Perancangan Robot Pembuat Biopori Berbasis Arduino Uno Atmega 328p Dengan Sistem Kendali Smartphone Android

PERANCANGAN ROBOT PEMBUAT BIOPORI BERBASIS ARDUINO UNO
ATMEGA 328P DENGAN SISTEM KENDALI SMARTPHONE ANDROID

SKRIPSI

MUAMMAR NOTA REZA RAMADHAN
141421014

PROGRAM STUDIEKSTENSI S1 ILMU KOMPUTER
FAKULTAS ILMU KOMPUTER DAN TEKNOLOGI INFORMASI
UNIVERSITAS SUMATERA UTARA
MEDAN
2017

Universitas Sumatera Utara

PERANCANGAN ROBOT PEMBUAT BIOPORI BERBASIS ARDUINO UNO
ATMEGA 328P DENGAN SISTEM KENDALI SMARTPHONE ANDROID

SKRIPSI
Diajukan untuk melengkapi tugas dan memenuhi syarat memperoleh ijazah

sarjanaKomputer
MUAMMAR NOTA REZA RAMADHAN
141421014

PROGRAM STUDIEKSTENSI S1 ILMU KOMPUTER
FAKULTAS ILMU KOMPUTER DAN TEKNOLOGI INFORMASI
UNIVERSITAS SUMATERA UTARA
MEDAN
2017

Universitas Sumatera Utara

PERNYATAAN

PERANCANGAN ROBOT PEMBUAT BIOPORIBERBASIS ARDUINO UNO
ATMEGA 328PDENGAN SISTEM KENDALI SMARTPHONEANDROID

SKRIPSI

Saya menyatakan bahwa skripsi ini adalah karya saya sendiri, kecuali beberapa

kutipan dan ringkasan yang masing-masing telah disebut sumbernya.

Medan,

Muammar Nota Reza Ramadhan
141421014

Universitas Sumatera Utara

PERSETUJUAN

Judul

: PERANCANGAN ROBOT PEMBUAT BIOPORI
BERBASIS ARDUINO UNO ATMEGA 328P

DENGAN SISTEM KENDALI SMARTPHONE
ANDROID
Kategori

: Robotika

Nama

: Muammar Nota Reza Ramadhan

Nomor Induk Mahasiswa

: 141421014

Program Studi

: Ekstensi S1 Ilmu Komputer

Fakultas

: ILMU KOMPUTER DAN TEKNOLOGI
INFORMASI UNIVERSITAS SUMATRA UTARA

Komisi Pembimbing

:

Pembimbing 2

Pembimbing 1

Drs. Dahlan Sitompul, M.Eng.

Dr. Poltak Sihombing, M.Kom.

NIP. 19670825 200501 1 002

NIP. 19620317 199103 1 001

Diketahui/Disetujui oleh
Program Studi Ekstensi S1 Ilmu Komputer
Ketua,

Dr. Poltak Sihombing, M.Kom.

NIP. 19620317 199103 1 001

Universitas Sumatera Utara

PENGHARGAAN

Puji dan syukur penulis panjatkan kehadirat Allah Subhanallahu wa Ta’ala yang telah
memberikan rahmat-Nya kepada penulis sehingga penulis dapat menyelesaikan
skripsi ini, sebagai syarat untuk memperoleh Sarjana Komputer, pada Program Studi
Ekstensi S1 Ilmu Komputer Fakultas Ilmu Komputer dan Teknologi Informasi,
Universitas Sumatra Utara.
Ucapan terima kasih penulis sampaikan kepada semua pihak yang mendukung
dan memotivasi penulis, baik secara langsung maupun tidak langsung. Pada
kesempatan ini, penulis mengucapkan terima kasih kepada:
1. Bapak Prof. Dr. Runtung Sitepu, S.H, M.Hum. selaku Rektor Universitas
Sumatra Utara.
2. Bapak Prof. Dr. Opim Salim Sitomput, M.Sc. selaku Dekan Fakultas Ilmu
Komputer dan Teknologi Informasi Universitas Sumatra Utara.
3. Bapak Dr. Poltak Sihombing, M.Kom. selaku Ketua Program Studi S-1 Ilmu
Komputer Universitas Sumatra Utara.

