PENGIMBANGAN GERAK ROBOT BERODA DUA

<div class="thumbnail" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYcSJPj8wpEjUrCwTxydyTx8ZNKVi9ncG7fVM_tr0uhafPJKA4Op2KWF9GIIrTs9ZimwRzvrzfxUynxLGtN6nuz2oSrdrhOxoPMrXzNV0GsRgAwRsjB2_o6HWgvd4grk2GFKYVL8F5wtc/s1600/depan.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="204" data-original-width="330" height="197" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYcSJPj8wpEjUrCwTxydyTx8ZNKVi9ncG7fVM_tr0uhafPJKA4Op2KWF9GIIrTs9ZimwRzvrzfxUynxLGtN6nuz2oSrdrhOxoPMrXzNV0GsRgAwRsjB2_o6HWgvd4grk2GFKYVL8F5wtc/s320/depan.png" width="320" /></a></div> <br /> <div class="WordSection1"> <div align="center" class="MsoNormal" style="margin-right: 1.0pt; mso-line-height-alt: 0pt; text-align: center;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 12.0pt;">PENGIMBANGAN GERAK ROBOT BERODA DUA<o:p></o:p></span></b></div> <div bp.blogspot.com="" bsp8uik_jui="" class="MsoNormal" depan.png="" https:="" imageanchor="1" nwgpcjinr84zy8tx4iiixrgdln11xwprgclcbgas="" s1600="" style="line-height: 1.05pt;" y8="" y_hidymgi=""> <br /></div> </div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Lidia Ernanda</span></i><i style="mso-bidi-font-style: normal;">^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">1</span>}</i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">, M. Bachtiar Rifa’i</span></i><i style="mso-bidi-font-style: normal;">^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">2</span>}</i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">, Dr. Samuel Beta, Ing-Tech.,M.T.</span></i><i style="mso-bidi-font-style: normal;">^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">3</span>}</i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"> <o:p></o:p></span></i></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Jl. Prof. H. Soedarto, SH, Tembalang, Semarang, 50275 Jurusan Teknik Elektro<o:p></o:p></span></i></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-spacerun: yes;"> </span>Politeknik Negeri Semarang <o:p></o:p></span></i></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Jln. Prof. Sudarto, SH, Ds. Tembalang Semarang 50275 <o:p></o:p></span></i></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">E-mail :<o:p></o:p></span></i></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-spacerun: yes;"> </span><span class="MsoHyperlink">l<a href="mailto:idiaernanda0@gmail.com">idiaernanda0@gmail.com</a></span></span></i><i style="mso-bidi-font-style: normal;">^{<span style="color: #4472c4; font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 17.1667px;">1</span>}</i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="color: #4472c4;">,</span><span class="MsoHyperlink"><a href="mailto:rifbachtiar37@gmail.com">rifbachtiar37@gmail.com</a></span></span></i><i style="mso-bidi-font-style: normal;">^{<span style="color: #4472c4; font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">2</span>}</i><i style="mso-bidi-font-style: normal;"><span style="color: #4472c4; font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">,</span></i><a href="mailto:sambetak2@gmail.com3"><span class="MsoHyperlink"><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">sambetak2@gmail.com</span></i></span><i style="mso-bidi-font-style: normal;">^{<span style="color: #4472c4; font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">3</span>}</i></a></div> <div align="center" class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 61.0pt; margin-right: 61.0pt; margin-top: 0cm; text-align: center;"> <br /></div> <span style="font-family: "times new roman" , serif; font-size: 10.0pt; line-height: 110%;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br /> <div class="WordSection2"> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Intisari ─ Robot Pengimbangan yang dibuat adalah robot beroda yang memiliki 2 roda pada sisi kanan dan kiri, robot ini harus dapat menjaga keseimbangan. Untuk dapat menjaga keseimbangan secara maksimal digunakan sensor accelerometer ADXL335. Accelerometer terdiri dari tiga sumbu yaitu sumbu X, sumbu Y, dan sumbu Z, dimana setiap sumbu saling tegak lurus. Pada robot ini digunakan Sumbu Y untuk mendeteksi kemiringan dan kecepatan sudut badan robot ketika akan jatuh. Saat sudut >7ᵒ maka robot bergerak maju, saat sudut <-13ᵒ maka robot bergerak mundur, dan saat sudut -12ᵒ -6ᵒ maka robot berhenti. ARM ( <i style="mso-bidi-font-style: normal;">Advanced RISC Machine</i> ) digunakan sebagai pemproses yang hasilnya dikirim ke motor DC untuk mengatur arah putaran motor.<o:p></o:p></span></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <br /></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Kata Kunci : ARM, sensor accelero ADXL335, Motor DC<o:p></o:p></span></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <br /></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt; text-align: justify;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Abstract ─ The Balancing Robot made is a wheeled robot that has 2 wheels on the right and left sides, this robot must be able to maintain balance. To be able to maintain maximum balance, the ADXL335 accelerometer sensor is used. Accelerometer consists of three axes namely X axis, Y axis, and Z axis, where each axis is perpendicular to each other. In this robot Y axis is used to detect the slope and the angular speed of the robot body when it will fall. When the angle is> 7ᵒ, the robot moves forward, when the angle <-13ᵒ then the robot moves backwards, and when the angle is -12ᵒ -6ᵒ the robot stops.</span></i><span style="font-family: "times new roman" , serif;"> </span><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">ARM (Advanced RISC Machine) is used as a processor whose results are sent to a DC motor to adjust the motor rotation direction.<o:p></o:p></span></i></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <br /></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Keywords: ARM, a accelero sensor ADXL335, DC Motor<o:p></o:p></span></i></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 24.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l0 level1 lfo1; tab-stops: 14.2pt 24.0pt; text-indent: -24.0pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">I.<span style="font: 7.0pt "Times New Roman";">     </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">PENDAHULUAN<o:p></o:p></span></b></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 18.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l6 level1 lfo8; tab-stops: 14.2pt; text-align: justify; text-indent: -18.0pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">1.1<span style="font: 7.0pt "Times New Roman";"> </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Latar Belakang<o:p></o:p></span></b></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Di dunia modern saat ini, penelitian mengenai robot sangatlah banyak dan berkembang pesat disertai dengan kemajuan teknologi yang terus menerus berkembang. Salah satu hal yang diingini adalah<span style="mso-spacerun: yes;">     </span>mengembangkan<span style="mso-spacerun: yes;">    </span>pengetahuan mengenai robot dan sejenisnya. Robot yang dibuat adalah robot yang akan dapat menyeimbangkan<span style="mso-spacerun: yes;">  </span>dirinya hanya dengan dua roda. Untuk dapat menyeimbangkan<span style="mso-spacerun: yes;">  </span>dibutuhkan metode kontrol yang baik untuk dapat mempertahankan posisi robot dalam keadaan tegak lurus dan seimbang. <i style="mso-bidi-font-style: normal;">Advanced RISC Machine</i><span style="mso-spacerun: yes;">  </span>(ARM) digunakan sebagai pemproses yang hasilnya dikirim ke motor DC untuk mengatur arah putaran motor. Sebagai masukan yaitu sensor accelerometer<span style="mso-spacerun: yes;">  </span>yang digunakan sumbu Y<span style="mso-spacerun: yes;">  </span>untuk mendeteksi kemiringan dan kecepatan sudut badan robot ketika akan jatuh.