[Tutor] Arm Servo Robot

[List-OneZero]

ARM SERVO ROBOT
Assalamu'alaikum wr wb..

baru gabung forum nih...
Om momod salam kenal ya...
Mohon Bimbingannya....
Sukses terus buat DC...dah
salam kenal ya om" DC semua...
Asyik ada sub forum robotic Kerennnn salut buat Momodnya...

First post bagi ane nih... klo ada salah" harap maklum...
dulu buat ini ane banget...

Arm Servo Robot:

Arm Servo Robot adalah salah satu bentuk manipulator industri dengan geometri anthropomorphic (menyerupai tangan manusia). Robot ini berfungsi sebagai pemindah benda dari posisi satu ke posisi lain.
Dengan 5 sumbu gerak dan satu gripper sebagai end-effector-nya membuat robot ini sangat tepat untuk pelatihan teknologi kontrol, implementasi elektronika (mekatronika), pemrograman dan otomasi industri. Kelima sumbu gerak itu adalah: waist(joint1), shoulder(joint2), elbow(Join3), pitch(joint4), roll(joint5) dimana untuk joint 4 dan 5 diberi nama Wrist. Pada robot ini satu joint berputar sebesar 45derajat (Joint-2), dua joint berptar sebesar 90derajat (joint-3, joint-4) dan dua joint berputar sebesar 180derajat ( Joint-1 dan Joint-5 ).
Robot ini dikendalikan oleh komputer dan mikrokontroller yang berkomunikasi secara serial. Mikrokontroller yang digunakan adalah jenis PIC dengan seri 16F877A dan disupport dengan kristal 20Mhz. Gerakan posisi pada robot ini menggunakan tenaga motor servo sebagai actuatornya, dan gripper sebagai end effectornya.

BAGIAN UTAMA ROBOT
Gambar Robot Secara Keseluruhan

Code:

[IMG]http://i53.tinypic.com/2hs3h3k.jpg[/IMG]

Robot ini bekerja dengan sistem koordinat sebagai acuannya dimana koordinatnya dapat ditentukan dari komputer maupun dari remote.
Perangkat lunak (software) untuk menggontrol robot ini adalah Visual Basic 6.0. Komputer akan berkomunikasi secara serial dengan mikrokontroller untuk menjalankan robot. Mikrokontroller pada sistem ini digunakan untuk mengontrol sistem kerja motor servo. Sistem alat ini juga dilengkapi dengan rangkaian mekanik, rangkaian elektronika , rangkaian mikrokontroler, software Visual Basic 6.0, dan remote.

Diagram kerja

Code:

[IMG]http://i54.tinypic.com/15p04tc.gif[/IMG]
[IMG]http://i54.tinypic.com/15p04tc.jpg[/IMG]

Sistem Pergerakan
- Gambar menunjukan bahwa PIC 16F877A mengatur keseluruhan system pergerakan Arm Servo Robot dimana proses pergerakan robot dilakukan menggunakan sebuah komputer atau bisa melalui remote dimana keduanya akan berperan terhadap pergerakan axis robot.
Jika tombol save ditekan dari komputer atau remote maka setiap posisi pergerakan dari robot akan tersimpan kedalam database pada Visual Basic 6.0 yang terkolaborasi dengan Microsoft Office Access 2007. Setiap posisi yang telah di simpan dalam data base menjadi acuan pergerakan robot sesuai dengan program input yang dimasukkan dalam visual basic. Robot akan bergerak pada posisi awal terlebih dahulu, lalu bergerak pada posisi – posisinya sesuai dengan program input yang telah diberikan.

MEKANIK
Bagian Lengan Robot

Code:

[IMG]http://i53.tinypic.com/2hs3h3k.jpg[/IMG]

Bagian Gripper

Code:

[IMG]http://i51.tinypic.com/5doxmp.gif[/IMG]

Cara kerja singkat:
Saat motor servo berputar (misal: searah jarum jam), maka akan mengakibatkan lengan pencekam dapat menutup. Dan begitupula sebaliknya. Dimana motor memutar gear yang bersinggungan langsung dengan gigi pencekam.

Konveyor
1. Motor DC
2. Belt
3. Roller

Aktuator
Untuk kelima sumbu gerak dan satu gripper sebagai end-effector-nya seluruhnya menggunakan motor servo. Sedangkan untuk konveyor menggunakan motor dc.
Motor RC Servo HS-322HD
Servo adalah sebuah system kendali otomatis yang dipakai untuk mengatur kecepatan sebuah motor dc. Servo menggunakan sistem umpan balik. Sensor untuk mendeteksi putaran motor terhubung ke rangkaian umpan balik ini, lalu sistem akan menghitung besarnya kesalahan dan memutuskan untuk mempercepat atau memperlambat putaran motor.

Yang dibutuhinbreakpc
Catu Daya
Rangkaian PIC dan Sensor TV menggunakan catu daya yang diambil dari komputer menggunakan USB.
Catu daya 5V / 5A – 8A sebagai sumber untuk motor servo
Catu daya 12V/ 1A – 5A sebagai sumber untuk menggerakan motor DC
Sensor TV
Transmitter
Receiver
Sensor Receiver
Kontroller Menggunakan mikrokontroller PIC 16F877A.

nih layout mikrokontrollernya:

Code:

[IMG]http://i53.tinypic.com/2d8jc4n.gif[/IMG]

Layout PIC 1 16F877A

Keterangan Gambar Layout PIC 1 16F877A

Code:

No    Nama Gambar    Keterangan
1    + 5 V     Catu daya ke konektor sensor  
2     RA.0     Output indicator selector
3     RA.1     Output indicator selector
4     RC.0     Input dari sensor
5     GND     Ground sensor
6    GND     Ground  tombol selector
7     RD.2     Input tombol selector
8     RC.4     LCD_RsPin
9     RC.5     LCD_EnPin
10     RD.4     LCD_DtPin
11     RD.5     LCD_DtPin
12     RD.6     LCD_DtPin
13     RD.7     LCD_DtPin
14     RB.2     Output Motor 1
15     RB.3     Output Motor 2
16     RB.4     Output Motor 3
17     RB.5     Output Motor 4

Klo driver motor servo cari sendiri ya...

Code:

No    Nama Gambar    Keterangan
1     M1     Konektor motor servo 1
2     M2     Konektor motor servo 2
3     M3     Konektor motor servo 3
4     M4     Konektor motor servo 4
5     M5     Konektor motor servo 5
6     M6     Konektor motor servo 6
7    1     Output motor servo 1 keport RB.2
8    2     Output motor servo 2 keport RB.3
9    3     Output motor servo 3 keport RB.4
10    4     Output motor servo 4 keport RB.5
11    5     Output motor servo 1 keport RB.6
12    6     Output motor servo 1 keport RB.7
13     +5V     Catu daya motor (+5V)
13    GND     Ground

nih program di microcontoller nya (PIC 16F877A) ya..

ane pake "PiC basic "disambungin kabel rs232 serial..:

Code:

Device 16f877
xtal=20
trisB = 0    'PortB sebagai output
TRISD.2 = 1     'PortD.2 sebagai input
TRISA = 0     'PortA sebagai output
TRISC.0 = 1     'PortC.0 sebagai input
LOW PORTA.1    
LOW PORTA.0
LCD_DTPIN = PORTD.4    
LCD_RSPIN = PORTC.4
LCD_ENPIN = PORTC.5
LCD_INTERFACE = 4    ' 4-bit Interface
LCD_LINES = 2
LCD_TYPE = 0
HSERIAL_BAUD = 9600        
HSERIAL_RCSTA = %10010000
HSERIAL_TXSTA = %00100100
HSERIAL_CLEAR = ON
all_digital=true
DIM POS AS WORD    ' Servo Position
DIM POS1 AS WORD    ' Servo Position
DIM POS2 AS WORD    ' Servo Position
DIM POS3 AS  WORD    ' Servo Position
DIM POS4 AS WORD    ' Servo Position
DIM POS5 AS WORD    ' Servo Position
dim time[4] as word
SYMBOL PIN = PORTB.2        
SYMBOL PIN1 = PORTB.3        
SYMBOL PIN2 = PORTB.4        
SYMBOL PIN3 = PORTB.5
SYMBOL PIN4 = PORTB.6
SYMBOL PIN5 = PORTB.7
POS = 2400
POS1 =2400
POS2 =2400
pos3=2400
pos4=2400
pos5=600
delayms 500

main:
IF PORTd.2 = 1 Then        ‘portD high ke VB
gosub VB
else IF PORTD.2=0 THEN    ‘portD low ke remote
gosub remote
end if
goto main