4. Ibu Maya Silvi Lydia, B.Sc, M.Sc. selaku Sekretaris Program Studi S-1 Ilmu
Komputer Universitas Sumatra Utara.
5. Bapak Dr. Poltak Sihombing, M.Kom. selaku Dosen Pembimbing 1 yang
memberikan ilmu, kritik dan saran yang membangun dalam penulisan skripsi
ini.
6. Bapak Drs. Dahlan Sitompul, M.Eng. selaku Dosen Pembimbing 2 yang
memberikan ilmu, kritik dan saran yang membangun dalam penulisan skripsi
ini.
7. Bapak Seniman, S.Kom., M.Kom. selaku DosenPembanding1yang telah
memberikan, kritik dan saran yang membangun dalam penulisan skripsi ini.
8. Bapak Sajadin Sembiring, S.Si., M.Comp. Sc.. selaku Dosen Pembanding 2
yang telah memberikan, kritik dan saran yang membangun dalam penulisan
skripsi ini.

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9. Seluruh Dosen dan Pegawai Program Studi S1 Ilmu Komputer Fasilkom-TI
USU yang telah membantu penulis dalam proses penulisan skripsi.
10. Orang tua dan seluruh keluarga penulis yang selalu memberikan semangat
tiada hentinya mendoakan dan memberikan dukungan kepada penulis.

11. Seluruh teman-teman yang senantiasa memberi semangat kepada penulis
selama mengerjakan skripsi ini.
Semoga Allah SWT melimpahkan berkah kepada semua pihak yang telah memberkan
bantuan serta dukungan kepada penulis dalam menyelesaikan skripsi ini.

Medan,
Penulis,

Muammar Nota Reza Ramadhan

Universitas Sumatera Utara

ABSTRAK

Robot pembuat lubang resapan biopori adalah robot yang diciptakan untuk membantu
manusia dalam proses pembuatan lubang resapan biopori. Robot pembuat lubang
resapan biopori termasuk jenis robot mobile yang dapat berjalan ditanah dengan
menggunakan roda. Dalam proses penggalian, prototype robot pembuat lubang
resapan biopori dapat menghasilkan empat buah lubang dengan kedalaman 10 cm,
diameter 1 cm dan jarak masing-masing lubang 10 cm. Robot pembuat lubang resapan

biopori dapat dikendalikan menggunakan smartphone android dengan koneksi
bluetooth. Dalam penelitian ini penulis menggunakan papan microcontroller arduino
uno sebagai system minimum pada robot. Pengguna dapat menentukan gerakan yang
akan dilakukan oleh robot seperti maju, mundur, belok kanan, belok kiri, serta
melaukan proses penggalian lubang resapan biopori menggunakan smartphone
android. Hasil yang diperoleh dari penelitian ini adalah robot dapat bergerak sesuai
perintah yang dikirimkan pengguna melalui smartphone android.
Kata Kunci : Robot pembuat lubang resapan biopori, Arduino Uno, Pengendali
Smartphone, Android.

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Designing of Biopore Maker Robot Based on Arduino Uno ATMega 328P With Android
Smartphone Control System.

ABSTRACT

Biopore Absorption Hole Maker Robot is a robot created to help people in the process making
of Biopore Absorption Hole. Biopore Absorption Hole Maker Robot is kind of mobile robots
that can run on the ground by wheel. The prototype of Biopore Absorption Hole Maker

Robot can produce 4 holes with 10 cm for the depth, 1 cm for the diameter, dan 10 cm for the
length between holes. Biopore Absorption Hole Maker Robot can be controlled by android
smartphone with Bluetooth connection. In this research the writer used arduino uno
microcontroller board as a minimum system for the robot. The robot can be controlled by user
for every movement of robot such as go forward, backward, turn right, turn left and dig the
ground for Biopore Absorption Holes. The result that reached from this research is biopore
absorption hole maker robot can do the movement as the instruction will be sent from
smartphone android to the robot.

