisensorcek; char *str; int a,b; int i=0; char nilaitampil[32]; char nilaitampilcek[32]; unsigned int awal, akhir; unsigned char ngantar[50]; unsigned char gerakngantar[50]; unsigned char kembali[50]; unsigned char gerakkembali[50]; unsigned char tampilngantar[50]; unsigned char tampilkembali[50]; void OKSensor(); signed int nilai_sensor(); void Pushbutton (); void void kiri(); void kanan(); signed int nilai_sensorcek(); void inputdata(); void turun(){ for (i=0; i<50; i++) { PORTC.7=1; delay_us(1500); PORTC.7=0; delay_us(18500); void naik(){ for (i=0; i<50; i++) { PORTC.7=1; delay_us(1100); PORTC.7=0; delay_us(18900);

A-2 ain(void) m { // Declare your local variables here // Input/Output Ports initialization // Port A 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 PORTA=0x00; DDRA=0x00; // 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=0xFF; DDRB=0x00; // Port C 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 PORTC=0x00; DDRC=0x80; // Port D initialization // Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T PORTD=0x00; DDRD=0xFC; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=0xff // OC0 output: Disconnected TCCR0=0x00; TCNT0=0x00; OCR0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: 11.719 khz // Mode: Fast PWM top=0x00ff // OC1A output: Non-Inv. // OC1B output: Non-Inv. // 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=0xA1; TCCR1B=0x0D;

A-3 =0x00; TCNT1H 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 // INT2: Off MCUCR=0x00; MCUCSR=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00; // USART initialization // USART disabled UCSRB=0x00; // 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; // Alphanumeric LCD initialization // Connections are specified in the // Project Configure C Compiler Libraries Alphanumeric LCD menu: // RS - PORTA Bit 0 // RD - PORTA Bit 1 // EN - PORTA Bit 2 // D4 - PORTA Bit 3 // D5 - PORTA Bit 4 // D6 - PORTA Bit 5

A-4 // D7 - PORTA Bit 6 // Characters/line: 16 lcd_init(16); lcd_gotoxy(3,0); lcd_puts("bissmillah"); delay_ms(1000); while (1) { inputdata(); a=0; b=0; while (a<panjangngantar){ OKSensor(); nilaisensorcek=nilai_sensorcek(); nilaisensor=nilai_sensor(); sprintf(nilaitampil,"nilai:%i ",nilaisensor); sprintf(nilaitampilcek,"%i ",nilaisensorcek); lcd_puts(nilaitampil); itoa(a,str); strcat(str," "); lcd_gotoxy(15,1); lcd_puts(str); lcd_gotoxy(11,1); lcd_puts(nilaitampilcek); if ((nilaisensorcek==12)){ while (1){ OKSensor(); nilaisensorcek=nilai_sensorcek(); nilaisensor=nilai_sensor(); sprintf(nilaitampil,"nilai:%i ",nilaisensor); sprintf(nilaitampilcek,"%i ",nilaisensorcek); lcd_puts(nilaitampil); lcd_gotoxy(11,1); lcd_puts(nilaitampilcek); if ((nilaisensorcek==12)){ if (gerakngantar[a]=='t'){ OCR1A=90; OCR1B=85; else if (gerakngantar[a]=='s'){ if (a==panjangngantar-1){ a++;

A-5 else { break; else if (gerakngantar[a]=='x'){ OCR1A=95; delay_ms(500); else if(gerakngantar[a]=='y'){ OCR1B=90; delay_ms(500); else{ a++; break; if (nilaisensor==0){ OCR1A=90; OCR1B=85; else if (nilaisensor<0){ OCR1A=95; else if (nilaisensor>0){ OCR1B=90; if (a==panjangngantar){ lcd_gotoxy(2,0); lcd_puts("ambil Makanan"); delay_ms(3000); lcd_gotoxy(2,0); lcd_puts("terima KASIH"); delay_ms(1000); a++; turun(); lcd_gotoxy(3,0); lcd_puts("kembali Ke"); lcd_gotoxy(4,1); lcd_puts("home BASE");

A-6 delay_ms(2000); while (b<panjangkembali){ OKSensor(); nilaisensorcek=nilai_sensorcek(); nilaisensor=nilai_sensor(); sprintf(nilaitampil,"nilai:%i ",nilaisensor); sprintf(nilaitampilcek,"%i ",nilaisensorcek); lcd_puts(nilaitampil); itoa(b,str); strcat(str," "); lcd_gotoxy(15,1); lcd_puts(str); lcd_gotoxy(11,1); lcd_puts(nilaitampilcek); if ((nilaisensorcek==12)){ while (1){ OKSensor(); nilaisensorcek=nilai_sensorcek(); nilaisensor=nilai_sensor(); sprintf(nilaitampil,"nilai:%i ",nilaisensor); sprintf(nilaitampilcek,"%i ",nilaisensorcek); lcd_puts(nilaitampil); lcd_gotoxy(11,1); lcd_puts(nilaitampilcek); if ((nilaisensorcek==12)){ if (gerakkembali[b]=='t'){ OCR1A=90; OCR1B=85; else if (gerakkembali[b]=='s'){ if (a==panjangkembali-1){ lcd_gotoxy(0,0); lcd_puts("load Makanan"); delay_ms(3000); b++; break; else if (gerakkembali[b]=='x'){ OCR1A=95; delay_ms(500); else if(gerakkembali[b]=='y'){ OCR1B=90; delay_ms(500);