VB:
PORTA.1 = 1
PORTA.0 = 0
waist:
HSERIN 10, waist1,[WAIT( "0A" )]
if pos < 600 then pos=pos+10
if pos > 600 then pos=pos-10
if pos = 600 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist

waist1:
HSERIN 10, waist2,[WAIT( "1A" )]
if pos < 800 then pos=pos+10
if pos > 800 then pos=pos-10
if pos = 800 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist1

waist2:
HSERIN 10, waist3,[WAIT( "2A" )]
if pos < 1000 then pos=pos+10
if pos > 1000 then pos=pos-10
if pos = 1000 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist2

waist3:
HSERIN 10, waist4,[WAIT( "3A" )]
if pos < 1200 then pos=pos+10
if pos > 1200 then pos=pos-10
if pos = 1200 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist3

waist4:
HSERIN 10, waist5,[WAIT( "4A" )]
if pos < 1400 then pos=pos+10
if pos > 1400 then pos=pos-10
if pos = 1400 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist4

waist5:
HSERIN 10, waist6,[WAIT( "5A" )]
if pos < 1600 then pos=pos+10
if pos > 1600 then pos=pos-10
if pos = 1600 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist5

waist6:
HSERIN 10, waist7,[WAIT( "6A" )]
if pos < 1800 then pos=pos+10
if pos > 1800 then pos=pos-10
if pos = 1800 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist6

waist7:
HSERIN 10, waist8,[WAIT( "7A" )]
if pos < 2000 then pos=pos+10
if pos > 2000 then pos=pos-10
if pos = 2000 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist7

waist8:
HSERIN 10, waist9,[WAIT( "8A" )]
if pos < 2200 then pos=pos+10
if pos > 2200 then pos=pos-10
if pos = 2200 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist8

waist9:
HSERIN 10,shoulder,[WAIT( "9A" )]
if pos < 2400 then pos=pos+10
if pos > 2400 then pos=pos-10
if pos = 2400 then
hserout["pos",13]
end if
SERVO PIN , Pos
delayms 5
goto waist9

shoulder:
HSERIN 10, shoulder1,[WAIT( "0B" )]
if pos1 < 600 then pos1=pos1+10
if pos1 > 600 then pos1=pos1-10
if pos1 = 600 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder

shoulder1:
HSERIN 10, shoulder2,[WAIT( "1B" )]
if pos1 < 800 then pos1=pos1+10
if pos1 > 800 then pos1=pos1-10
if pos1 = 800 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder1

shoulder2:
HSERIN 10, shoulder3,[WAIT( "2B" )]
if pos1 < 1000 then pos1=pos1+10
if pos1 > 1000 then pos1=pos1-10
if pos1 = 1000 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder2

shoulder3:
HSERIN 10, shoulder4,[WAIT( "3B" )]
if pos1 < 1200 then pos1=pos1+10
if pos1 > 1200 then pos1=pos1-10
if pos1 = 1200 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder3

shoulder4:
HSERIN 10, shoulder5,[WAIT( "4B" )]
if pos1 < 1400 then pos1=pos1+10
if pos1 > 1400 then pos1=pos1-10
if pos1 = 1400 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder4

shoulder5:
HSERIN 10, shoulder6,[WAIT( "5B" )]
if pos1 < 1600 then pos1=pos1+10
if pos1 > 1600 then pos1=pos1-10
if pos1 = 1600 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder5

shoulder6:
HSERIN 10, shoulder7,[WAIT( "6B" )]
if pos1 < 1800 then pos1=pos1+10
if pos1 > 1800 then pos1=pos1-10
if pos1 = 1800 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder6

shoulder7:
HSERIN 10, shoulder8,[WAIT( "7B" )]
if pos1 < 2000 then pos1=pos1+10
if pos1 > 2000 then pos1=pos1-10
if pos1 = 2000 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder7

shoulder8:
HSERIN 10, shoulder9,[WAIT( "8B" )]
if pos1 < 2200 then pos1=pos1+10
if pos1 > 2200 then pos1=pos1-10
if pos1 = 2200 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder8

shoulder9:
HSERIN 10,elbow,[WAIT( "9B" )]
if pos1 < 2400 then pos1=pos1+10
if pos1 > 2400 then pos1=pos1-10
if pos1 = 2400 then
hserout ["pos1",13]
end if
servo pin1,pos1
delayms 5
GOTO shoulder9

elbow:
HSERIN 10, elbow1,[WAIT( "0C" )]
if pos2 < 600 then pos2=pos2+10
if pos2 > 600 then pos2=pos2-10
if pos2 = 600 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow

elbow1:
HSERIN 10, elbow2,[WAIT( "1C" )]
if pos2 < 800 then pos2=pos2+10
if pos2 > 800 then pos2=pos2-10
if pos2 = 800 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow1

elbow2:
HSERIN 10, elbow3,[WAIT( "2C" )]
if pos2 < 1000 then pos2=pos2+10
if pos2 > 1000 then pos2=pos2-10
if pos2 = 1000 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow2

elbow3:
HSERIN 10, elbow4,[WAIT( "3C" )]
if pos2 < 1200 then pos2=pos2+10
if pos2 > 1200 then pos2=pos2-10
if pos2 = 1200 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow3

elbow4:
HSERIN 10, elbow5,[WAIT( "4C" )]
if pos2 < 1400 then pos2=pos2+10
if pos2 > 1400 then pos2=pos2-10
if pos2 = 1400 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow4

elbow5:
HSERIN 10, elbow6,[WAIT( "5C" )]
if pos2 < 1600 then pos2=pos2+10
if pos2 > 1600 then pos2=pos2-10
if pos2 = 1600 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow5

elbow6:
HSERIN 10, elbow7,[WAIT( "6C" )]
if pos2 < 1800 then pos2=pos2+10
if pos2 > 1800 then pos2=pos2-10
if pos2 = 1800 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow6

elbow7:
HSERIN 10, elbow8,[WAIT( "7C" )]
if pos2 < 2000 then pos2=pos2+10
if pos2 > 2000 then pos2=pos2-10
if pos2 = 2000 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow7

elbow8:
HSERIN 10, elbow9,[WAIT( "8C" )]
if pos2 < 2200 then pos2=pos2+10
if pos2 > 2200 then pos2=pos2-10
if pos2 = 2200 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow8

elbow9:
HSERIN 10,pitch,[WAIT( "9C" )]
if pos2 < 2400 then pos2=pos2+10
if pos2 > 2400 then pos2=pos2-10
if pos2 = 2400 then
hserout ["pos2",13]
end if
servo pin2,pos2
delayms 5
goto elbow9

pitch:
HSERIN 10, pitch1,[WAIT( "0D" )]
if pos3 < 1000 then pos3=pos3+10
if pos3 > 1000 then pos3=pos3-10
if pos3 = 1000 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch

pitch1:
HSERIN 10, pitch2,[WAIT( "1D" )]
if pos3 < 1200 then pos3=pos3+10
if pos3 > 1200 then pos3=pos3-10
if pos3 = 1200 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch1

pitch2:
HSERIN 10, pitch3,[WAIT( "2D" )]
if pos3 < 1400 then pos3=pos3+10
if pos3 > 1400 then pos3=pos3-10
if pos3 = 1400 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch2

pitch3:
HSERIN 10, pitch4,[WAIT( "3D" )]
if pos3 < 1600 then pos3=pos3+10
if pos3 > 1600 then pos3=pos3-10
if pos3 = 1600 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch3

pitch4:
HSERIN 10, pitch5,[WAIT( "4D" )]
if pos3 < 1800 then pos3=pos3+10
if pos3 > 1800 then pos3=pos3-10
if pos3 = 1800 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch4

