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Program Arduino Flower Line

The document contains an Arduino code for controlling a robot with two motors and two sensors. It sets up the motor and sensor pins, and in the loop, it adjusts the robot's movement based on sensor readings to follow a line. The robot moves forward, turns left or right, or stops based on whether the sensors detect a black line.

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khairulsani874
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26 views2 pages

Program Arduino Flower Line

The document contains an Arduino code for controlling a robot with two motors and two sensors. It sets up the motor and sensor pins, and in the loop, it adjusts the robot's movement based on sensor readings to follow a line. The robot moves forward, turns left or right, or stops based on whether the sensors detect a black line.

Uploaded by

khairulsani874
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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int in1 = 7; // pin yang digunakan

int in2 = 6; // pin yang digunakan


int in3 = 9; // pin yang digunakan
int in4 = 8; // pin yang digunakan
int enA = 10; // pin yang digunakan motor kanan
int enB = 5; // pin yang digunakan motor kiri

int Sensor_Kanan = A1;


int Sensor_Kiri = A0;

int Motor_SpeedA = 0; // speed of motor 1


int Motor_SpeedB = 0; // speed of motor 2

void setup() {
// put your setup code here, to run once:
pinMode(enA, OUTPUT); // motor A sebelah kanan
pinMode(enB, OUTPUT); // motor B sebelah kiri
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);

pinMode(A1, INPUT); // sensor kanan


pinMode(A0, INPUT); // sensor kiri
}

void loop() {

Motor_SpeedA = 200; // Left Rotation Speed


Motor_SpeedB = 200; // Right Rotation Speed
analogWrite(enA, Motor_SpeedA); // speed of motor 1
analogWrite(enB, Motor_SpeedB); // speed of motor 2

int Sensor_KananA1= digitalRead(A1);


int Sensor_KiriA0= digitalRead(A0);

if((Sensor_KananA1==LOW)&&(Sensor_KiriA0==LOW))
{
//kedua sensor tidak mengenai garis hitam
//gerak maju
digitalWrite(in1,HIGH);
digitalWrite(in2,LOW);
digitalWrite(in3,HIGH);
digitalWrite(in4,LOW);
}
else if((Sensor_KananA1==HIGH)&&(Sensor_KiriA0==LOW))
{
//sensor kiri mendeteksi garis hitam
//belok kiri
digitalWrite(in1,HIGH);
digitalWrite(in2,LOW);
digitalWrite(in3,LOW);
digitalWrite(in4,HIGH);
}
else if((Sensor_KananA1==LOW)&&(Sensor_KiriA0==HIGH))
{
//sensor kanan mendeteksi garis hitam
//belok kanan
digitalWrite(in1,LOW);
digitalWrite(in2,HIGH);
digitalWrite(in3,HIGH);
digitalWrite(in4,LOW);
}
else{
//kedua sensor mendeteksi
//stop
digitalWrite(in1,LOW);
digitalWrite(in2,LOW);
digitalWrite(in3,LOW);
digitalWrite(in4,LOW);
}
}

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