Key Words : Biopore Absorption Hole Maker Robot, Arduino Uno, Smartphone
Controller, Android.

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DAFTAR ISI

Persetujuan ................................................................................................................... ii
Pernyataan ................................................................................................................... iii
Ucapan Terima Kasih .................................................................................................. iv
Abstrak ........................................................................................................................ vi

Abstract ...................................................................................................................... vii
Daftar Isi ................................................................................................................... viii
Daftar Tabel ............................................................................................................... xii
Daftar Gambar ........................................................................................................... xiii
BAB 1 Pendahuluan ..................................................................................................... 1
1.1
1.2
1.3
1.4
1.5
1.6
1.7

Latar Belakang ................................................................................................ 1
Rumusan Masalah ........................................................................................... 2
Batasan Masalah ............................................................................................. 3
Tinjauan Penelitian ......................................................................................... 3
Manfaat Penelitian .......................................................................................... 3
Metode Penelitian ........................................................................................... 3
Sistematika Penulisan...................................................................................... 4

BAB 2 Landasan Teori ................................................................................................. 6
2.1 Robotika ......................................................................................................... 6
2.1.1 Sejarah Robotika .................................................................................... 6
2.1.2 Peran Robot Bagi Kehidupan Manusia ................................................... 7
2.1.3 Jenis-Jenis Robot .................................................................................... 7
2.2 Biopori............................................................................................................ 8
2.2.1 Gambaran Umum Biopori ...................................................................... 8
2.2.2 Manfaat Biopori ....................................................................................10
2.3 Arduino..........................................................................................................10
2.3.1 Arduino Uno .........................................................................................11
2.3.2 Arduino IDE..........................................................................................13
2.4 Komponen Elektronika ..................................................................................14
2.4.1 Power Supply ........................................................................................14
2.4.2 Resistor .................................................................................................15
2.4.3 Kapasitor ...............................................................................................15
2.4.4 LED (Light Emitting Diode)..................................................................16
2.4.5 Dioda ....................................................................................................16
2.4.6 Transistor ................................................................................................16
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2.4.7 Integrated Circuit...................................................................................17
2.4.8 Induktor ................................................................................................18
2.4.9 Aktuator ................................................................................................18
2.4.9.1 Motor Dc ..................................................................................18
2.4.9.2 Geared Motor Dc ......................................................................19
2.4.9.3 Motor Servo ..............................................................................20
2.5 Android..........................................................................................................20
2.5.1 ArsitekturAndroid .................................................................................21
2.5.2 Basic 4 Android.....................................................................................22
2.6 Bluetooth .......................................................................................................22
2.6.1 Teknologi Bluetooth Eksternal ..............................................................22
2.6.2 Modul Bluetooth HC-06 ........................................................................23
2.7 Module Stepdown LM 2596 ...........................................................................24
2.8 Module Driver Motor L298 ............................................................................25
2.9 Module Sensor Ultrasonic HC-SR04 ..............................................................27
2.9.1 Cara Kerja Sensor Ultrasonic HC-SR04 ................................................27
2.10 Struktur Kndisi If dan Else ............................................................................28
BAB 3 Analisis Dan Peancangan Sistem......................................................................29
3.1 Analisis Sistem ..............................................................................................30
3.1.1 Analisis Masalah ...................................................................................30
3.1.2 Analisis Kebutuhan ...............................................................................31
3.1.2.1 Analisis Fungsional ...................................................................31
3.1.2.2 Analisis Nonfungsional .............................................................32
3.1.3 Permodelan Sistem ................................................................................32
3.1.3.1 Permodelan Persyaratan Dengan Sistem Use Case ....................33
3.1.3.2 Activity Diagram ......................................................................34
3.1.3.3 Squence Diagram ......................................................................36
3.2 Perancangan Sistem .......................................................................................37
3.2.1 Komponen Yang digunakan Robot ........................................................37
3.2.2 Perancangan Robot Pembuat Lubang Resapan Biopori ..........................40
3.2.3 Perancangan Kerangka Robot ................................................................40
3.2.4 Perancangan Sistem Mekanik Robot ......................................................42
3.2.4.1 Sistem Mekanik Roda ...............................................................42
3.2.4.2 Sistem Mekanik Penggerak Mesin Penggali ..............................43
3.2.4.3 Sistem Mekanik Mesin Peggali .................................................44
3.2.5 Perancangan Sirkuit Robot ....................................................................45
3.2.5.1 Perancangan Rangkaian Sumber Tegangan ...............................46
3.2.5.2 Perancangan Rangkaian Driver Motor .......................................48
3.2.6 Perancangan Program Microkontroller ..................................................49
3.2.7 Flowchart Diagram ................................................................................50
3.2.8 Perancangan Diagram Blok Robot Pembuat Lubang Resapan Biopori ...51
3.2.9 Perancanga Interface Remote Control ....................................................52