pitch5:
HSERIN 10, pitch6,[WAIT( "5D" )]
if pos3 < 2000 then pos3=pos3+10
if pos3 > 2000 then pos3=pos3-10
if pos3 = 2000 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch5

pitch6:
HSERIN 10, pitch7,[WAIT( "6D" )]
if pos3 < 2200 then pos3=pos3+10
if pos3 > 2200 then pos3=pos3-10
if pos3 = 2200 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch6

pitch7:
HSERIN 10, roll,[WAIT( "7D" )]
if pos3 < 2400 then pos3=pos3+10
if pos3 > 2400 then pos3=pos3-10
if pos3 = 2400 then
hserout ["pos3",13]
end if
servo pin3,pos3
delayms 5
GOTO pitch7

roll:
hserin 10, roll1,[WAIT("0E")]
if pos4 < 600 then pos4= pos4 + 10
if pos4 > 600 then pos4= pos4 - 10
if pos4 = 600 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll

roll1:
hserin 10, roll2,[WAIT("1E")]
if pos4 < 800 then pos4= pos4 + 10
if pos4 > 800 then pos4= pos4 - 10
if pos4 = 800 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll1

roll2:
hserin 10, roll3,[WAIT("2E")]
if pos4 < 1000 then pos4= pos4 + 10
if pos4 > 1000 then pos4= pos4 - 10
if pos4 = 1000 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll2

roll3:
hserin 10, roll4,[WAIT("3E")]
if pos4 < 1200 then pos4= pos4 + 10
if pos4 > 1200 then pos4= pos4 - 10
if pos4 = 1200 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll3

roll4:
hserin 10, roll5,[WAIT("4E")]
if pos4 < 1400 then pos4= pos4 + 10
if pos4 > 1400 then pos4= pos4 - 10
if pos4 = 1400 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll4

roll5:
hserin 10, roll6,[WAIT("5E")]
if pos4 < 1600 then pos4= pos4 + 10
if pos4 > 1600 then pos4= pos4 - 10
if pos4 = 1600 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll5

roll6:
hserin 10, roll7,[WAIT("6E")]
if pos4 < 1800 then pos4= pos4 + 10
if pos4 > 1800 then pos4= pos4 - 10
if pos4 = 1800 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll6

roll7:
hserin 10, roll8,[WAIT("7E")]
if pos4 < 2000 then pos4= pos4 + 10
if pos4 > 2000 then pos4= pos4 - 10
if pos4 = 2000 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll8

roll9:
hserin 10, roll9,[WAIT("8E")]
if pos4 < 2200 then pos4= pos4 + 10
if pos4 > 2200 then pos4= pos4 - 10
if pos4 = 2200 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll8

roll9:
hserin 10,gripper,[WAIT("9E")]
if pos4 < 2400 then pos4= pos4 + 10
if pos4 > 2400 then pos4= pos4 - 10
if pos4 = 2400 then
hserout["pos4",13]
end if
servo pin4,pos4
delayms 5
goto roll9

gripper:
hserin 10, gripper1,[wait("OFF")]
if pos5 < 600 then pos5= pos5 + 10
if pos5 > 600 then pos5= pos5 - 10
if pos5 = 600 then
hserout["pos5",13]
end if
servo pin5,pos5
delayms 5
goto gripper

gripper1:
hserin 10,WAIST,[wait("ON")]
if pos5 < 1000 then pos5= pos5 + 10
if pos5 > 1000 then pos5= pos5 - 10
if pos5 = 1000 then
hserout["pos5",13]
end if
servo pin5,pos5
delayms 5
goto gripper1

RETURN


REMOTE:
PORTA.0 = 1
PORTA.1 = 0
repeat
time[0]=PULSIN portC.0, 1
UNTIL time[0] > 1000
time[0]=PULSIN portC.0, 0
time[1]=PULSIN portC.0, 0
time[2]=PULSIN portC.0, 0
time[3]=PULSIN portC.0, 0

IF time[3] < 500 AND time[2] < 500 AND time[1] < 500 AND time[0] < 500 THEN
ELSE IF time[3] < 500 AND time[2] < 500 AND time[1] < 500 AND time[0] > 500 THEN
     IF POS1 < 2400 THEN POS1 = POS1 + 200
       DELAYMS 3
     HSEROUT["B",@Pos1,13]
ELSE IF time[3] < 500 AND time[2] < 500 AND time[1] > 500 AND time[0] < 500 THEN
     IF  POS1 > 600 THEN POS1 = POS1 - 200
     DELAYMS 3
     HSEROUT["B",@Pos1,13]
ELSE IF time[3] < 500 AND time[2] < 500 AND time[1] > 500 AND time[0] > 500 THEN
     IF POS2 < 2400 THEN POS2 = POS2 + 200    
     DELAYMS 3
     HSEROUT["C",@Pos2,13]
ELSE IF time[3] < 500 AND time[2] > 500 AND time[1] < 500 AND time[0] < 500 THEN
     IF  POS2 >600 THEN POS2 = POS2 - 200
     DELAYMS 3
     HSEROUT["C",@Pos2,13]
ELSE IF time[3] < 500 AND time[2] > 500 AND time[1] < 500 AND time[0] > 500 THEN
     IF  POS > 600 THEN POS = POS - 200
     DELAYMS 3
     HSEROUT["A",@Pos,13]
ELSE IF time[3] < 500 AND time[2] > 500 AND time[1] > 500 AND time[0] < 500 THEN
     hserout["SAVED",13]
ELSE IF time[3] < 500 AND time[2] > 500 AND time[1] > 500 AND time[0] > 500 THEN
     IF POS3 < 2400 THEN POS3 = POS3 + 200
     DELAYMS 3
     HSEROUT["D",@Pos3,13]
else IF time[3] > 500 AND time[2] < 500 AND time[1] < 500 AND time[0] < 500 THEN
     IF  POS3 > 600 THEN POS3 = POS3 - 200
     DELAYMS 3
     HSEROUT["D",@Pos3,13]
ELSE IF time[3] > 500 AND time[2] < 500 AND time[1] < 500 AND time[0] > 500 THEN
     IF  POS4 > 600 THEN POS4 = POS4 - 100
     DELAYMS 3
     HSEROUT["E",@Pos4,13]
ELSE IF time[3] > 500 AND time[2] < 500 AND time[1] > 500 AND time[0] < 500 THEN
     DELAYMS 3
     hserout["NSTNG",13]
ELSE IF time[3] > 500 AND time[2] < 500 AND time[1] > 500 AND time[0] > 500 THEN
     IF POS5 < 800 THEN POS5 = POS5 + 200
     DELAYMS 3
     hserout["ONNNN",13]
ELSE IF time[3] > 500 AND time[2] > 500 AND time[1] < 500 AND time[0] < 500 THEN
     IF  POS5 > 600 THEN POS5 = POS5 - 200
     DELAYMS 3
     hserout["OFFFF",13]
ELSE IF time[3] > 500 AND time[2] > 500 AND time[1] < 500 AND time[0] > 500 THEN  
     IF POS4 < 2400 THEN POS4 = POS4 + 100
     DELAYMS 3
     HSEROUT["E",@Pos1,13]
ELSE IF time[3] > 500 AND time[2] > 500 AND time[1] > 500 AND time[0] < 500 THEN
ELSE IF time[3] > 500 AND time[2] > 500 AND time[1] > 500 AND time[0] > 500 THEN
     IF POS < 1700 THEN POS = POS + 200
     DELAYMS 3
     hserout["A",@Pos,13]
end if
SERVO PIN , Pos
SERVO PIN1, POS1
SERVO PIN2, POS2
SERVO PIN3, POS3
SERVO PIN4, POS4
SERVO PIN5, POS5
delayms 10
RETURN

Klo nih program PROGRAM VISUAL BASIC nyee....