A-7 else { else{ b++; break; if (nilaisensor==0){ OCR1A=90; OCR1B=85; else if (nilaisensor<0){ OCR1A=95; else if (nilaisensor>0){ OCR1B=90; signed int nilai_sensor(){ int kiri=0; int kanan=0; if (PINC.0==1){ kiri=kiri+3; if (PINC.1==1){ kiri=kiri+2; if (PINC.2==1){ kiri=kiri+1; if (PINC.3==1){ kanan=kanan-1; if (PINC.4==1){ kanan=kanan-2; if (PINC.5==1){ kanan=kanan-3; return kiri+kanan; signed int nilai_sensorcek(){ int kiri=0; int kanan=0;

A-8 if (PINC.0==1){ kiri=kiri+3; if (PINC.1==1){ kiri=kiri+2; if (PINC.2==1){ kiri=kiri+1; if (PINC.3==1){ kanan=kanan+1; if (PINC.4==1){ kanan=kanan+2; if (PINC.5==1){ kanan=kanan+3; return kiri+kanan; void OKSensor(){ if (PINC.0 == 1){ lcd_gotoxy(0,0); lcd_putsf("1"); else{ lcd_gotoxy(0,0); lcd_putsf("0"); if (PINC.1 == 1){ lcd_gotoxy(2,0); lcd_putsf("1"); else{ lcd_gotoxy(2,0); lcd_putsf("0"); if (PINC.2 == 1){ lcd_gotoxy(4,0); lcd_putsf("1"); else{ lcd_gotoxy(4,0);

A-9 lcd_putsf("0"); if (PINC.3 == 1){ lcd_gotoxy(6,0); lcd_putsf("1"); else{ lcd_gotoxy(6,0); lcd_putsf("0"); if (PINC.4 == 1){ lcd_gotoxy(8,0); lcd_putsf("1"); else{ lcd_gotoxy(8,0); lcd_putsf("0"); if (PINC.5 == 1){ lcd_gotoxy(10,0); lcd_putsf("1"); else{ lcd_gotoxy(10,0); lcd_putsf("0"); void Pushbutton (){ delay_ms(250); while(pinb.4==1 ) { Mj=Mj; if (PINB.2==0){Mj=Mj+1;delay_ms(20); if (PINB.3==0){Mj=Mj-1;delay_ms(20); if (Mj>6) {Mj=0;delay_ms(20); if (Mj<0) {Mj=6;delay_ms(20); lcd_gotoxy(3,0); lcd_puts("input MEJA"); sprintf(tampil_lcd,"meja:%i ",Mj); lcd_puts(tampil_lcd); delay_ms(150);

A-10 void aju(){ m PORTD.7=1; PORTD.3=0; PORTD.6=1; PORTD.2=0; void kanan(){ PORTD.7=1; PORTD.3=0; PORTD.6=0; PORTD.2=1; void kiri(){ PORTD.7=0; PORTD.3=1; PORTD.6=1; PORTD.2=0; void inputdata(){ Mj=1; naik(); Pushbutton(); awal=0; akhir=mj; if (awal==0){ if (akhir==1){ strcat(ngantar,"0d1"); strcat(gerakngantar,"txs"); strcat(kembali,"1a0"); strcat(gerakkembali,"txs"); else if (akhir==2){ strcat(ngantar,"0de2"); strcat(gerakngantar,"ttxs"); strcat(kembali,"2ba0"); strcat(gerakkembali,"txts");

A-11 else if (akhir==3){ strcat(ngantar,"0def3"); strcat(gerakngantar,"tttxs"); strcat(kembali,"3cba0"); strcat(gerakkembali,"txtts"); else if (akhir==4){ strcat(ngantar,"0d4"); strcat(gerakngantar,"tys"); strcat(kembali,"4higcba0"); strcat(gerakkembali,"ttttttts"); else if (akhir==5){ strcat(ngantar,"0de5"); strcat(gerakngantar,"ttys"); strcat(kembali,"5higcba0"); strcat(gerakkembali,"txttttts"); else if (akhir==6){ strcat(ngantar,"0def6"); strcat(gerakngantar,"tttys"); strcat(kembali,"6igcba0"); strcat(gerakkembali,"txtttts"); panjangngantar=strlen(ngantar); sprintf(tampilngantar,"p ngantar : %i",panjangngantar); panjangkembali=strlen(kembali); sprintf(tampilkembali,"p kembali : %i",panjangkembali); lcd_gotoxy(0,0); lcd_puts(ngantar); lcd_puts(tampilngantar); delay_ms(1000); lcd_gotoxy(0,0); lcd_puts(kembali); lcd_puts(tampilkembali); delay_ms(1000);

B-1 CURRICULUM VITAE Nama : M. Febri Rahmansyah Alamat Sekarang : Jl. Jamin Ginting, Padang Bulan Pasar 5 Alamat Orang Tua : Jl. Sei Serba Desa Jambo Rambong Kec. Tamiang Hulu Kab.Aceh Tamiang Telp/Hp : 085262109922 Email : febri_ragiel@yahoo.co.id Riwayat Pendidikan 2009 2014 : S1 Ilmu Komputer Fasilkom-TI, Medan 2007 2009 : SMA Negeri 2 Tamiang Hulu 2007 2005 : SMP Negeri 1 Pulau Tiga 2005 2000 : SD Negeri 1 Jambo Rambong Pengalaman Organisasi/Kepanitiaan No Nama Organisasi/UKM/Panitia Memegang Posisi Tertinggi Tahun/Periode 1 Pramuka Ketua 2005-2006 2 OSIS Wakil Ketua 2007-2008 3 BKM Al-Khuwarizmi S1 Ilmu Komputer USU Anggota 2010-2011 4 Pelatihan Dasar Organiasi IMILKOM USU Peserta 2009 5 PORSENI IV IMILKOM Wakil Ketua 2010 6 PMB S1 Ilmu Komputer USU Ketua OSPEK 2011

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