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BAB 4 Implementasi Dan Pengujian Sistem .........................................................53
4.1 Implementasi Sistem ........................................................................................53
4.1.1 Implementasi Konstruksi Utama Robot .................................................54
4.1.2 Implementasi Sistem Mekanik Robot ....................................................57
4.1.2.1 Implementasi Sistem Mekanik Roda .........................................58
4.1.2.2 Implementasi Sistem Mekanik Penggerak Mesin Penggali ........59
4.1.2.3 Implementasi Sistem Mekanik Mesin Penggali .........................60
4.1.3 Implementasi Catu Daya........................................................................61
4.1.4 Implementasi Rangkaian Elektronik ......................................................62
4.1.4.1 Implementasi Rangkaian Sistem Minimum ...............................63
4.1.4.2 Implementasi Rangkaian Driver Motor .....................................64
4.1.4.3 Implementasi Rangkaian Sumber Tegangan ..............................65
4.1.4.4 Implementasi Bluetooth ............................................................65
4.1.4.5 Implementasi Sensor Ultrasonic ................................................66
4.2 Implementasi Perangkat Lunak ......................................................................67
4.2.1 Implementasi Program Microcontroller .................................................67
4.2.1.1 Potongan Program Microcontroller ...........................................68
4.2.1.2 Skema Proses Penanaman Program di Microcontroller ..............72
4.2.2 Implementasi Program Remote Control .................................................72
4.2.2.1 Potongan Program Remote Control ...........................................75
4.3 Pengujian Sistem............................................................................................76
4.3.1 Pengujian Input Robot ...........................................................................76
4.3.1.1 Pengujian Menu Item Connect ..................................................76
4.3.1.2 Pengujian Menu Item Disconnect ..............................................77
4.3.1.3 Pengujian Input Tombol Berputar Kiri ......................................77
4.3.1.4 Pengujian Input Tombol Berputar kanan ...................................78
4.3.1.5 Pengujian Input Tombol Maju ...................................................78
4.3.1.6 Pengujian Input Tombol Mundur ..............................................79
4.3.1.7 Pengujian Input Tombol Kiri.....................................................79
4.3.1.8 Pengujian Input Tombol Kanan .................................................79
4.3.1.9 Pengujian Input Tombol Stop ....................................................80
4.3.1.10 Pengujian Input Tombol Naik .................................................80
4.3.1.11 Pengujian Input Tombol Turun................................................81
4.3.1.12 Pengujian Input Tombol Bor Berputar Kiri..............................81
4.3.1.13 Pengujian Input Tombol Bor Berputar Kanan ..........................81
4.3.1.14 Pengujian Input Tombol Bor Stop ...........................................82
4.3.1.15 Pengujian Input Tombol About ...............................................82
4.3.1.16 Pengujian Input Tombol Close ................................................83
4.3.2 Pengujian Sistem Mekanik Robot ..........................................................84
4.3.2.1 Pengujian Sistem Mekanik Roda ...............................................85
4.3.2.2 Pengujian Sistem Mekanik Penggerak Mesin Penggali ..............88
4.3.2.3 Pengujian Sistem Mekanik Mesin Penggali ...............................89
4.3.3 Pengujian Bluetooth Pada Robot Pembuat Lubang Resapan Biopori......91