Code:

FORM1
Private Sub fk25_Timer()
'timer feedback kirim 25
fb25.Text = Form2.MSComm1.Input
If fb25.Text = "pos" Then
kirim26.Enabled = True
kirim25.Enabled = False
fk25.Enabled = False
End If
End Sub

Private Sub fk26_Timer()
'timer feedback kirim 26
fb26.Text = Form2.MSComm1.Input
If fb26.Text = "pos1" Then
kirim27.Enabled = True
kirim26.Enabled = False
fk26.Enabled = False
End If
End Sub

Private Sub fk27_Timer()
'timer feedback kirim 27
fb27.Text = Form2.MSComm1.Input
If fb27.Text = "pos2" Then
kirim28.Enabled = True
kirim27.Enabled = False
fk27.Enabled = False
End If
End Sub

Private Sub fk28_Timer()
'timer feedback kirim 28
fb28.Text = Form2.MSComm1.Input
If fb28.Text = "pos3" Then
kirim29.Enabled = True
kirim28.Enabled = False
fk28.Enabled = False
End If
End Sub

Private Sub fk29_Timer()
'timer feedback kirim 29
fb29.Text = Form2.MSComm1.Input
If fb29.Text = "pos4" Then
kirim30.Enabled = True
kirim29.Enabled = False
fk29.Enabled = False
End If
End Sub

Private Sub fk30_Timer()
'timer feedback kirim 30
fb30.Text = Form2.MSComm1.Input
If fb30.Text = "pos5" Then
Form2.Timer6.Enabled = True
kirim30.Enabled = False
fk30.Enabled = False
End If
End Sub

Private Sub fk31_Timer()
'timer feedback kirim 31
fb31.Text = Form2.MSComm1.Input
If fb31.Text = "pos" Then
kirim32.Enabled = True
kirim31.Enabled = False
fk31.Enabled = False
End If
End Sub

Private Sub fk32_Timer()
'timer feedback kirim 32
fb32.Text = Form2.MSComm1.Input
If fb32.Text = "pos1" Then
kirim33.Enabled = True
kirim32.Enabled = False
fk32.Enabled = False
End If
End Sub

Private Sub fk33_Timer()
'timer feedback kirim 33
fb33.Text = Form2.MSComm1.Input
If fb33.Text = "pos2" Then
kirim34.Enabled = True
kirim33.Enabled = False
fk33.Enabled = False
End If
End Sub

Private Sub fk34_Timer()
'timer feedback kirim 34
fb34.Text = Form2.MSComm1.Input
If fb34.Text = "pos3" Then
kirim35.Enabled = True
kirim34.Enabled = False
fk34.Enabled = False
End If
End Sub

Private Sub fk35_Timer()
'timer feedback kirim 35
fb35.Text = Form2.MSComm1.Input
If fb35.Text = "pos4" Then
kirim36.Enabled = True
kirim35.Enabled = False
fk35.Enabled = False
End If
End Sub

Private Sub fk36_Timer()
'timer feedback kirim 36
fb36.Text = Form2.MSComm1.Input
If fb36.Text = "pos5" Then
Form2.Timer7.Enabled = True
kirim36.Enabled = False
fk36.Enabled = False
End If
End Sub

Private Sub fk37_Timer()
'timer feedback kirim 37
fb37.Text = Form2.MSComm1.Input
If fb37.Text = "pos" Then
kirim38.Enabled = True
kirim37.Enabled = False
fk37.Enabled = False
End If
End Sub

Private Sub fk38_Timer()
'timer feedback kirim 38
fb38.Text = Form2.MSComm1.Input
If fb38.Text = "pos1" Then
kirim39.Enabled = True
kirim38.Enabled = False
fk38.Enabled = False
End If
End Sub

Private Sub fk39_Timer()
'timer feedback kirim 39
fb39.Text = Form2.MSComm1.Input
If fb39.Text = "pos2" Then
kirim40.Enabled = True
kirim39.Enabled = False
fk39.Enabled = False
End If
End Sub

Private Sub fk40_Timer()
'timer feedback kirim 40
fb40.Text = Form2.MSComm1.Input
If fb40.Text = "pos3" Then
kirim41.Enabled = True
kirim40.Enabled = False
fk40.Enabled = False
End If
End Sub
Private Sub fk41_Timer()
'timer feedback kirim 41
fb41.Text = Form2.MSComm1.Input
If fb41.Text = "pos4" Then
kirim42.Enabled = True
kirim41.Enabled = False
fk41.Enabled = False
End If
End Sub

Private Sub fk42_Timer()
'timer feedback kirim 42
fb42.Text = Form2.MSComm1.Input
If fb42.Text = "pos5" Then
Form2.Timer8.Enabled = True
kirim42.Enabled = False
fk42.Enabled = False
End If
End Sub

Private Sub fk43_Timer()
'timer feedback kirim 43
fb43.Text = Form2.MSComm1.Input
If fb43.Text = "pos" Then
kirim44.Enabled = True
kirim43.Enabled = False
fk43.Enabled = False
End If
End Sub

Private Sub fk44_Timer()
'timer feedback kirim 44
fb44.Text = Form2.MSComm1.Input
If fb44.Text = "pos1" Then
kirim45.Enabled = True
kirim44.Enabled = False
fk44.Enabled = False
End If
End Sub

Private Sub fk45_Timer()
'timer feedback kirim 45
fb45.Text = Form2.MSComm1.Input
If fb45.Text = "pos2" Then
kirim46.Enabled = True
kirim45.Enabled = False
fk45.Enabled = False
End If
End Sub

Private Sub fk46_Timer()
'timer feedback kirim 46
fb46.Text = Form2.MSComm1.Input
If fb46.Text = "pos3" Then
kirim47.Enabled = True
kirim46.Enabled = False
fk46.Enabled = False
End If
End Sub

Private Sub fk47_Timer()
'timer feedback kirim 47
fb47.Text = Form2.MSComm1.Input
If fb47.Text = "pos4" Then
kirim48.Enabled = True
kirim47.Enabled = False
fk47.Enabled = False
End If
End Sub

Private Sub fk48_Timer()
'timer feedback kirim 48
fb48.Text = Form2.MSComm1.Input
If fb48.Text = "pos5" Then
Form2.Timer9.Enabled = True
kirim48.Enabled = False
fk48.Enabled = False
End If
End Sub


Private Sub fk49_Timer()
'timer feedback kirim 49
fb49.Text = Form2.MSComm1.Input
If fb49.Text = "pos" Then
kirim50.Enabled = True
kirim49.Enabled = False
fk49.Enabled = False
End If
End Sub

Private Sub fk50_Timer()
'timer feedback kirim 50
fb50.Text = Form2.MSComm1.Input
If fb50.Text = "pos1" Then
kirim51.Enabled = True
kirim50.Enabled = False
fk50.Enabled = False
End If
End Sub

Private Sub fk51_Timer()
'timer feedback kirim 51
fb51.Text = Form2.MSComm1.Input
If fb51.Text = "pos2" Then
kirim52.Enabled = True
kirim51.Enabled = False
fk51.Enabled = False
End If
End Sub

Private Sub fk52_Timer()
'timer feedback kirim 46
fb52.Text = Form2.MSComm1.Input
If fb52.Text = "pos3" Then
kirim53.Enabled = True
kirim52.Enabled = False
fk52.Enabled = False
End If
End Sub

Private Sub fk53_Timer()
'timer feedback kirim 53
fb53.Text = Form2.MSComm1.Input
If fb53.Text = "pos4" Then
kirim54.Enabled = True
kirim53.Enabled = False
fk53.Enabled = False
End If
End Sub

Private Sub fk54_Timer()
'timer feedback kirim 54
fb54.Text = Form2.MSComm1.Input
If fb54.Text = "pos5" Then
Form2.Timer10.Enabled = True
kirim54.Enabled = False
fk54.Enabled = False
End If
End Sub

Private Sub fk55_Timer()
'timer feedback kirim 55
fb55.Text = Form2.MSComm1.Input
If fb55.Text = "pos" Then
kirim56.Enabled = True
kirim55.Enabled = False
fk55.Enabled = False
End If
End Sub

Private Sub fk56_Timer()
'timer feedback kirim 56
fb56.Text = Form2.MSComm1.Input
If fb56.Text = "pos1" Then
kirim57.Enabled = True
kirim56.Enabled = False
fk56.Enabled = False
End If
End Sub