<o:p></o:p></span></div> <div class="MsoNormal" style="margin-right: 5.75pt; tab-stops: 14.2pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="margin-left: 18.0pt; mso-list: l6 level1 lfo8; text-indent: -18.0pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">1.2<span style="font: 7.0pt "Times New Roman";">    </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tujuan<o:p></o:p></span></b></div> <div class="MsoNormal" style="text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tujuan yang ingin dicapai dalam Proyek ARM ini adalah membuat suatu<span style="mso-spacerun: yes;">   </span>alat<span style="mso-spacerun: yes;">   </span>yang<span style="mso-spacerun: yes;">   </span>dapat mempertahankan<span style="mso-spacerun: yes;">  </span>posisi<span style="mso-spacerun: yes;">   </span>pergerakan robot<span style="mso-spacerun: yes;">  </span>beroda<span style="mso-spacerun: yes;">  </span>dua<span style="mso-spacerun: yes;">   </span>pada<span style="mso-spacerun: yes;">  </span>kondisi<span style="mso-spacerun: yes;">   </span>seimbang<span style="mso-spacerun: yes;">  </span>dan<span style="mso-spacerun: yes;">   </span>tegak<span style="mso-spacerun: yes;">   </span>lurus terhadap<span style="mso-spacerun: yes;">   </span>permukaan<span style="mso-spacerun: yes;">  </span>bumi<span style="mso-spacerun: yes;">  </span>di<span style="mso-spacerun: yes;">  </span>bidang<span style="mso-spacerun: yes;">  </span>datar</span><span style="font-family: "times new roman" , serif;">.<o:p></o:p></span></div> <div class="MsoNormal"> <br /></div> <div class="MsoNormal" style="margin-left: 21.0pt; mso-list: l1 level1 lfo2; tab-stops: 21.0pt; text-indent: -20.6pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">II.<span style="font: 7.0pt "Times New Roman";">       </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">TINJAUAN PUSTAKA<o:p></o:p></span></b></div> <div class="MsoNormal" style="margin-right: 1.0pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Untuk mengetahui berbagai komponen dan peralatan yang dibutuhkan, maka disusunlah tinjauan pustaka sebagai acuan dalam merancang dan membuat aplikasi menggunakan mikrokontroler ARM NUC120 ini.<o:p></o:p></span></div> <div class="MsoNormal" style="margin-right: 1.0pt; text-align: justify;"> <br /></div> <div class="MsoListParagraph" style="margin-left: 21.3pt; mso-add-space: auto; mso-list: l7 level1 lfo9; tab-stops: 22.0pt; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">1.<span style="font: 7.0pt "Times New Roman";">       </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">ARM NUC120<o:p></o:p></span></div> <div class="MsoNormal" style="text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">ARM<span style="mso-spacerun: yes;">  </span>adalah<span style="mso-spacerun: yes;">  </span>prosesor<span style="mso-spacerun: yes;">  </span>dengan<span style="mso-spacerun: yes;">  </span>arsitektur<span style="mso-spacerun: yes;">  </span>set instruksi 32-bit RISC (<i style="mso-bidi-font-style: normal;">Reduced Instruction Set</i> <i style="mso-bidi-font-style: normal;">Computer</i>) yang dikembangkan oleh ARM Holdings. ARM merupakan s</span><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">ingkatan</span><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"> dari <i style="mso-bidi-font-style: normal;">Advanced RISC Machine</i>. ARM NUC120 merupakan sebuah modul mikrokontroler 32-bit berbasis ARM CortexM0. ARM NUC120 BOARD dilengkapi dengan program bootloader sehingga tidak membutuhkan divais programmer terpisah. NUC120 dapat beroperasi dengan kecepatan CPU sampai 48MHz. Telah dilengkapi dengan <i style="mso-bidi-font-style: normal;">Full Speed<span style="mso-spacerun: yes;">  </span></i>USB 2.0 <i style="mso-bidi-font-style: normal;">Device</i> <i style="mso-bidi-font-style: normal;">Controller </i>yang sangat fleksibel dan dapat<i style="mso-bidi-font-style: normal;"> </i>dikonfigurasi untuk berbagai aplikasi berbasis USB.<o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> </div> <br /> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjplZus92jzMuwdAsSiMxNAz0YzwSQ_gJ1WnbdWpo99ZbhlRVLcrRA0F5Tjusapas8tRSQU5aRnpye0zazEE4CcqDL47dUHLQcYTJExQntfYHRkCXUKUJvFvEU02y83NoVvqzF-0rwbVvU/s1600/ARM.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="134" data-original-width="192" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjplZus92jzMuwdAsSiMxNAz0YzwSQ_gJ1WnbdWpo99ZbhlRVLcrRA0F5Tjusapas8tRSQU5aRnpye0zazEE4CcqDL47dUHLQcYTJExQntfYHRkCXUKUJvFvEU02y83NoVvqzF-0rwbVvU/s1600/ARM.png" /></a></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 36.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt;"> <br /></div> <div class="MsoNormal" style="margin: 0cm 5.75pt 0.0001pt 36pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><o:p> </o:p></span><span style="font-family: "times new roman" , serif; text-indent: 36pt;">Gambar 1. ARM NUC120</span></div> <div class="MsoNormal" style="margin-right: 5.75pt; mso-line-height-alt: 0pt;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Spesifikasi :<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.25pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 112%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l2 level1 lfo3; tab-stops: 21.0pt; text-align: justify; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">a.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Berbasis NUC120RD2BN dengan Flash memory APROM sebesar 64 Kbyte, 8 Kbyte SRAM, 4 Kbyte Data Flash.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .75pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 112%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l2 level1 lfo3; tab-stops: 21.0pt; text-align: justify; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">b.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki kemampuan IAP (<i style="mso-bidi-font-style: normal;">In Applicaton</i> <i style="mso-bidi-font-style: normal;">Programming</i>) dan ISP (<i style="mso-bidi-font-style: normal;">In System Programming</i>) melalui bootloader software<i style="mso-bidi-font-style: normal;"> </i>pada LDROM.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .4pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l2 level1 lfo3; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">c.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tersedia jalur SWD (<i style="mso-bidi-font-style: normal;">Serial Wire Debug</i>) yang dapat digunakan untuk <i style="mso-bidi-font-style: normal;">debugging</i> serta<i style="mso-bidi-font-style: normal;">programming</i>.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">d.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Dapat diprogram langsung melalui jalur USB.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">e.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Mendukung Peripheral DMA mode.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.35pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 110%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">f.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki 8 channel ADC dengan resolusi 12 bit.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .55pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">g.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki 4 buah timer 32 bit.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">h.