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4.3.4 Dokumentasi Uji Coba Robot ................................................................92
BAB 5 Kesimpulan Dan Saran.....................................................................................95
5.1 Kesimpulan ......................................................................................................95
5.2 Saran ................................................................................................................95
DAFTAR PUSTAKA ..................................................................................................97
LISTING PROGRAM ARDUINO ........................................................................... A-1
LISTING PROGRAM REMOTE CONTROL ...........................................................B-1
HASIL SURVEI BNPB .............................................................................................C-1
HASIL SURVEI BPS ............................................................................................... D-1
CURRICULUM VITAE ............................................................................................ E-1

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DAFTAR TABEL

Tabel 2.1 Spesifikasi Papan Microcontroller Arduino Uno ...........................................12
Tabel 3.1 Dokumentasi Naratif Use Case Sistem34......................................................34
Tabel 3.2 Peralatan Yang DIgunakan Dalam Membuat Robot......................................37
Tabel 3.3Komponen Yang Dipergunakan Dalam Membuat Robot ...............................38
Tabel 3.4 Komponen Elektronik Yang dipergunakan Dalam Membuat Robot ..............39
Tabel 4.1 Fungsi Tombol Remote Control ...................................................................74
Tabel 4.2 Data Uji Coba Pergerakan Roda ...................................................................92
Tabel 4.3 Data Uji Coba Proses Penggalian .................................................................93
Tabel 4.4 Data Uji Coba Waku Proses Penggalian .......................................................93
Tabel 4.5Data Uji Coba Jarak Koneksi Bluetooth ........................................................94

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DAFTAR GAMBAR

Gambar 2.1 Sketsa Penampang Lubang Resapan Biopori.............................................. 9
Gambar 2.2 Board Arduino Uno ..................................................................................11
Gambar 2.3 Diagram Blok Arduino Board ...................................................................13
Gambar 2.4 Arduino IDE.............................................................................................14
Gambar 2.5 Baterai ......................................................................................................14
Gambar 2.6 Resistor ....................................................................................................15
Gambar 2.7 Kapasitor ..................................................................................................15
Gambar 2.8 LED (Light Emitting Diode) .....................................................................16
Gambar 2.9 Diode .......................................................................................................16
Gambar 2.10 Transistor ...............................................................................................17
Gambar 2.11 Integrated Circuit ....................................................................................17
Gambar 2.12 Induktor..................................................................................................18
Gambar 2.13 Motor DC ...............................................................................................19
Gambar 2.14 Geared Motor DC ...................................................................................19
Gambar 2.15 Aktuator .................................................................................................20
Gambar 2.16 Aplikasi Basic 4 Android ........................................................................22
Gambar 2.17 Bluetooth HC-06 ....................................................................................24
Gambar 2.18 Module Stepdown LM 2596 ...................................................................24
Gambar 2.19 Blok Diagram IC LM2596 ......................................................................25
Gambar 2.20 Module driver Motor L298 .....................................................................26
Gambar 2.21 Blok Diagram IC L298 ...........................................................................26
Gambar 2.22 Sensor HC-SR04 ....................................................................................27
Gambar 2.23 Cara Kerja Sensor HC-SR04...................................................................28
Gambar 2.24 Struktur Kondisi If Else ..........................................................................28
Gambar 3.1 Ishikawa Diagram Pada Robot Pembuat LBR ...........................................31