Private Sub fk57_Timer()
'timer feedback kirim 51
fb57.Text = Form2.MSComm1.Input
If fb57.Text = "pos2" Then
kirim58.Enabled = True
kirim57.Enabled = False
fk57.Enabled = False
End If
End Sub

Private Sub fk58_Timer()
'timer feedback kirim 46
fb58.Text = Form2.MSComm1.Input
If fb58.Text = "pos3" Then
kirim59.Enabled = True
kirim58.Enabled = False
fk58.Enabled = False
End If
End Sub

Private Sub fk59_Timer()
'timer feedback kirim 59
fb59.Text = Form2.MSComm1.Input
If fb59.Text = "pos4" Then
kirim60.Enabled = True
kirim59.Enabled = False
fk59.Enabled = False
End If
End Sub

Private Sub fk60_Timer()
'timer feedback kirim 54
fb60.Text = Form2.MSComm1.Input
If fb60.Text = "pos5" Then
'Form2.Timer10.Enabled = True
kirim60.Enabled = False
fk60.Enabled = False
End If
End Sub

Private Sub kirim25_Timer()
'timer untuk mengirim program 5 posisi 1
Form2.MSComm1.Output = pwaist4.Text & "A"
If kirim25.Interval = 1 Then
fk25.Enabled = True
End If
End Sub

Private Sub kirim26_Timer()
'timer untuk mengirim program 5 posisi 2
Form2.MSComm1.Output = pshoulder4.Text & "B"
If kirim26.Interval = 1 Then
fk26.Enabled = True
End If
End Sub

Private Sub kirim27_Timer()
'timer untuk mengirim program 5 posisi 3
Form2.MSComm1.Output = pelbow4.Text & "C"
If kirim27.Interval = 1 Then
fk27.Enabled = True
End If
End Sub

Private Sub kirim28_Timer()
'timer untuk mengirim program 5 posisi4
Form2.MSComm1.Output = ppitch4.Text & "D"
If kirim28.Interval = 1 Then
fk28.Enabled = True
End If
End Sub

Private Sub kirim29_Timer()
'timer untuk mengirim program 5 posisi5
Form2.MSComm1.Output = proll4.Text & "E"
If kirim29.Interval = 1 Then
fk29.Enabled = True
End If
End Sub

Private Sub kirim30_Timer()
'timer untuk mengirim program 5 posisi6
Form2.MSComm1.Output = pgripper4.Text
If kirim30.Interval = 1 Then
fk30.Enabled = True
End If
End Sub

Private Sub kirim31_Timer()
'timer untuk mengirim program 6 posisi 1
Form2.MSComm1.Output = pwaist5.Text & "A"
If kirim31.Interval = 1 Then
fk31.Enabled = True
End If
End Sub

Private Sub kirim32_Timer()
'timer untuk mengirim program 6 posisi 2
Form2.MSComm1.Output = pshoulder5.Text & "B"
If kirim32.Interval = 1 Then
fk32.Enabled = True
End If
End Sub

Private Sub kirim33_Timer()
'timer untuk mengirim program 6 posisi 3
Form2.MSComm1.Output = pelbow5.Text & "C"
If kirim33.Interval = 1 Then
fk33.Enabled = True
End If
End Sub

Private Sub kirim34_Timer()
'timer untuk mengirim program 6 posisi4
Form2.MSComm1.Output = ppitch5.Text & "D"
If kirim34.Interval = 1 Then
fk34.Enabled = True
End If
End Sub

Private Sub kirim35_Timer()
'timer untuk mengirim program 6 posisi5
Form2.MSComm1.Output = proll5.Text & "E"
If kirim35.Interval = 1 Then
fk35.Enabled = True
End If
End Sub

Private Sub kirim36_Timer()
'timer untuk mengirim program 5 posisi6
Form2.MSComm1.Output = pgripper5.Text
If kirim36.Interval = 1 Then
fk36.Enabled = True
End If
End Sub

Private Sub kirim37_Timer()
'timer untuk mengirim program 7 posisi 1
Form2.MSComm1.Output = pwaist6.Text & "A"
If kirim37.Interval = 1 Then
fk37.Enabled = True
End If
End Sub

Private Sub kirim38_Timer()
'timer untuk mengirim program 7 posisi 2
Form2.MSComm1.Output = pshoulder6.Text & "B"
If kirim38.Interval = 1 Then
fk38.Enabled = True
End If
End Sub

Private Sub kirim39_Timer()
'timer untuk mengirim program 7 posisi 3
Form2.MSComm1.Output = pelbow6.Text & "C"
If kirim39.Interval = 1 Then
fk39.Enabled = True
End If
End Sub

Private Sub kirim40_Timer()
'timer untuk mengirim program 7 posisi4
Form2.MSComm1.Output = ppitch6.Text & "D"
If kirim40.Interval = 1 Then
fk40.Enabled = True
End If
End Sub

Private Sub kirim41_Timer()
'timer untuk mengirim program 7 posisi5
Form2.MSComm1.Output = proll6.Text & "E"
If kirim41.Interval = 1 Then
fk41.Enabled = True
End If
End Sub

Private Sub kirim42_Timer()
'timer untuk mengirim program 7 posisi6
Form2.MSComm1.Output = pgripper6.Text
If kirim42.Interval = 1 Then
fk42.Enabled = True
End If
End Sub

Private Sub kirim43_Timer()
'timer untuk mengirim program 8 posisi 1
Form2.MSComm1.Output = pwaist7.Text & "A"
If kirim43.Interval = 1 Then
fk43.Enabled = True
End If
End Sub

Private Sub kirim44_Timer()
'timer untuk mengirim program 8 posisi 2
Form2.MSComm1.Output = pshoulder7.Text & "B"
If kirim44.Interval = 1 Then
fk44.Enabled = True
End If
End Sub

Private Sub kirim45_Timer()
'timer untuk mengirim program 8 posisi 3
Form2.MSComm1.Output = pelbow7.Text & "C"
If kirim45.Interval = 1 Then
fk45.Enabled = True
End If
End Sub

Private Sub kirim46_Timer()
'timer untuk mengirim program 8 posisi4
Form2.MSComm1.Output = ppitch7.Text & "D"
If kirim46.Interval = 1 Then
fk46.Enabled = True
End If
End Sub

Private Sub kirim47_Timer()
'timer untuk mengirim program 8 posisi5
Form2.MSComm1.Output = proll7.Text & "E"
If kirim47.Interval = 1 Then
fk47.Enabled = True
End If
End Sub

Private Sub kirim48_Timer()
'timer untuk mengirim program 8 posisi6
Form2.MSComm1.Output = pgripper7.Text
If kirim48.Interval = 1 Then
fk48.Enabled = True
End If
End Sub

Private Sub nt_Timer()
Form2.MSComm1.Output = "NT"
If nt.Interval = 1 Then
fbnt.Enabled = True
End If
End Sub

Private Sub kirim49_Timer()
'timer untuk mengirim program 9 posisi 1
Form2.MSComm1.Output = pwaist8.Text & "A"
If kirim49.Interval = 1 Then
fk49.Enabled = True
End If
End Sub

Private Sub kirim50_Timer()
'timer untuk mengirim program 9 posisi 2
Form2.MSComm1.Output = pshoulder8.Text & "B"
If kirim50.Interval = 1 Then
fk50.Enabled = True
End If
End Sub

Private Sub kirim51_Timer()
'timer untuk mengirim program 9 posisi 3
Form2.MSComm1.Output = pelbow8.Text & "C"
If kirim51.Interval = 1 Then
fk51.Enabled = True
End If
End Sub

Private Sub kirim52_Timer()
'timer untuk mengirim program 9 posisi4
Form2.MSComm1.Output = ppitch8.Text & "D"
If kirim52.Interval = 1 Then
fk52.Enabled = True
End If
End Sub
Private Sub kirim53_Timer()
'timer untuk mengirim program 9 posisi5
Form2.MSComm1.Output = proll8.Text & "E"
If kirim53.Interval = 1 Then
fk53.Enabled = True
End If
End Sub

Private Sub kirim54_Timer()
'timer untuk mengirim program 9 posisi6
Form2.MSComm1.Output = pgripper8.Text
If kirim54.Interval = 1 Then
fk54.Enabled = True
End If
End Sub