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki fungsi Watchdog dan RTC.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.2pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 110%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">i.<span style="font: 7.0pt "Times New Roman";">           </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Dilengkapi dengan 4 buah <i style="mso-bidi-font-style: normal;">hardware</i> PWM dengan resolusi 16 bit.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.0pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 103%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">j.<span style="font: 7.0pt "Times New Roman";">           </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki masing-masing 2 kanal jalur komunikasi UART, SPI, dan I</span>^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 103%;">2</span>}<span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">C.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .05pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 91%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">k.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki 1 channel I</span>^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 91%;">2</span>}<span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">C.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 91%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">l.<span style="font: 7.0pt "Times New Roman";">           </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tersedia antarmuka USB dan UART RS-485.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.35pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 112%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-align: justify; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">m.<span style="font: 7.0pt "Times New Roman";">       </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Terdapat sensor suhu <i style="mso-bidi-font-style: normal;">built-in</i> dengan <i style="mso-bidi-font-style: normal;">range</i> - 40 - 125°C dengan resolusi 1°C. Sensor ini memiliki <i style="mso-bidi-font-style: normal;">gain</i> -1.76mV/°C dan <i style="mso-bidi-font-style: normal;">offset</i> 720 mV pada suhu 0°C.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .85pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 113%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-align: justify; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">n.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Memiliki hingga 45 jalur GPIO yang masing-masing dapat dikonfigurasi <i style="mso-bidi-font-style: normal;">pull-up/ pull-down</i> <i style="mso-bidi-font-style: normal;">resistor, repeater mode, input inverter, dan open-drain mode</i>.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .2pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">o.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Terdapat 22 MHz internal osilator.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.2pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 110%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">p.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Frekuensi osilator eksternal sebesar 12 MHz dan fitur PLL sampai dengan 48 MHz.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.0pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 112%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-align: justify; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">q.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Frekuensi osilator eksternal sebesar 32.768 KHz yang dapat digunakan untuk fungsi RTC dan Low Power Mode.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: .4pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">r.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tersedia rangkaian reset manual.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.8pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-line-height-alt: 0pt; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">s.<span style="font: 7.0pt "Times New Roman";">          </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Bekerja pada tegangan 3,3 – 5,5 V.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 2.2pt; margin-right: 5.75pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 110%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 21.0pt; margin-right: 5.75pt; margin-top: 0cm; mso-list: l3 level1 lfo4; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">t.<span style="font: 7.0pt "Times New Roman";">           </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Dilengkapi dengan regulator 3,3 V dan 5 V dengan arus maksimum 800 mA<o:p></o:p></span></div> <div class="MsoNormal" style="margin-right: 5.75pt; mso-line-height-alt: 0pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Tersedia pilihan catu daya input : catu daya eksternal 6,5 – 12 VDC (via regulator), catu daya <span style="mso-spacerun: yes;"> </span>eksternal 3,3 – 5,5 VDC ( tanpa melalui regulator ), atau<span style="mso-spacerun: yes;">  </span>menggunakan sumber catu daya dari jalur USB.<o:p></o:p></span></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <br /></div> <div class="MsoListParagraph" style="margin-left: 21.3pt; mso-add-space: auto; mso-line-height-alt: 0pt; mso-list: l7 level1 lfo9; tab-stops: 21.0pt; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">2.<span style="font: 7.0pt "Times New Roman";">       </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Sensor Accelero ADXL335<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 130%; text-align: justify;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Accelerometer </span></i><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">adalah alat yang digunakan<i style="mso-bidi-font-style: normal;"> </i>untuk mengukur percepatan, mendeteksi dan mengukur getaran, dan mengukur percepatan akibat <i style="mso-bidi-font-style: normal;">gravitasi</i>.<i style="mso-bidi-font-style: normal;"> Accelerometer </i>mengukur percepatan<i style="mso-bidi-font-style: normal;"> </i>akibat gerakan benda yang melekat padanya. dengan satuan g yaitu unit percepatan yang nilainya sebanding dengan gravitasi bumi diatas permukaan air laut yaitu 9,8m/s</span>^{<span style="font-family: "times new roman" , serif; font-size: 12.5pt; line-height: 130%;">2</span>}<span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">. <i style="mso-bidi-font-style: normal;">Accelerometer </i>digunakan untuk mengukur getaran<i style="mso-bidi-font-style: normal;"> </i>pada mobil, mesin, bangunan, dan instalasi pengamanan.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 130%; text-align: justify;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gravitasi </span></i><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">bumi merupakan percepatan yang konstan<i style="mso-bidi-font-style: normal;"> </i>selalu mengarah lurus menuju inti bumi. Ketika <i style="mso-bidi-font-style: normal;">Accelerometer </i>sejajar dengan gravitasi pada<i style="mso-bidi-font-style: normal;"> </i>keadaan diam maka percepatan yang terukur adalah 1g, ketika <i style="mso-bidi-font-style: normal;">Accelerometer</i> tegak lurus dengan gravitasi pada keadaan diam maka percepatan sebesar 0g. <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 130%; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">x= nilai percepatan terukur pada sumbu yang tegak lurus dengan <i style="mso-bidi-font-style: normal;">gravitasi</i><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 130%; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">z= nilai percepatan(2.4)terukur pada sumbu yang sejajar dengan <i style="mso-bidi-font-style: normal;">gravitasi</i></span></div> </div> <div class="WordSection2"> <span style="font-family: "times new roman" , serif;"><br /></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3v3nWMzatpke_avC_HRi4QjHmhkS-vZtvYf8FTPZ1SurxjehyooZAC6kdMxoS12N4sRqhOYFQTr5ZxsPkr6doCHLzOvABD9uqparAVQFWVXctgoQECvKrlrx-5ymQFpxpFLOnP2Q0j0M/s1600/sudut.