1. Prosedur[Kembali]
2. Buat program untuk mikrokontroler STM32F103C8 di software STM32 CubeIDE.
3. Compile program dalam format hex, lalu upload ke dalam mikrokontroler.
4. Jalankan simulasi rangkaian pada proteus.
5. Selesai.
1. Mikrokontroler STM32F103C8
2. Touch Sensor
3. Power Supply
4. Motor DC (Dinamo DC)
5. Motor Stepper
6. ULN2003A
7. Potensiometer
3. Rangkaian Simulasi[Kembali]
Prinsip kerjanya ialah:
Rangkaian ini menggunakan mikrokontroler STM32F103C8 sebagai pusat kendali yang menerima input dari touch sensor dan potensiometer, serta mengontrol motor stepper melalui driver ULN2003A.
Saat tidak ada sentuhan terdeteksi, motor stepper akan berputar sesuai nilai potensiometer yang dibaca melalui pin ADC (PA0): jika nilai < 2048, motor berputar searah jarum jam (CW); jika ≥ 2048, motor berputar berlawanan arah jarum jam (CCW). Sebaliknya, jika ada sentuhan, motor stepper dimatikan dengan semua output diset LOW.
Gerakan motor dikendalikan dengan urutan langkah (step sequence) yang sesuai arah putaran, dan sistem bekerja secara real-time untuk merespons perubahan input dengan cepat dan stabil.
4. Flowchart dan Listing Program[Kembali]
Flowchart
.png)
Listing program
#include "stm32f1xx_hal.h"
// ============================
// Konstanta dan Definisi Pin
// ============================
#define STEPPER_PORT GPIOB
#define IN1_PIN GPIO_PIN_8
#define IN2_PIN GPIO_PIN_9
#define IN3_PIN GPIO_PIN_10
#define IN4_PIN GPIO_PIN_11
#define TOUCH_SENSOR_PORT GPIOB
#define TOUCH_SENSOR_PIN GPIO_PIN_0
#define MOTOR_DC_PORT GPIOB
#define MOTOR_DC_PIN GPIO_PIN_7
// ============================
// Variabel Global
// ============================
ADC_HandleTypeDef hadc1;
const uint8_t STEP_SEQ_CW[4] = {
(1 << 0), // IN1
(1 << 1), // IN2
(1 << 2), // IN3
(1 << 3) // IN4
};
const uint8_t STEP_SEQ_CCW[4] = {
(1 << 3), // IN4
(1 << 2), // IN3
(1 << 1), // IN2
(1 << 0) // IN1
};
uint8_t current_mode = 0; // 0 = CW, 1 = CCW
volatile uint8_t touch_state = 0; // Status sentuh (jika dibutuhkan untuk ekstensi)
// ============================
// Deklarasi Fungsi
// ============================
void SystemClock_Config(void);
void MX_GPIO_Init(void);
void MX_ADC1_Init(void);
void RunStepper(const uint8_t *sequence, uint8_t speed);
void Error_Handler(void);
// ============================
// Fungsi Utama
// ============================
int main(void) {
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_ADC1_Init();
while (1) {
// Saat sensor tidak disentuh
if (HAL_GPIO_ReadPin(TOUCH_SENSOR_PORT, TOUCH_SENSOR_PIN) == GPIO_PIN_RESET) {
HAL_ADC_Start(&hadc1);
if (HAL_ADC_PollForConversion(&hadc1, 10) == HAL_OK) {
uint16_t adc_val = HAL_ADC_GetValue(&hadc1);
current_mode = (adc_val < 2048) ? 0 : 1;
}
if (current_mode == 0) {
RunStepper(STEP_SEQ_CW, 5);
} else {
RunStepper(STEP_SEQ_CCW, 5);
}
}
HAL_Delay(1);
}
}
// ============================
// Fungsi Stepper
// ============================
void RunStepper(const uint8_t *sequence, uint8_t speed) {
static uint8_t step = 0;
HAL_GPIO_WritePin(STEPPER_PORT, IN1_PIN, (sequence[step] & (1 << 0)) ? GPIO_PIN_SET : GPIO_PIN_RESET);
HAL_GPIO_WritePin(STEPPER_PORT, IN2_PIN, (sequence[step] & (1 << 1)) ? GPIO_PIN_SET : GPIO_PIN_RESET);
HAL_GPIO_WritePin(STEPPER_PORT, IN3_PIN, (sequence[step] & (1 << 2)) ? GPIO_PIN_SET : GPIO_PIN_RESET);
HAL_GPIO_WritePin(STEPPER_PORT, IN4_PIN, (sequence[step] & (1 << 3)) ? GPIO_PIN_SET : GPIO_PIN_RESET);
step = (step + 1) % 4;
HAL_Delay(speed);
}
// ============================
// Inisialisasi GPIO
// ============================
void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_AFIO_REMAP_SWJ_NOJTAG(); // Bebaskan PB3 dan PB4 jika dibutuhkan
// Touch Sensor (Input + Interrupt)
GPIO_InitStruct.Pin = TOUCH_SENSOR_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(TOUCH_SENSOR_PORT, &GPIO_InitStruct);
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
// Motor DC (PB7)
GPIO_InitStruct.Pin = MOTOR_DC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(MOTOR_DC_PORT, &GPIO_InitStruct);
// Stepper Motor (PB8 - PB11)
GPIO_InitStruct.Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN;
HAL_GPIO_Init(STEPPER_PORT, &GPIO_InitStruct);
}
// ============================
// Inisialisasi ADC
// ============================
void MX_ADC1_Init(void) {
ADC_ChannelConfTypeDef sConfig = {0};
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK) {
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
Error_Handler();
}
}
// ============================
// Konfigurasi Clock
// ============================
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
}
// ============================
// Callback EXTI (Interrupt)
// ============================
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
if (GPIO_Pin == TOUCH_SENSOR_PIN) {
GPIO_PinState pinState = HAL_GPIO_ReadPin(TOUCH_SENSOR_PORT, TOUCH_SENSOR_PIN);
if (pinState == GPIO_PIN_SET) {
// Saat disentuh: nyalakan motor DC, matikan stepper
HAL_GPIO_WritePin(MOTOR_DC_PORT, MOTOR_DC_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(STEPPER_PORT, IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN, GPIO_PIN_RESET);
} else {
// Saat dilepas: matikan motor DC
HAL_GPIO_WritePin(MOTOR_DC_PORT, MOTOR_DC_PIN, GPIO_PIN_RESET);
}
}
}
// ============================
// Interrupt Handler
// ============================
void EXTI0_IRQHandler(void) {
HAL_GPIO_EXTI_IRQHandler(TOUCH_SENSOR_PIN);
}
// ============================
// Error Handler
// ============================
void Error_Handler(void) {
while (1) {}
}
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