Private Sub kirim55_Timer()
'timer untuk mengirim program 10 posisi 1
Form2.MSComm1.Output = pwaist9.Text & "A"
If kirim55.Interval = 1 Then
fk55.Enabled = True
End If
End Sub

Private Sub kirim56_Timer()
'timer untuk mengirim program 10 posisi 2
Form2.MSComm1.Output = pshoulder9.Text & "B"
If kirim56.Interval = 1 Then
fk56.Enabled = True
End If
End Sub

Private Sub kirim57_Timer()
'timer untuk mengirim program 10 posisi 3
Form2.MSComm1.Output = pelbow9.Text & "C"
If kirim57.Interval = 1 Then
fk57.Enabled = True
End If
End Sub

Private Sub kirim58_Timer()
'timer untuk mengirim program 10 posisi4
Form2.MSComm1.Output = ppitch9.Text & "D"
If kirim58.Interval = 1 Then
fk58.Enabled = True
End If
End Sub

Private Sub kirim59_Timer()
'timer untuk mengirim program 10 posisi5
Form2.MSComm1.Output = proll9.Text & "E"
If kirim59.Interval = 1 Then
fk59.Enabled = True
End If
End Sub

Private Sub kirim60_Timer()
'timer untuk mengirim program 10 posisi6
Form2.MSComm1.Output = pgripper9.Text
If kirim60.Interval = 1 Then
fk60.Enabled = True
End If
End Sub

Private Sub tim10_Timer()
embuh10.Text = Form2.MSComm1.Input
If embuh10.Text = "pos" Then
kirim31.Enabled = True
tim9.Enabled = False
tim10.Enabled = False
End If
End Sub

Private Sub tim11_Timer()
Form2.MSComm1.Output = pwaist6.Text & "A"
If tim11.Interval = 1 Then
tim12.Enabled = True
End If
Form2.led7.FillStyle = 0
Form2.led7.FillColor = &HC0&
End Sub
Private Sub tim12_Timer()
embuh12.Text = Form2.MSComm1.Input
If embuh12.Text = "pos" Then
kirim37.Enabled = True
tim11.Enabled = False
tim12.Enabled = False
End If
End Sub

Selanjutnya:

Code:

Private Sub tim13_Timer()
Form2.MSComm1.Output = pwaist7.Text & "A"
If tim13.Interval = 1 Then
tim14.Enabled = True
End If
Form2.led8.FillStyle = 0
Form2.led8.FillColor = &HC0&
End Sub

Private Sub tim14_Timer()
embuh14.Text = Form2.MSComm1.Input
If embuh14.Text = "pos" Then
kirim43.Enabled = True
tim13.Enabled = False
tim14.Enabled = False
End If
End Sub

Private Sub tim15_Timer()
Form2.MSComm1.Output = pwaist8.Text & "A"
If tim15.Interval = 1 Then
tim16.Enabled = True
End If
Form2.led9.FillStyle = 0
Form2.led9.FillColor = &HC0&
End Sub

Private Sub tim16_Timer()
embuh16.Text = Form2.MSComm1.Input
If embuh16.Text = "pos" Then
kirim49.Enabled = True
tim15.Enabled = False
tim16.Enabled = False
End If
End Sub

Private Sub tim17_Timer()
Form2.MSComm1.Output = pwaist9.Text & "A"
If tim17.Interval = 1 Then
tim18.Enabled = True
End If
Form2.Left.FillStyle = 0
Form2.led10.FillColor = &HC0&
End Sub

Private Sub tim18_Timer()
embuh18.Text = Form2.MSComm1.Input
If embuh18.Text = "pos" Then
kirim55.Enabled = True
tim17.Enabled = False
tim18.Enabled = False
End If
End Sub

Private Sub tim7_Timer()
Form2.MSComm1.Output = pwaist4.Text & "A"
If tim7.Interval = 1 Then
tim8.Enabled = True
End If
Form2.led5.FillStyle = 0
Form2.led5.FillColor = &HC0&
End Sub

Private Sub tim8_Timer()
embuh8.Text = Form2.MSComm1.Input
If embuh8.Text = "pos" Then
kirim25.Enabled = True
tim7.Enabled = False
tim8.Enabled = False
End If
End Sub

Private Sub tim9_Timer()
Form2.MSComm1.Output = pwaist5.Text & "A"
If tim9.Interval = 1 Then
tim10.Enabled = True
End If
Form2.led6.FillStyle = 0
Form2.led6.FillColor = &HC0&
End Sub

Form 2 nya:

Code:

FORM 2
Option Explicit
Dim Rs As New ADODB.Recordset

Private Sub Command1_Click()
tampil.Text = ""
tampil1.Text = ""
tampil2.Text = ""
tampil3.Text = ""
tampil4.Text = ""
tampil5.Text = ""
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
End Sub

Private Sub Command10_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil2.Text = Val(tampil2.Text) - 1
If tampil2.Text > 9 Then tampil2.Text = 9
If tampil2.Text < 0 Then tampil2.Text = 0
T6.Enabled = True
End Sub

Private Sub Command11_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil3.Text = Val(tampil3.Text) + 1
If tampil3.Text > 9 Then tampil3.Text = 9
If tampil3.Text < 0 Then tampil3.Text = 0
T7.Enabled = True
End Sub

Private Sub Command12_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil3.Text = Val(tampil3.Text) - 1
If tampil3.Text > 9 Then tampil3.Text = 9
If tampil3.Text < 0 Then tampil3.Text = 0
T8.Enabled = True
End Sub

Private Sub Command13_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
If tampil4.Text >= 0 Then
tampil4.Text = Val(tampil4.Text) + 1
Else
tampil4.Text = 0
End If
T9.Enabled = True
End Sub

Private Sub Command14_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T11.Enabled = False
T12.Enabled = False
If tampil4.Text <= 11 Then
tampil4.Text = Val(tampil4.Text) - 1
Else
tampil4.Text = 11
End If
T10.Enabled = True
End Sub

Private Sub Command15_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T12.Enabled = False
tampil5.Text = "ON"
T11.Enabled = True
End Sub

Private Sub Command16_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
tampil5.Text = "OFF"
T12.Enabled = True
End Sub

Private Sub Command17_Click()
With Rs
.AddNew
.Fields("Waist").Value = tampil.Text
.Fields("Shoulder").Value = tampil1.Text
.Fields("Elbow").Value = tampil2.Text
.Fields("Pitch").Value = tampil3.Text
.Fields("Roll").Value = tampil4.Text
.Fields("Gripper").Value = tampil5.Text
.Update
End With
End Sub

