MERAKIT RELAY-SENSOR KE ARDUINO

GAMBAR DI ATAS MERAKIT SENSOR KIRI-KANAN

GAMBAR DI ATAS LAMBANG KOMPONEN HUBUNGAN ATAR RELAY

GAMBAR DI ATAS HUBUNGAN ANTAR KOMPONEN ROBOT DAN SENSOR

PROGRAM PENGECEKAN ROBOT

int x;

int y;

void setup (){

Serial.begin(9600);

pinMode(6,OUTPUT);  //roda kiri

pinMode(7,OUTPUT);  //roda kiri

pinMode(8,OUTPUT);  //roda kanan

pinMode(9,OUTPUT);  //roda kanan

pinMode(10,OUTPUT);  //power mengantur kecepatan putaran roda

}

void mundur(){

analogWrite(10,255);

digitalWrite(6,HIGH);

digitalWrite(7,LOW);

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

}

void maju(){

analogWrite(10,255);  

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

}

void belokiri(){

analogWrite(10,120);

digitalWrite(6,HIGH);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

}

void luruskanan(){

analogWrite(10,110);

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,LOW);

digitalWrite(9,LOW); 

}

void belokanan(){

analogWrite(10,120);

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

}

void luruskiri(){

analogWrite(10,110);

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

}

void diam (){

analogWrite(10,255);

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,LOW);

}

void loop (){

    int y=analogRead(A0);

    int x=analogRead(A1);

  //  Serial.print("SensorA0= ");

  //   Serial.print(y);

  //    Serial.print(" SensorA1= ");

  //    Serial.println(x); 

  //    delay(500); */

  if ( y<200 && x<200) 

      {maju();}

   else if (y>200 && x>200)

      {maju();} 

     else if (y <200 && x>200) 

        {belokanan();

         luruskiri();} 

       else if (y>200 && x<200)

         {belokiri();

           luruskanan();} 

      }