IMPLEMENTASI ROBOT PEMBERSIH LANTAI DENGAN PENGENDALI SMARTPHONE MENGGUNAKAN LOGIKA FUZZY

A-1

LAMPIRAN A : LISTING PROGRAM JAVA ANDROID

MainActivity.java
package com.TA.bluetooth;
import
import
import
import
import

java.io.IOException;
java.io.InputStream;
java.io.OutputStream;
java.util.Set;
java.util.UUID;

import
import
import

import
import
import
import
import
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import
import
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import

android.app.Activity;
android.bluetooth.BluetoothAdapter;
android.bluetooth.BluetoothDevice;
android.bluetooth.BluetoothSocket;
android.content.Intent;
android.os.Bundle;

android.os.Handler;
android.os.Message;
android.util.Log;
android.view.MotionEvent;
android.view.View;
android.view.View.OnTouchListener;
android.widget.ArrayAdapter;
android.widget.Button;
android.widget.ImageButton;
android.widget.TextView;

public class MainActivity extends Activity implements View.OnTouchListener{
// Debugging
private static final String TAG = "BlueComm";
private static final boolean D = true;
// deklarasi
private BluetoothAdapter mBluetoothAdapter;
private BluetoothSocket mmSocket;
private BluetoothDevice mmDevice;
private InputStream mmInputStream;

private OutputStream mmOutputStream;
private Button ButtonOpen;
private Button ButtonClose;
private ImageButton ButtonMove;
private ImageButton ButtonBack;
private ImageButton ButtonRight;
private ImageButton ButtonLeft;
private TextView Label;
private TextView stat;
private TextView act;
byte[] Buffer;
int readBufferPosition;
int counter;
volatile boolean stopWorker;
public String dta;
public String uu;

A-2

public ArrayAdapter mArrayAdapter;

public String strParam="menunggu";
// Untuk menerima message dari background thread
Handler h = new Handler()
{
@Override
public void handleMessage (Message m)
{
super.handleMessage(m);
if(D) Log.d(TAG, "Handle Message");
Bundle bund =m.getData();
String key = bund.getString("My Key");
}
};
// On Create Activity
@Override
public void onCreate(Bundle savedInstanceState)
{
if(D) Log.d(TAG, "On Create");
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);

ButtonOpen = (Button)findViewById(R.id.ButtonOpen);
ButtonClose = (Button)findViewById(R.id.ButtonClose);
ButtonMove = (ImageButton)findViewById(R.id.ButtonTop);
ButtonBack = (ImageButton)findViewById(R.id.ButtonBelow);
ButtonRight = (ImageButton)findViewById(R.id.ButtonRight);
ButtonLeft = (ImageButton)findViewById(R.id.ButtonLeft);
//TextOutput = (TextView)findViewById(R.id.TextOutput);
Label = (TextView)findViewById(R.id.label);
stat = (TextView)findViewById(R.id.textViewStatus);
act= (TextView)findViewById(R.id.textViewAction);
mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
if(mBluetoothAdapter == null)
{
Label.setText("No bluetooth adapter available");
}
if(!mBluetoothAdapter.isEnabled())
{
Intent enableBluetooth = new
Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
startActivityForResult(enableBluetooth, 0);

}
}
@Override
public boolean onTouch(View arg0, MotionEvent arg1) {
// TODO Auto-generated method stub
act.setText(String.valueOf(arg1.getAction()));
if(arg0==ButtonMove) strParam="m";
if(arg0==ButtonBack) strParam="b";
if(arg0==ButtonLeft) strParam="l";
if(arg0==ButtonRight) strParam="r";

A-3

if(arg1.getAction()!=1){
try{
sendData(strParam);
}
catch (IOException ex) { }
}
return false;

}
// On Start Activity
@Override
public void onStart()
{
super.onStart();
if(D) Log.e(TAG, "ON START");
//Open Button
ButtonOpen.setOnClickListener(new View.OnClickListener()
{
public void onClick(View v)
{
try
{
CariBT();
BukaBT();
}
catch (IOException ex) { }
}
});

//Close button
ButtonClose.setOnClickListener(new View.OnClickListener()
{
public void onClick(View v)
{
try
{
closeBT();
}
catch (IOException ex) { }
}
});

ButtonMove.setOnTouchListener(this);
ButtonBack.setOnTouchListener(this);
ButtonLeft.setOnTouchListener(this);
ButtonRight.setOnTouchListener(this);
}
// Mencari Client Bluetooth yg sudah paired dengan nama

“nutscientist“
void CariBT()
{
if(D) Log.d(TAG, "Cari BT");

A-4

Set pairedDevices =
mBluetoothAdapter.getBondedDevices();
if(pairedDevices.size() > 0)
{
for(BluetoothDevice device : pairedDevices)
{
if(device.getName().equals("HC-05"))
{
mmDevice = device;
Label.setText("Slave Client Found");
//break;
}
else