Private Sub Command19_Click()
'REFRESH
led1.FillStyle = 1
led2.FillStyle = 1
led3.FillStyle = 1
led4.FillStyle = 1
led5.FillStyle = 1
led6.FillStyle = 1
led7.FillStyle = 1
led8.FillStyle = 1
led9.FillStyle = 1
led10.FillStyle = 1
pgm2.Text = ""
pgm3.Text = ""
pgm4.Text = ""
pgm5.Text = ""
pgm6.Text = ""
pgm7.Text = ""
pgm8.Text = ""
pgm9.Text = ""
pgm10.Text = ""
pgrm2.Text = ""
pgrm3.Text = ""
pgrm4.Text = ""
pgrm5.Text = ""
pgrm6.Text = ""
pgrm7.Text = ""
pgrm8.Text = ""
pgrm9.Text = ""
pgrm10.Text = ""
pwaist1.Text = ""
pshoulder1.Text = ""
pelbow1.Text = ""
ppitch1.Text = ""
proll1.Text = ""
pgripper1.Text = ""
pwaist2.Text = ""
pshoulder2.Text = ""
pelbow2.Text = ""
ppitch2.Text = ""
proll2.Text = ""
pgripper2.Text = ""
pwaist3.Text = ""
pshoulder3.Text = ""
pelbow3.Text = ""
ppitch3.Text = ""
proll3.Text = ""
pgripper3.Text = ""
Form1.pwaist4.Text = ""
Form1.pshoulder4.Text = ""
Form1.pelbow4.Text = ""
Form1.ppitch4.Text = ""
Form1.proll4.Text = ""
Form1.pgripper4.Text = ""
Form1.pwaist5.Text = ""
Form1.pshoulder5.Text = ""
Form1.pelbow5.Text = ""
Form1.ppitch5.Text = ""
Form1.proll5.Text = ""
Form1.pgripper5.Text = ""
Form1.pwaist6.Text = ""
Form1.pshoulder6.Text = ""
Form1.pelbow6.Text = ""
Form1.ppitch6.Text = ""
Form1.proll6.Text = ""
Form1.pgripper6.Text = ""
Form1.pwaist7.Text = ""
Form1.pshoulder7.Text = ""
Form1.pelbow7.Text = ""
Form1.ppitch7.Text = ""
Form1.proll7.Text = ""
Form1.pgripper7.Text = ""
Form1.pwaist8.Text = ""
Form1.pshoulder8.Text = ""
Form1.pelbow8.Text = ""
Form1.ppitch8.Text = ""
Form1.proll8.Text = ""
Form1.pgripper8.Text = ""
Form1.pwaist9.Text = ""
Form1.pshoulder9.Text = ""
Form1.pelbow9.Text = ""
Form1.ppitch9.Text = ""
Form1.proll9.Text = ""
Form1.pgripper9.Text = ""
fb1.Text = ""
fb2.Text = ""
fb3.Text = ""
fb4.Text = ""
fb5.Text = ""
fb6.Text = ""
fb7.Text = ""
fb8.Text = ""
fb9.Text = ""
fb10.Text = ""
fb11.Text = ""
fb12.Text = ""
fb13.Text = ""
fb14.Text = ""
fb15.Text = ""
fb16.Text = ""
fb17.Text = ""
fb18.Text = ""
fb19.Text = ""
fb20.Text = ""
fb21.Text = ""
fb22.Text = ""
fb23.Text = ""
fb24.Text = ""
Form1.fb25.Text = ""
Form1.fb26.Text = ""
Form1.fb27.Text = ""
Form1.fb28.Text = ""
Form1.fb29.Text = ""
Form1.fb30.Text = ""
Form1.fb31.Text = ""
Form1.fb32.Text = ""
Form1.fb33.Text = ""
Form1.fb34.Text = ""
Form1.fb35.Text = ""
Form1.fb36.Text = ""
Form1.fb37.Text = ""
Form1.fb38.Text = ""
Form1.fb39.Text = ""
Form1.fb40.Text = ""
Form1.fb41.Text = ""
Form1.fb42.Text = ""
Form1.fb43.Text = ""
Form1.fb44.Text = ""
Form1.fb45.Text = ""
Form1.fb46.Text = ""
Form1.fb47.Text = ""
Form1.fb48.Text = ""
Form1.fb49.Text = ""
Form1.fb50.Text = ""
Form1.fb51.Text = ""
Form1.fb52.Text = ""
Form1.fb53.Text = ""
Form1.fb54.Text = ""
Form1.fb55.Text = ""
Form1.fb56.Text = ""
Form1.fb57.Text = ""
Form1.fb58.Text = ""
Form1.fb59.Text = ""
Form1.fb60.Text = ""
embuh.Text = ""
embuh1.Text = ""
embuh3.Text = ""
embuh4.Text = ""
embuh5.Text = ""
embuh6.Text = ""
Form1.embuh7.Text = ""
Form1.embuh8.Text = ""
Form1.embuh9.Text = ""
Form1.embuh10.Text = ""
Form1.embuh11.Text = ""
Form1.embuh12.Text = ""
Form1.embuh13.Text = ""
Form1.embuh14.Text = ""
Form1.embuh15.Text = ""
Form1.embuh16.Text = ""
Form1.embuh17.Text = ""
Form1.embuh18.Text = ""
End Sub

Private Sub Command2_Click()
'perintah untuk menghapus satu database
Dim setuju As String
setuju = MsgBox("Data akan benar-benar akan dihapus?", vbYesNo, "konfirmasi")
If setuju = vbYes Then
Rs.Delete
MsgBox ("1 record(s) terhapus!")
statusrec.SimpleText = Rs.RecordCount & " record(s) "
End If
End Sub

'perintah untuk run program
Private Sub Command3_Click()
If nt.Text = "NT" Then
Timer1.Enabled = True
Else
MsgBox ("Masukkan Program NETSPOINT (NT)")
End If
End Sub

Private Sub Command5_Click()
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil.Text = Val(tampil.Text) + 1
If tampil.Text > 9 Then tampil.Text = 9
If tampil.Text < 0 Then tampil.Text = 0
T1.Enabled = True
End Sub

Private Sub Command6_Click()
T1.Enabled = False
T3.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil.Text = Val(tampil.Text) - 1
If tampil.Text > 9 Then tampil.Text = 9
If tampil.Text < 0 Then tampil.Text = 0
T2.Enabled = True
End Sub

Private Sub Command7_Click()
T1.Enabled = False
T2.Enabled = False
T4.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil1.Text = Val(tampil1.Text) + 1
If tampil1.Text > 9 Then tampil1.Text = 9
If tampil1.Text < 0 Then tampil1.Text = 0
T3.Enabled = True
End Sub

Private Sub Command8_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T5.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil1.Text = Val(tampil1.Text) - 1
If tampil1.Text > 9 Then tampil1.Text = 9
If tampil1.Text < 0 Then tampil1.Text = 0
T4.Enabled = True
End Sub

Private Sub Command9_Click()
T1.Enabled = False
T2.Enabled = False
T3.Enabled = False
T4.Enabled = False
T6.Enabled = False
T7.Enabled = False
T8.Enabled = False
T9.Enabled = False
T10.Enabled = False
T11.Enabled = False
T12.Enabled = False
tampil2.Text = Val(tampil2.Text) + 1
If tampil2.Text > 9 Then tampil2.Text = 9
If tampil2.Text < 0 Then tampil2.Text = 0
T5.Enabled = True
End Sub

Selanjutnya :

Code:

'timer feedback kirim 1
Private Sub fk1_Timer()
fb1.Text = MSComm1.Input
If fb1.Text = "pos" Then
kirim2.Enabled = True
kirim1.Enabled = False
fk1.Enabled = False
End If
End Sub

Private Sub fk10_Timer()
'timer feedback kirim10
fb10.Text = MSComm1.Input
If fb10.Text = "pos3" Then
kirim11.Enabled = True
kirim10.Enabled = False
fk10.Enabled = False
End If
End Sub
Private Sub fk11_Timer()
'timer feedback kirim11
fb11.Text = MSComm1.Input
If fb11.Text = "pos4" Then
kirim12.Enabled = True
kirim11.Enabled = False
fk11.Enabled = False
End If
End Sub

Private Sub fk12_Timer()
'timer feedback kirim12
fb12.Text = MSComm1.Input
If fb12.Text = "pos5" Then
Timer3.Enabled = True
kirim12.Enabled = False
fk12.Enabled = False
End If
End Sub

Private Sub fk13_Timer()
'timer feedback kirim 13
fb13.Text = MSComm1.Input
If fb13.Text = "pos" Then
kirim14.Enabled = True
kirim13.Enabled = False
fk13.Enabled = False
End If
End Sub

Private Sub fk14_Timer()
'timer feedback kirim 14
fb14.Text = MSComm1.Input
If fb14.Text = "pos1" Then
kirim15.Enabled = True
kirim14.Enabled = False
fk14.Enabled = False
End If
End Sub

Private Sub fk15_Timer()
'timer feedback kirim 15
fb15.Text = MSComm1.Input
If fb15.Text = "pos2" Then
kirim16.Enabled = True
kirim15.Enabled = False
fk15.Enabled = False
End If
End Sub

Private Sub fk16_Timer()
'timer feedback kirim 16
fb16.Text = MSComm1.Input
If fb16.Text = "pos3" Then
kirim17.Enabled = True
kirim16.Enabled = False
fk16.Enabled = False
End If
End Sub

Private Sub fk17_Timer()
'timer feedback kirim 17
fb17.Text = MSComm1.Input
If fb17.Text = "pos4" Then
kirim18.Enabled = True
kirim17.Enabled = False
fk17.Enabled = False
End If
End Sub