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="125" data-original-width="215" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3v3nWMzatpke_avC_HRi4QjHmhkS-vZtvYf8FTPZ1SurxjehyooZAC6kdMxoS12N4sRqhOYFQTr5ZxsPkr6doCHLzOvABD9uqparAVQFWVXctgoQECvKrlrx-5ymQFpxpFLOnP2Q0j0M/s1600/sudut.png" /></a></div> <div class="WordSection2"> <span style="font-family: "times new roman" , serif;"><br /></span></div> <div class="WordSection2"> <div align="center" class="MsoNormal" style="margin-right: -16.95pt; mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 2.<span style="mso-spacerun: yes;">  </span>Penempatan sumbu x dan y pada <i style="mso-bidi-font-style: normal;">Accelerometer</i><o:p></o:p></span></div> <div class="MsoNormal" style="margin-left: 12.0pt; mso-line-height-alt: 0pt;"> <br /></div> <div class="MsoListParagraph" style="margin-left: 21.3pt; mso-add-space: auto; mso-line-height-alt: 0pt; mso-list: l7 level1 lfo9; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">3.<span style="font: 7.0pt "Times New Roman";">       </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Motor DC<o:p></o:p></span></div> <div class="MsoNormal" style="text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Penggunaan motor DC sebagai actuator<span style="mso-spacerun: yes;">  </span>untuk meyeimbangkan kestabilan<span style="mso-spacerun: yes;">  </span>robot<span style="mso-spacerun: yes;">  </span>agar dapat berdiri tegak dan stabil. Motor DC dengan torsi yang besar<span style="mso-spacerun: yes;">  </span>dan rpm sedang<span style="mso-spacerun: yes;">  </span>menjadi sangat krusial untuk kestabilan robot . Motor DC yang digunakan untuk alat ini mempunyai tegangan kerja<span style="mso-spacerun: yes;">  </span>6-12 Volt. Dengan menggunakan metor yang memiliki torsi besar diharapkan mampu mengangkat badan robot<span style="mso-spacerun: yes;">  </span>ketika mengalami kemiringan<span style="mso-spacerun: yes;">  </span>untuk disetimbangkan kembali hingga tegak lurus terhadap permukaan bumi. <o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjI_eGL-PtSlMME_kgsIybdH8R0gs7_oVL1sksMvYGpsWCOeUxbSFkgq7zt6w480VYc697PLKqSihnOV5o4Hhl1B4qekxASGs8JPU4OHfcAdcWfY3yYmkny_BUHk10xrrICfisz62z3Z0w/s1600/ROda.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="198" data-original-width="228" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjI_eGL-PtSlMME_kgsIybdH8R0gs7_oVL1sksMvYGpsWCOeUxbSFkgq7zt6w480VYc697PLKqSihnOV5o4Hhl1B4qekxASGs8JPU4OHfcAdcWfY3yYmkny_BUHk10xrrICfisz62z3Z0w/s1600/ROda.png" /></a></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 3. Motor DC<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div class="MsoListParagraph" style="line-height: 13.6pt; margin-left: 21.3pt; mso-add-space: auto; mso-line-height-rule: exactly; mso-list: l7 level1 lfo9; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">4.<span style="font: 7.0pt "Times New Roman";">       </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Driver Motor<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 13.6pt; mso-line-height-rule: exactly; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Pada alat ini digunakan<span style="mso-spacerun: yes;">  </span>satu jenis driver motor , yaitu driver motor <i style="mso-bidi-font-style: normal;">Shield H-Bridge</i> ST L298N <i style="mso-bidi-font-style: normal;">Module </i>yang ditunjukkan pada gambar 4.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 13.6pt; mso-line-height-rule: exactly;"> <br /></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvPSBL1LE8cNlGSElhWxAD8GK5WAHezhaaVckNngfrDYZRain6LPURCxsdXdi8oviF49BHU5pJigzEB0lRt00INg-nWReThtESgWzyBDcSEL30TG3zI3buY1h7XvYr76J9nfDuvsS2Xeo/s1600/driver+Motor.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="161" data-original-width="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvPSBL1LE8cNlGSElhWxAD8GK5WAHezhaaVckNngfrDYZRain6LPURCxsdXdi8oviF49BHU5pJigzEB0lRt00INg-nWReThtESgWzyBDcSEL30TG3zI3buY1h7XvYr76J9nfDuvsS2Xeo/s1600/driver+Motor.png" /></a></div> <div class="MsoNormal" style="line-height: 13.6pt; mso-line-height-rule: exactly;"> <br /></div> <div align="center" class="MsoNormal" style="line-height: 13.6pt; mso-line-height-rule: exactly; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-no-proof: yes;"><span style="mso-spacerun: yes;">   </span>Gambar 4. Driver Motor<o:p></o:p></span></div> <div class="MsoNormal" style="text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-no-proof: yes;">Fungsi driver motor yaitu untuk menjalankan motor<span style="mso-spacerun: yes;">  </span>sebagai pengatur arah putaran motor maupun kecepatan putaran motor dan digunakan driver motor karena arus yang keluar dari mikrokontroler tidak mampu memenuhi kebutuhan motor DC, serta mengubah tegangan<span style="mso-spacerun: yes;">  </span>yang dikeluarkan mirokontroler agar sesuai dengan tegangan yang dibutuhkan<span style="mso-spacerun: yes;">  </span>motor tersebut.<o:p></o:p></span></div> <div class="MsoNormal" style="text-align: justify;"> <br /></div> <div class="MsoNormal" style="line-height: 13.6pt; mso-line-height-rule: exactly; text-align: justify;"> <br /></div> <div class="MsoNormal" style="margin-left: 24.0pt; mso-line-height-alt: 0pt; mso-list: l4 level1 lfo5; tab-stops: 24.0pt; text-indent: -24.0pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">III.<span style="font: 7.0pt "Times New Roman";">       </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">PERANCANGAN ALAT<o:p></o:p></span></b></div> <div class="MsoNormal" style="margin-left: 24.0pt; mso-line-height-alt: 0pt; tab-stops: 24.0pt;"> <br /></div> <div class="MsoNormal" style="line-height: 2.35pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 110%; margin-left: 28.0pt; tab-stops: 27.0pt; text-indent: -28.25pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">3.1</span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">      </span><b style="mso-bidi-font-weight: normal;">Perangkat Keras dan Rangkaian Elektronika<o:p></o:p></b></span></div> <div class="MsoNormal" style="line-height: 110%; margin-left: 28.0pt; tab-stops: 27.0pt; text-indent: -28.25pt;"> <br /></div> <div class="MsoNormal" style="line-height: .3pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Adapun komponen yang digunakan adalah :<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-left: 21.0pt; mso-line-height-alt: 0pt; mso-list: l5 level1 lfo6; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">1.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">ARM NUC120<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-left: 21.0pt; mso-line-height-alt: 0pt; mso-list: l5 level1 lfo6; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">2.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Sensor accelero ADXL335<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.8pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-left: 21.0pt; mso-line-height-alt: 0pt; mso-list: l5 level1 lfo6; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">3.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Motor DC<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 1.7pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="margin-left: 21.0pt; mso-line-height-alt: 0pt; mso-list: l5 level1 lfo6; tab-stops: 21.0pt; text-indent: -21.