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Gambar 3.2 Use Case Diagram Robot Pembuat LBR ...................................................33
Gambar 3.3 Activity Diagram Robot Pembuat LBR .....................................................35
Gambar 3.4 Sequence Diagram Robot Pembuat LBR ..................................................36
Gambar 3.5 Desain Kerangka Robot Pembuat LBR .....................................................41
Gambar 3.6 Sistem Mekanik Roda ...............................................................................43
Gambar 3.7 Sistem Mekanik Penggerak Mesin Penggali..............................................44
Gambar 3.8 Sistem Mekanik Mesin Penggali ...............................................................45
Gambar 3.9 Sirkuit Elektronik .....................................................................................46
Gambar 3.10 Module Stepdown Pada Rangkaian Elektronik Robot LBR .....................47
Gambar 3.11 Rangkaian Elektronik Module Stepdown LM2596 ..................................47
Gambar 3.12 Rangkaian Elektronik Driver Motor Penggerak Mesin Penggali..............48
Gambar 3.13 Rangkaian Elektronik Driver Motor Roda...............................................49
Gambar 3.14 Rangkaian Elektronik Driver Motor Mesin Penggali ...............................49
Gambar 3.15 Flowchard Diagram ................................................................................50
Gambar 3.16 Diagram Blok Robot Pembuat LBR ........................................................51
Gambar 3.17 Desain Interface Remote Control ............................................................52
Gambar 4.1 Implementasi Robot pembuat Biopori.......................................................53
Gambar 4.2 Implementasi Kerangka Robot Tingkat Pertama .......................................54
Gambar 4.3 Implementasi Kerangka Robot Tingkat Kedua ..........................................55
Gambar 4.4 Implementasi Kerangka Robot Tingkat Ketiga..........................................56
Gambar 4.5 Implementasi Kerangka Tiang Penyangga Alumunium .............................57
Gambar 4.6 Implementasi Sistem Mekanik Roda .........................................................58
Gambar 4.7 Implementasi Sistem Mekanik Penggerak Mesin Penggali ........................59
Gambar 4.8 Gear Penggerak Mesin Penggali ...............................................................60
Gambar 4.9 Implementasi Sistem Mekanik Penggerak Mesin Penggali ........................60
Gambar 4.10 Implementasi Catu Daya .........................................................................61
Gambar 4.11 Implementasi Rangkaian Elektronik .......................................................62

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Gambar 4.12 Implementasi Sistem Minimum ..............................................................63
Gambar 4.13 Implementasi Driver Motor ....................................................................64
Gambar 4.14 Implementasi Rangkaian Sumber Tegangan............................................65
Gambar 4.15 Implementasi Bluetooth ..........................................................................66
Gambar 4.16 Implementasi Sensor Ultrasonic ..............................................................67
Gambar 4.17 Implementasi Program Microcontroller...................................................68
Gambar 4.18 Penenaman Program Microcontroller ......................................................72
Gambar 4.19 Implementasi Program remote Control ...................................................73
Gambar 4.20 Interface Remote Control........................................................................73
Gambar 4.21 Tampilan Activity About ........................................................................83
Gambar 4.22 Pergerakan Berputar Kekiri Pada Robot ..................................................84
Gambar 4.23 Pergerakan Berputar KekananPada Robot ...............................................85
Gambar 4.24 Pergerakan Maju Pada Robot ..................................................................85
Gambar 4.25 Pergerakan Mundur Pada Robot..............................................................86
Gambar 4.26 Pergerakan Belok Kiri Pada Robot..........................................................86
Gambar 4.27 Pergerakan Belok Kanan Pada Robot ......................................................87
Gambar 4.28 Robot Berhenti Bergerak ........................................................................87
Gambar 4.29 Pergerakan Naik Pada Pnggerak Mesin Penggali ....................................88
Gambar 4.30 Pergerakan Turun Pada Penggerak Mesin Penggali .................................89
Gambar 4.31 Mata Bor Mesin Pengali Bergerak Kearah Kanan ...................................89
Gambar 4.32 Mata Bor Mesin Penggali Bergerak Kearah Kiri .....................................90
Gambar 4.33 Mata Bor Mesin Penggali Tida Berputar .................................................90
Gambar 4.34 Koneksi Bluetooth ..................................................................................91

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