Private Sub fk18_Timer()
'timer feedback kirim 18
fb18.Text = MSComm1.Input
If fb18.Text = "pos5" Then
Timer4.Enabled = True
kirim18.Enabled = False
fk18.Enabled = False
End If
End Sub

Private Sub fk19_Timer()
'timer feedback kirim 19
fb19.Text = MSComm1.Input
If fb19.Text = "pos" Then
kirim20.Enabled = True
kirim19.Enabled = False
fk19.Enabled = False
End If
End Sub

'timer feedback kirim2
Private Sub fk2_Timer()
fb2.Text = MSComm1.Input
If fb2.Text = "pos1" Then
kirim3.Enabled = True
kirim2.Enabled = False
fk2.Enabled = False
End If
End Sub

Private Sub fk20_Timer()
'timer feedback kirim 20
fb20.Text = MSComm1.Input
If fb20.Text = "pos1" Then
kirim21.Enabled = True
kirim20.Enabled = False
fk20.Enabled = False
End If
End Sub

Private Sub fk21_Timer()
'timer feedback kirim 21
fb21.Text = MSComm1.Input
If fb21.Text = "pos2" Then
kirim22.Enabled = True
kirim21.Enabled = False
fk21.Enabled = False
End If
End Sub

Private Sub fk22_Timer()
'timer feedback kirim 22
fb22.Text = MSComm1.Input
If fb22.Text = "pos3" Then
kirim23.Enabled = True
kirim22.Enabled = False
fk22.Enabled = False
End If
End Sub

Private Sub fk23_Timer()
'timer feedback kirim 23
fb23.Text = MSComm1.Input
If fb23.Text = "pos4" Then
kirim24.Enabled = True
kirim23.Enabled = False
fk23.Enabled = False
End If
End Sub

Private Sub fk24_Timer()
'timer feedback kirim 24
fb24.Text = MSComm1.Input
If fb24.Text = "pos5" Then
Timer5.Enabled = True
kirim24.Enabled = False
fk24.Enabled = False
End If
End Sub

'timer feedback kirim 3
Private Sub fk3_Timer()
fb3.Text = MSComm1.Input
If fb3.Text = "pos2" Then
kirim4.Enabled = True
kirim3.Enabled = False
fk3.Enabled = False
End If
End Sub

Private Sub fk4_Timer()
'timer feedback kirim 4
fb4.Text = MSComm1.Input
If fb4.Text = "pos3" Then
kirim5.Enabled = True
kirim4.Enabled = False
fk4.Enabled = False
End If
End Sub

Private Sub fk5_Timer()
'timer feedback kirim 5
fb5.Text = MSComm1.Input
If fb5.Text = "pos4" Then
kirim6.Enabled = True
kirim5.Enabled = False
fk5.Enabled = False
End If
End Sub

Private Sub fk6_Timer()
'timer feedback kirim 6
fb6.Text = MSComm1.Input
If fb6.Text = "pos5" Then
Timer2.Enabled = True
kirim6.Enabled = False
fk6.Enabled = False
End If
End Sub
Private Sub fk7_Timer()
'timer feedback kirim 7
fb7.Text = MSComm1.Input
If fb7.Text = "pos" Then
kirim8.Enabled = True
kirim7.Enabled = False
fk7.Enabled = False
End If
End Sub

Private Sub fk8_Timer()
'timer feedback kirim 8
fb8.Text = MSComm1.Input
If fb8.Text = "pos1" Then
kirim9.Enabled = True
kirim8.Enabled = False
fk8.Enabled = False
End If
End Sub

Private Sub fk9_Timer()
'timer feedback kirim 9
fb9.Text = MSComm1.Input
If fb9.Text = "pos2" Then
kirim10.Enabled = True
kirim9.Enabled = False
fk9.Enabled = False
End If
End Sub

Private Sub Form_Load()
Dim NmDatabase As String
'koneksi serial
MSComm1.PortOpen = True
'Koneksi database
    With Rs
    NmDatabase = App.Path & "\robot.accdb"
        .ActiveConnection = "Provider=Microsoft.ACE.OLEDB.12.0;Data Source=" & NmDatabase & ";Persist Security Info=False"
        .CursorLocation = adUseClient
        .LockType = adLockOptimistic
        .CursorType = adOpenStatic
        .Source = "select * from posisi"
        .Open
          End With
With dgposisi
Set .DataSource = Rs
.Refresh
.Columns(0).Caption = "No"
.Columns(0).Width = 500
.Columns(1).Caption = "Waist"
.Columns(1).Width = 1000
.Columns(2).Caption = "Shoulder"
.Columns(2).Width = 1000
.Columns(3).Caption = "Elbow"
.Columns(3).Width = 1000
.Columns(4).Caption = "Pitch"
.Columns(4).Width = 1000
.Columns(5).Caption = "Roll"
.Columns(5).Width = 1000
.Columns(6).Caption = "Gripper"
.Columns(6).Width = 1000
statusrec.SimpleText = Rs.RecordCount & "record(s)"
.Splits.Item(0).Locked = True
End With
End Sub
Private Sub Form_Unload(Cancel As Integer)
    Set Rs = Nothing
    MSComm1.PortOpen = False
End Sub

Terusan programnya nanti dibawah aja ya.. terlalu panjang.... gak bisa masukin lagi..
nanti klo ada yang post baru ane terusin... hehehehe

Cara Pengoperasianye:

Code:

Perangkaian hardware robot
a.    Pastikan catu daya sudah terpasang
b.    Pastikan rangkaian PIC sudah mendapat supplay tegangan.
c.    Pasang kabel serial untuk komunikasi serial antarmuka robot dengan PC.
d.    Pastikan Led Indikator pada rangkaian mikrokontroler menyala.
e.    Pastikan kabel motor servo sudah terhubung dengan konektor servo sesuai nomor yang tertera pada kabel.

3.2 Menjalankan Software untuk menjalankan robot
a.    Buka file aplikasi Arm Servo Robot .
b.    Tentukan posisi dengan mode otomatis dari program komputer (teach in dan set joint coordinates) atau mode manual melalui remote. Sebelum menjalankan program tekan dahulu tombol reset.
c.    Penyimpanan posisi dengan cara menekan tombol save.
d.    Untuk Pemograman, pilih icon Program, kemudian masukkan Posisi sesuai dengan posisi yang diinginkan. Untuk menggerakan robot posisi 1, menggunakan perintah comman “MOVE 1” (gerakan keposisi 1)
No    MOVE    No Posisi
e.    Perintah untuk program awal
No    NT    
f.    Untuk menjalankan robot tekan dahulu reset
g.    Jalankan program dengan menekan perintah Run Program

dan hasilnye...

Code:

[img]http://i55.tinypic.com/2mc8v0y.jpg[/img]

dah dulu ya..
me kaboor...
[List-OneZero]

[izanagi]

wew...

[3ono]

mantab bener.....

[Janice]

klo mo menghubungi kaka kemana ya? tertrik sama robotnya

[List-OneZero]

(01-19-2011 10:54 AM)Janice Wrote:  klo mo menghubungi kaka kemana ya? tertrik sama robotnya

ntar ane bales pm ente, tapi ane jarang oL coz sibuk urusan kantor ane trus...

[Janice]

yahh... jgn lama2 kaka..... ngiler nih kaka....

[T3mp3]

Boleh privat g om?

[List-OneZero]

(01-20-2011 08:16 PM)Janice Wrote:  yahh... jgn lama2 kaka..... ngiler nih kaka....

oke... ntar ane pm ente deh... tp ane harus kelarin kerjaan dulu ane...

(01-21-2011 05:18 AM)T3mp3 Wrote:  Boleh privat g om?

hehehehe jangan gitu ah om... om t3mp3 kan dah om dalam hal pemrograman... ane yang harusnya privat ke om t3mp3

[mywisdom]

makasih bro dah mao sharing2, maksih bet

[sang.sakaya]

w0w mantap bang...
buat r0b0t tentara bang, jadi kalau ada negara perang, biar r0b0t-r0b0t aja yg perang,
gak usah ngebahayain jiwa manusia T__T