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">4.<span style="font: 7.0pt "Times New Roman";">         </span></span></span><!--[endif]--><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Driver Motor<o:p></o:p></span></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 21.0pt;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 30.0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">3.1.1.</span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">   </span></span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">Rangkaian<o:p></o:p></span></b></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 30.0pt; text-align: center;"> <span style="mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="Picture_x0020_21" o:spid="_x0000_i1031" type="#_x0000_t75" style='width:219.75pt; height:125.25pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="file:///C:/Users/User/AppData/Local/Temp/msohtmlclip1/01/clip_image008.jpg" o:title=""/> </v:shape><![endif]--><!--[if !vml]--><!--[endif]--></span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 9.5pt;"><o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: 1.0pt; mso-line-height-rule: exactly;"> <span style="mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="Picture_x0020_19" o:spid="_x0000_i1030" type="#_x0000_t75" style='width:219.75pt;height:125.25pt; visibility:visible;mso-wrap-style:square'> <v:imagedata src="file:///C:/Users/User/AppData/Local/Temp/msohtmlclip1/01/clip_image008.jpg" o:title=""/> </v:shape><![endif]--><!--[if !vml]--><!--[endif]--></span><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 10.0pt; margin-left: 36.0pt; mso-line-height-rule: exactly;"> <span style="mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="Picture_x0020_3" o:spid="_x0000_i1029" type="#_x0000_t75" style='width:291pt;height:203.25pt; visibility:visible;mso-wrap-style:square'> <v:imagedata src="file:///C:/Users/User/AppData/Local/Temp/msohtmlclip1/01/clip_image011.png" o:title=""/> </v:shape><![endif]--><!--[if !vml]--><!--[endif]--></span><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-spacerun: yes;">  </span></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhsAulU4atC-XG0WNzvgJn7INN0n2Mf3n2onjlMcDBlpFaR0kQnbBh4pzPiORn0yOKC1-Ce_Tq1Rg4cjYd0mPCVNzte5yuim0uh_MXorxnytu0aFhNDcDdtKAi4smCIB1tlwVmm1syp-6E/s1600/rangkaian+lengkap+1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="474" data-original-width="763" height="198" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhsAulU4atC-XG0WNzvgJn7INN0n2Mf3n2onjlMcDBlpFaR0kQnbBh4pzPiORn0yOKC1-Ce_Tq1Rg4cjYd0mPCVNzte5yuim0uh_MXorxnytu0aFhNDcDdtKAi4smCIB1tlwVmm1syp-6E/s320/rangkaian+lengkap+1.jpg" width="320" /></a></div> <div class="separator" style="clear: both; text-align: center;"> </div> <br /> <div class="MsoNormal" style="line-height: 10pt; margin-left: 36pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 5. Schematic rangkaian<o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVKVQ9Q-cVSECJ9ax7OR6DQQw4DEN6j4ozp4LyKPVCQPaydR5C0mbCXoIOtvWVr8cSt4zF3KQxYZY7-0Jz957V1dAjidG7B7ADtMiv7ev48f91oX4sdBFXzA0SyKNEKdnTyizydtRxGZw/s1600/pengawatan+keseluruhan.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="579" data-original-width="503" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVKVQ9Q-cVSECJ9ax7OR6DQQw4DEN6j4ozp4LyKPVCQPaydR5C0mbCXoIOtvWVr8cSt4zF3KQxYZY7-0Jz957V1dAjidG7B7ADtMiv7ev48f91oX4sdBFXzA0SyKNEKdnTyizydtRxGZw/s320/pengawatan+keseluruhan.PNG" width="277" /></a></div> <div class="MsoNormal" style="line-height: 10pt; margin-left: 36pt; text-align: center;"> <br /></div> <div class="MsoNormal" style="margin-left: 36.0pt; mso-line-height-alt: 0pt;"> <span style="mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="Picture_x0020_18" o:spid="_x0000_i1028" type="#_x0000_t75" style='width:219.75pt;height:252.75pt; visibility:visible;mso-wrap-style:square'> <v:imagedata src="file:///C:/Users/User/AppData/Local/Temp/msohtmlclip1/01/clip_image012.png" o:title=""/> </v:shape><![endif]--><!--[if !vml]--><!--[endif]--></span><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></i></div> <div class="MsoNormal" style="margin-left: 36.0pt; mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif;">Ganbar 6. Pengawatan Keseluruhan<o:p></o:p></span></div> <div class="MsoNormal" style="margin-left: 36.0pt; mso-line-height-alt: 0pt; text-align: center;"> <span style="mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="Picture_x0020_2" o:spid="_x0000_i1027" type="#_x0000_t75" style='width:153pt; height:156pt;visibility:visible;mso-wrap-style:square'> <v:imagedata src="file:///C:/Users/User/AppData/Local/Temp/msohtmlclip1/01/clip_image014.png" o:title=""/> </v:shape><![endif]--><!--[if !vml]--><!--[endif]--></span><span style="font-family: "times new roman" , serif;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 10.0pt; mso-line-height-rule: exactly; text-align: center;"> <br /></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_2FX_d7UKMLktB4gEkw82hgUsp7PoggxcaKl9z1qKlv0DBpysGqUSsnVCyzUj-Be6YKFpcnafV-V7Jtc6ytnIfaghKMG1rAyQwJv9eCH7qk2umSaIFkwRnJWOLzQ2bk0WiEYsfxF0_3A/s1600/pengawatan+luar.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="338" data-original-width="266" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_2FX_d7UKMLktB4gEkw82hgUsp7PoggxcaKl9z1qKlv0DBpysGqUSsnVCyzUj-Be6YKFpcnafV-V7Jtc6ytnIfaghKMG1rAyQwJv9eCH7qk2umSaIFkwRnJWOLzQ2bk0WiEYsfxF0_3A/s320/pengawatan+luar.PNG" width="251" /></a></div> <br /> <div class="MsoNormal" style="line-height: 10.0pt; margin-left: 2.0cm; mso-line-height-rule: exactly; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 7. Pengawatan Luar<a href="https://www.blogger.com/u/1/null" name="page6"></a><o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbp7qY1h6DX_w1UXawLRDe-pSE0Bo3aIgQr__JZ9dy25jhCwLBftyypJUceqwIrW27kJTSSTs7aI6b5Khk1x4L9V0NNYRxdAl_sqp2NxywsOe1cZ3shFWkSC_PF8w-8wPbbSKJTgXRAOQ/s1600/pengawatan+dalam.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="474" data-original-width="756" height="200" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbp7qY1h6DX_w1UXawLRDe-pSE0Bo3aIgQr__JZ9dy25jhCwLBftyypJUceqwIrW27kJTSSTs7aI6b5Khk1x4L9V0NNYRxdAl_sqp2NxywsOe1cZ3shFWkSC_PF8w-8wPbbSKJTgXRAOQ/s320/pengawatan+dalam.PNG" width="320" /></a></div> <div class="MsoNormal" style="line-height: 10.0pt; margin-left: 2.0cm; mso-line-height-rule: exactly; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><br /></span></div> <div class="MsoNormal" style="margin-left: 70.9pt; mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 7. Pengawatan Dalam<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="margin-left: 70.9pt; mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 28.0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">3.2</span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">       </span></span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">Perangkat Lunak<o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: 1.7pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">3.2.1. Diagram Blok<o:p></o:p></span></b></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Berikut ini adalah diagram blok menggunakan masukan sensor accelerometer ADXL 335 dengan keluaran motor DC dan Roda<o:p></o:p></span></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify; text-indent: 36.0pt;"> <br /></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAJp_NlRVNMnypsTim3MBDkUVUfxc6kXgMGj24qi_08kCpxAfiOIyx0Osok8O2fqQZ1wovT7cBqNK8lpfmWhfUjQ0junkGIX9fhfYimtEpJdOr1JJGPemK3RIXJd7jRUeAVrubGv5k6g8/s1600/DB.