{
Label.setText("Slave Client Not Found");
}

@Override
protected void onStop() {
super.onStop();
if(D) Log.e(TAG, "ON STOP");
}
@Override
protected void onDestroy() {
super.onDestroy();
if(D) Log.e(TAG, "ON DESTROY");
}
@Override
protected void onResume()
{
super.onResume();
if(D) Log.e(TAG, "+ ON RESUME +");
}

@Override
protected void onPause() {
super.onPause();
if(D) Log.e(TAG, "- ON PAUSE -");
}
// Untuk memulai/ melakukan koneksi dengan client bluetooth
void BukaBT() throws IOException
{
if(D) Log.d(TAG, "Buka BT");
UUID uuid = UUID.fromString("00001101-0000-1000-800000805F9B34FB"); //Standard SerialPortService ID
mmSocket = mmDevice.createRfcommSocketToServiceRecord(uuid);
mmSocket.connect();
mmOutputStream = mmSocket.getOutputStream();
mmInputStream = mmSocket.getInputStream();
ListenForData();
Label.setText("Bluetooth Opened");
//Toast.makeText(this, "Bluetooth Dibuka",
Toast.LENGTH_LONG).show();
}

A-5

// Background thread untuk menerima data dari client bluetooth
void ListenForData()
{
if(D) Log.d(TAG, "Listen Data");
final byte delimiter = 13; //atau Carriage Return (CR), di
gunakan untuk mendeteksi akhir dari text
stopWorker = false;
readBufferPosition = 0;
Buffer = new byte[1024];
Thread workerThread = new Thread(new Runnable()
{
@Override
public void run()
{
while(!Thread.currentThread().isInterrupted() &&
!stopWorker)
{
//Do work
try
{
int bytesAvailable =
mmInputStream.available();
if(bytesAvailable > 0)
{
byte[] packetBytes = new
byte[bytesAvailable];
mmInputStream.read(packetBytes);
for(int
i=0;i







A-8







B-1
LAMPIRAN B : LISTING PROGRAM MIKROKONTROLER

#include
#include
#include
unsigned char der;
void maju(){
PORTD.2=0;
PORTD.3=1;
PORTD.7=1;
PORTD.6=0;
OCR1A=100;
OCR1B=100;
}
// Declare your global variables here
void b_kiri(){
PORTD.2=1;
PORTD.3=0;
PORTD.7=1;
PORTD.6=0;
OCR1A=100;
OCR1B=100;
}
void b_kanan(){
PORTD.2=0;
PORTD.3=1;
PORTD.7=0;
PORTD.6=1;
OCR1A=100;
OCR1B=100;
}
void mundur(){
PORTD.2=1;
PORTD.3=0;
PORTD.7=0;
PORTD.6=1;
OCR1A=100;
OCR1B=100;
}
void stop(){
PORTD.2=0;
PORTD.3=0;
PORTD.7=0;
PORTD.6=0;

B-2
}
int i=0;
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=Out Func1=Out
Func0=Out
// State7=T State6=T State5=T State4=T State3=T State2=0 State1=0
State0=0
PORTB=0x00;
DDRB=0xFE;
// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T
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=0xFE;
// 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: 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;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization

B-3
// 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: 9600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x06;
UBRRH=0x00;
UBRRL=0x4D;
// 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;
while (1)
{
// Place your code here
der = getchar ();
// der berfungsi menampung nilai
dari bT
if ( der == 'M' || der == 'm'){
maju();
OCR1A=150;
OCR1B=150;
delay_ms(100);
// printf("maju\n");
}

B-4
else if(der == 'B' || der == 'b'){
mundur();
delay_ms(100);
// printf("mundur \n");
}
else if(der == 'R' || der == 'r'){
b_kanan();
delay_ms(100);
//
printf("right \n");
}
else if(der == 'L' || der == 'l'){
b_kiri();
delay_ms(100);
//
printf("left \n");
}
else {
delay_ms(100);
// printf("%c \n",der);
}
// printf("mundur");
stop();
}

}

C-1
CURRICULUM VITAE

Nama

: Edo Affan

Alamat Sekarang

: Jl. Bakhti No. 30 Delitua, Deli Serdang Medan

Alamat Orang Tua

: Jl. Bakhti No. 30 Delitua, Deli Serdang Medan

Telp/Hp

: - / 082167673216

Email

: edo.fan8@gmail.com

Riwayat Pendidikan
1998 –2004

: SD Negeri 101800 Delitua Medan

2004 – 2007

: SMP Negeri 1 Delitua Medan

2007 – 2010

: SMA Negeri 1 Delitua Medan

2010 – 2015

: S1 Ilmu Komputer Fasilkom-TI Universitas Sumatera Utara,
Medan

Keahlian
Bahasa Pemrograman : C, C++, Java Android, Pascal.