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="349" data-original-width="776" height="143" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAJp_NlRVNMnypsTim3MBDkUVUfxc6kXgMGj24qi_08kCpxAfiOIyx0Osok8O2fqQZ1wovT7cBqNK8lpfmWhfUjQ0junkGIX9fhfYimtEpJdOr1JJGPemK3RIXJd7jRUeAVrubGv5k6g8/s320/DB.jpg" width="320" /></a></div> <div class="separator" style="clear: both; text-align: center;"> </div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify; text-indent: 36.0pt;"> <br /></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-no-proof: yes;">Gambar 9. Diagram blok<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">3.2.2. Diagram Alir<o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: 113%; margin-right: .3pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Untuk memudahkan dalam merancang perangkat lunak, dibuatlah diagram alir yang menjelaskan alur<span style="mso-spacerun: yes;">    </span>cara kerja alat secara keseluruhan dimulai dari pembacaan sensor hingga hasil akhir atau keluaran yang dihasilkan. Berikut gambar diagram alir rangkaian pada gambar 10.<o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg94VNzVNAKrp5B5Eyc4TYDfsflK0SJRR4W5bCff4mngcscRgHwkRxE2CC_ggs2tCMSntx16BfBWo0TlOhFkanQR2biQDCQBuo2OlJ2eKO9c-L8Nqfrmu9hXVkuoowxaT03dHKXShsLHsc/s1600/ALIR.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="581" data-original-width="604" height="307" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg94VNzVNAKrp5B5Eyc4TYDfsflK0SJRR4W5bCff4mngcscRgHwkRxE2CC_ggs2tCMSntx16BfBWo0TlOhFkanQR2biQDCQBuo2OlJ2eKO9c-L8Nqfrmu9hXVkuoowxaT03dHKXShsLHsc/s320/ALIR.jpg" width="320" /></a></div> <div align="center" class="MsoNormal" style="line-height: 113%; margin-right: .3pt; text-align: center;"> <br /></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Gambar 10. Diagram alir<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 23.0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">IV.<span style="mso-tab-count: 1;">     </span>PENGUJIAN ALAT<o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: 1.7pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 27.0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">4.1</span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">      </span></span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">Cara Kerja Alat<o:p></o:p></span></b></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 27.0pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; font-size: 9.5pt;">Robot akan membaca masukan dari accelerometer ADXL335 yang berfungsi sebagai pembaca sudut kemudian diproses oleh ARM NUC 120 untuk mengendalikan putaran motor. Data yang diperoleh berupa besarnya sudut kemiringan pada sumbu y. Robot dilengkapi 2 LED sebagai indikator kemiringan robot. Ketika robot miring ke depan led bagian depan akan menyala dan robot akan bergerak maju sedangkan ketika robot miring ke belakang led bagian belakang menyala dan robot akan bergerak mundur.</span><span lang="EN-ID" style="font-family: "times new roman" , serif; font-size: 12.0pt;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 14.2pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 27.0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">4.2</span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">      </span><b style="mso-bidi-font-weight: normal;">Hasil Percobaan<o:p></o:p></b></span></div> <div class="MsoNormal" style="line-height: 2.0pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Setelah<span style="mso-spacerun: yes;">  </span>dilakukan<span style="mso-spacerun: yes;">  </span>simulasi alat<span style="mso-spacerun: yes;">  </span>bekerja<span style="mso-spacerun: yes;">  </span>sesuai<span style="mso-spacerun: yes;">  </span>dengan yang<span style="mso-spacerun: yes;">  </span>diinginkan. Robot bisa bergerak seimbang. Saat sudut >7ᵒ maka robot bergerak<span style="mso-spacerun: yes;">  </span>maju serta LED 1 ON<span style="mso-spacerun: yes;">  </span>dan LED 2 OFF, saat<span style="mso-spacerun: yes;">  </span>sudut <-13ᵒ maka robot bergerak mundur serta LED 1 OFF dan LED 2 ON, dan saat sudut -12ᵒ -6ᵒ maka robot berhenti serta LED 1 ON dan LED 2 OFF. Berikut kami tampilkan proses simulasi alat tersebut :<o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvQq-FntKrnZwv0FHbvHpgxrU14KAGSEVSRHKY6Dx6oBby41mZSHp2KsTNmomRU9gc1zPrrN4T6NBc5JeXN1s3QpZavc0uxTPykwnIAvcFY4ABAsmhSeExZ8SpctC0E2Enqia5H_eQbLU/s1600/simulasi.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="268" data-original-width="572" height="149" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvQq-FntKrnZwv0FHbvHpgxrU14KAGSEVSRHKY6Dx6oBby41mZSHp2KsTNmomRU9gc1zPrrN4T6NBc5JeXN1s3QpZavc0uxTPykwnIAvcFY4ABAsmhSeExZ8SpctC0E2Enqia5H_eQbLU/s320/simulasi.PNG" width="320" /></a></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <span style="font-family: "times new roman" , serif; mso-no-proof: yes;">Gambar 11. Gambar Alat<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: center;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">V. PENUTUP<o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: 2.0pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="line-height: 113%; margin-right: .3pt; text-align: justify;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Berdasarkan hasil perancangan, perakitan, pengujian dan analisa hasil dari alat " Pengimbangan Gerak Robot Beroda Dua ", maka dapat diambil kesimpulan sebagai berikut :<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 113%; margin-right: .3pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="line-height: .8pt; mso-line-height-rule: exactly;"> <br /></div> <ol start="1" style="margin-top: 0cm;" type="1"> <li class="MsoNormal" style="color: black; mso-list: l8 level1 lfo7; text-align: justify;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Untuk mempertahankan posisi robot perlu ditentukan sudut yang sebagai titik tengah keseimbang.<o:p></o:p></span></li> <li class="MsoNormal" style="color: black; mso-list: l8 level1 lfo7; text-align: justify;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Dalam menentukan sudut kemiringan posisi benda Sensor Gyro mendeteksi setiap perubahan percepatan gravitasi dari benda untuk kemudian diubah menjadi tegangan.<o:p></o:p></span></li> <li class="MsoNormal" style="color: black; mso-list: l8 level1 lfo7; text-align: justify;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Keluaran sensor ADXL 335 yang digunakan Y_out.<o:p></o:p></span></li> <li class="MsoNormal" style="color: black; mso-list: l8 level1 lfo7; text-align: justify;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Indikator untuk Y_OUT adalah LED yang terpasang pada depan dan belakang robot.<o:p></o:p></span></li> <li class="MsoNormal" style="line-height: 10.0pt; mso-line-height-rule: exactly; mso-list: l8 level1 lfo7;"><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Robot dapat mempertahankan keseimbangan dengan gerakan maju dan mundur.<o:p></o:p></span></li> </ol> <div class="MsoNormal" style="line-height: 16.85pt; mso-line-height-rule: exactly;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt;"> <span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Referensi :<o:p></o:p></span></div> <div class="MsoNormal" style="margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <!--[if supportFields]><span style='font-family:"Times New Roman",serif'><span style='mso-element:field-begin; mso-field-lock:yes'></span>ADDIN Mendeley Bibliography CSL_BIBLIOGRAPHY <span style='mso-element:field-separator'></span></span><![endif]--><span style="font-family: "times new roman" , serif; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[1]<span style="mso-tab-count: 1;">         </span>G. Bobby, E. Susanto, and F. Y. Suratman, “Implementasi Robot Keseimbangan Beroda Dua Berbasis Mikrokontroler,” <i>J. ELKOMIKA</i>, vol. 03, no. 2, pp. 142–160, 2015.<o:p></o:p></span></div> <div class="MsoNormal" style="margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <span style="font-family: "times new roman" , serif; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[2]<span style="mso-tab-count: 1;">         </span>S. K. Risandriya, R. A. Fatekha, S. St, and I. Zusmaniar, “Balancing Robot Berbasis Fuzzy Logic,” vol. 07, no. 2, pp. 113–118, 2015.<o:p></o:p></span></div> <div class="MsoNormal" style="margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <span style="font-family: "times new roman" , serif; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[3]<span style="mso-tab-count: 1;">     </span><o:p></o:p></span><span style="text-indent: -32pt;">P. W. R. Raranda, “IMPLEMENTASI KONTROLER PID PADA TWO WHEELS SELF BALANCING ROBOT BERBASIS ARDUINO UNO,” vol. 06, no 02, pp. 89–96, 2017</span><br /> <div class="MsoNormal"> <br /></div> </div> <div class="MsoNormal" style="margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <span style="font-family: "times new roman" , serif; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[4]<span style="mso-tab-count: 1;">         </span>S. T. Elektro, F. Teknik, U. N. Surabaya, D. T. Elektro, F. Teknik, and U. N. Surabaya, “PENGEMBANGAN TWO WHEELS SELF BALANCING ROBOT DENGAN PI CONTROLLER BERBASIS LABVIEW 2014 Bagus Rio Rynaldo Endryansyah pada Two Wheels Self Balancing Robot Berbasis Arduino,” vol. 07, no. 03, pp. 127–136, 2018.</span><span style="font-family: "times new roman" , serif; mso-no-proof: yes;"><o:p></o:p></span></div> <div class="MsoNormal"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <div style="background-color: white; color: #333333; user-select: auto !important;"> <b style="user-select: auto !important;"><span style="font-family: "times" , "times new roman" , serif;">LAMPIRAN</span></b></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">1. Jurnal, klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1dT9fr-8MRE9srpF2haQLaLdl8PYGoXDl/view?usp=sharing" target="_blank">disini</a></i></span></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">2. PPT, klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1sCnTt-3rbMige8OwnmGLqw_EgST25n7x/view?usp=sharing" target="_blank">disini</a></i></span></div> <div style="background-color: white; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;"><span style="color: #333333;">3. Program, pdf klik <a href="https://drive.google.com/file/d/1S_fBxIrcBhGNxet2DEYuZX4lPriOL-s5/view?usp=sharing" target="_blank"><i>disini</i></a> ... Coide + Pustaka klik </span></span><i style="font-family: Times, "Times New Roman", serif; user-select: auto !important;"><a href="https://drive.google.com/file/d/1rbOlRu7HT8sjnttwev4UZFAUkcAix_N5/view?usp=sharing" target="_blank"><span style="color: blue;">disini</span></a></i></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">4. Skematik, klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/0B7WEEMhrdKlEVTBMTlY1aWh2TGFIOG1IYU9IYnVqVThvaVJR/view?usp=sharing" target="_blank">disini</a></i></span></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">5. Pengawatan, dalam klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1kIyXhd9LV9m6sd9qtdxMBDOZqKRLUR1r/view?usp=sharing" target="_blank">disini</a></i> ... luar klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1JeVN-d7JoR4yuxB6O9VEFVUXRw6p64DC/view?usp=sharing" target="_blank">disini</a></i></span></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">6. Diagram Alir, klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1I2mrk2hLu_kZsYgBN1q4SATJxL4X6xP1/view?usp=sharing" target="_blank">disini</a></i></span></div> <div style="background-color: white; color: #333333; user-select: auto !important;"> <span style="font-family: "times" , "times new roman" , serif;">7. Diagram Blok, klik <i style="user-select: auto !important;"><a href="https://drive.google.com/file/d/1LKYSKabUPNNZ9CSjT1Na2GeFW_mq8rAy/view?usp=sharing" target="_blank">disini</a></i></span></div> </div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif;">Biodata penulis:<o:p></o:p></span></b></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; tab-stops: 136.0pt 180.0pt; text-align: justify;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhUCDUSzbImogrruPUGTTYDKyIzYNAx8nMR6yupVFVXmCEKGiWImHOU4dXrjrx0cVSmEpAl2zgLoYfLP6aMAAOwWWOyMck1SF8LyPJs0mxdAsZPjRmVgdICNdMoKJkIR1dFuDRpXI4hO8w/s1600/lidia.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="169" data-original-width="120" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhUCDUSzbImogrruPUGTTYDKyIzYNAx8nMR6yupVFVXmCEKGiWImHOU4dXrjrx0cVSmEpAl2zgLoYfLP6aMAAOwWWOyMck1SF8LyPJs0mxdAsZPjRmVgdICNdMoKJkIR1dFuDRpXI4hO8w/s1600/lidia.png" /></a><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Nama penulis </span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">Lidia Ernanda </span></b><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Penulis<b style="mso-bidi-font-weight: normal;"> </b>dilahirkan di Padang, tanggal 28 April 1998 .Penulis </span><span style="font-family: "times new roman" , serif; font-size: 9.5pt;">telah<b style="mso-bidi-font-weight: normal;"> </b></span><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">menempuh pendidikan formal di SDN 05 Sintuk Toboh Gadang , SMPN 01 Sintuk<span style="mso-spacerun: yes;">  </span>Toboh Gadang, dan<span style="mso-spacerun: yes;">  </span>SMA N<span style="mso-spacerun: yes;">  </span>1 Lubuk<span style="mso-spacerun: yes;">  </span>Alung. Tahun 2016 penulis<span style="mso-spacerun: yes;">  </span>telah<span style="mso-spacerun: yes;">   </span>menyelesaikan<span style="mso-spacerun: yes;">  </span>pendidikan<span style="mso-spacerun: yes;">  </span>SMA. Pada<span style="mso-spacerun: yes;">  </span>tahun 2016<span style="mso-spacerun: yes;">  </span>penulis<span style="mso-spacerun: yes;">  </span>mengikuti seleksi<span style="mso-spacerun: yes;">   </span>mahasiswa<span style="mso-spacerun: yes;">   </span>baru diploma (D3) dan diterima menjadi mahasiswa baru diploma (D3)<span style="mso-spacerun: yes;">  </span>di<span style="mso-spacerun: yes;">  </span>kampus<span style="mso-spacerun: yes;">    </span>Politeknik<span style="mso-spacerun: yes;">  </span>Negeri<span style="mso-spacerun: yes;">  </span>Semarang<span style="mso-spacerun: yes;">  </span>(Polines)<span style="mso-spacerun: yes;">  </span>dengan<span style="mso-spacerun: yes;">  </span>Program Studi D3 Teknik<span style="mso-spacerun: yes;">    </span>Elektronika,<span style="mso-spacerun: yes;">   </span>Jurusan<span style="mso-spacerun: yes;">   </span>Teknik<span style="mso-spacerun: yes;">   </span>Elektro.<span style="mso-spacerun: yes;">   </span>Penulis<span style="mso-spacerun: yes;">    </span>terdaftar<span style="mso-spacerun: yes;">    </span>dengan<span style="mso-spacerun: yes;">   </span>NIM .32.16.3.13.<span style="mso-spacerun: yes;">  </span>Apabila<span style="mso-spacerun: yes;">   </span>ada<span style="mso-spacerun: yes;">  </span>kritik, saran<span style="mso-spacerun: yes;">  </span>dan<span style="mso-spacerun: yes;">  </span>pertanyaan mengenai penelitian ini, bisa melalui via email: <span style="color: #0070c0;">lidiaernanda0@gmail.com</span><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 114%; margin-right: .3pt; tab-stops: 100.0pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="line-height: 114%; margin-right: .3pt; text-align: justify;"> <br /></div> <div class="MsoNormal" style="line-height: 114%; margin-right: .3pt; tab-stops: 148.85pt 155.95pt 163.05pt 205.55pt; text-align: justify;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_TL8BSSmaS4J4yRHmAfmgYPVgzP9xRqzFVBm4ioVZKG6zR0gMA_NSg8jOe81qt7psQ2QLFYKfxMJ_MFBdtCZorlC1Da5DRHshD_43TSDLe4YC-usK-GsFYz-sDZojsPbXSR8ZWzNuufI/s1600/bach.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="167" data-original-width="123" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_TL8BSSmaS4J4yRHmAfmgYPVgzP9xRqzFVBm4ioVZKG6zR0gMA_NSg8jOe81qt7psQ2QLFYKfxMJ_MFBdtCZorlC1Da5DRHshD_43TSDLe4YC-usK-GsFYz-sDZojsPbXSR8ZWzNuufI/s1600/bach.png" /></a><span style="font-family: "times new roman" , serif; mso-fareast-font-family: "Times New Roman";">Nama penulis <b style="mso-bidi-font-weight: normal;">Muhammad Bachtiar Rifa’i</b> lahir di Semarang, tanggal 22 November 1996. Penulis telah menempuh Pendidikan formal di SD Neger Purwoyoso 06, SMP Negeri 18 Semarang, dan SMK Negeri 7 Semarang. Tahun 2016 penulis menyesaikan pendidikannya di SMK, pada tahun 2016 penulis mengikuti seleksi mahasiswa baru dan diterima menjadi mahasiswa diploma (D3) di Politeknik Negeri Semarang (Polines) dengan Program Studi Elektonika, Jurusan Teknik Elektro. Penulis terdaftar dengan NIM 3.32.16.3.14. Apabila ada kritik, saran, dan pertanyaan mengenai penelitian ini, bisa melalui via email: <span style="color: #0070c0;">rifbachtiar37@gmail.com</span><o:p></o:p></span></div> <div class="MsoNormal" style="mso-line-height-alt: 0pt; text-align: justify;"> <br /></div> </div> <span style="font-family: "calibri" , sans-serif; font-size: 10.0pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br /> <div class="MsoNormal"> <br /></div> <div class="MsoNormal"> <br /></div> <div class="MsoNormal"> <br /></div> <br />

PENGIMBANGAN GERAK ROBOT BERODA DUA

PENGIMBANGAN GERAK ROBOT BERODA DUA Lidia Ernanda 1 , M. Bachtiar Rifa’i 2 , Dr. Samuel Beta, Ing-Tech.,M.T. 3 Jl. Prof. H. Soe...

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Tetikus Kepala

<br /> <div class="WordSection1"> <div align="center" class="MsoNormal" style="line-height: normal; text-align: center;"> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0MHHKuPP6uBhXxt1lUElQ4j3bz4mOmTCKL7-rY4ygtdc0m7jpW_9cD7gSKx7UOpiUnJbaSVpCgr2EbSAt5lwPGbeYrMkDOOYgDQ35bxuluSASc8KS77DnWOGQKFTLtFWUxHcHF4_R5nsa/s1600/download.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="225" data-original-width="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0MHHKuPP6uBhXxt1lUElQ4j3bz4mOmTCKL7-rY4ygtdc0m7jpW_9cD7gSKx7UOpiUnJbaSVpCgr2EbSAt5lwPGbeYrMkDOOYgDQ35bxuluSASc8KS77DnWOGQKFTLtFWUxHcHF4_R5nsa/s1600/download.png" /></a></div> <span lang="IN" style="font-family: "times new roman" , serif; font-size: large;"><br /></span> <span lang="IN" style="font-family: "times new roman" , serif; font-size: large;">Tetikus Kepala</span><br /> <span lang="IN" style="font-family: "times new roman" , serif;">Fathoni Kurnia Ramadhani</span>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">1</span>}<span style="font-family: "times new roman" , serif;"> ;</span><span lang="IN" style="font-family: "times new roman" , serif;">Fachruz Dzaky R</span>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">2</span>}<span style="font-family: "times new roman" , serif;"> ; </span><span lang="IN" style="font-family: "times new roman" , serif;">Galuh Wicaksono</span>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">3</span>}<span style="font-family: "times new roman" , serif;"> ; Samuel BETA</span>^{<span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">4</span>}<span lang="IN" style="font-family: "times new roman" , serif;"> </span></div> <div align="center" class="MsoNormal" style="line-height: normal; margin-bottom: 8.0pt; margin-left: 3.0pt; margin-right: 3.0pt; margin-top: 0cm; text-align: center;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Prodi TeknikElektronikaJurusanTeknikElektroPoliteknikNegeri Semarang <o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: normal; margin-bottom: 8.0pt; margin-left: 3.0pt; margin-right: 3.0pt; margin-top: 0cm; text-align: center;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Jl. Prof. H. Soedarto, SH, Tembalang, Semarang, 50275</span></div> <div align="center" class="MsoNormal" style="line-height: normal; margin-bottom: 8.0pt; margin-left: 3.0pt; margin-right: 3.0pt; margin-top: 0cm; text-align: center;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">E-mail :</span><span class="MsoHyperlink"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><a href="mailto:fathoni.kurnia@gmail.com">fathoni.kurnia@<span lang="EN-US" style="mso-ansi-language: EN-US;">gmail.com</span></a></span></span>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">1</span>}<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"> , </span><a href="mailto:nalendroagung@gmail.com"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">fachruzdzaky6</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">@gmail.com</span></a>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">2</span>}<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"> , </span><a href="mailto:21mei1997@gmail.com"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">21mei1997</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">@gmail.com</span></a>^{<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">3</span>}<span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"> ,</span> <a href="mailto:sambetak2@gmail.com"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">sambetak2@gmail.com</span></a>^{<span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">4</span>}<span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN;"><o:p></o:p></span></div> <div class="MsoNormal" style="text-align: justify;"> <br /></div> </div> <span style="font-family: "times new roman" , "serif"; font-size: 11.0pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br /> <div class="WordSection2"> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-style: italic; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Abstrak<i> - </i></span><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Untuk mempermudah penggunaan tetikus pada orang yang memiliki keterbatasan maka dibutuhkan alat atau sebuah sistem untuk menggerakan tetikus. Untuk melakukan sistem pergerakan tetikus, Maka dalam proyek ini dibuatlah aplikasi Arduino menggunakan masukan sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i> dan luaran pergerakan kursor pada komputer. Sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i> sebagai masukan digunakan untuk mendeteksi sumbu x, y dan z ketika tetikus kepala digerakan. Jadi hasil deteksi sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope </i>akan diolah menjadi pergerakan kursor dalam komputer. Sedangkan Arduino <i style="mso-bidi-font-style: normal;">ProMicro</i> sebagai kontroler dan pemroses sinyal.</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Kata Kunci<span style="mso-spacerun: yes;">  </span>: Arduino dan Sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i>.</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; margin-bottom: 10.0pt; text-align: justify;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Abstract – </span></i><i style="mso-bidi-font-style: normal;"><span style="color: #212121; font-family: "times new roman" , "serif"; font-size: 12.0pt;">To facilitate the use of mouse in people who have limitations, a tool or a system is needed to move the mouse. To do the mouse movement system, the Arduino application uses an accelerometer and gyroscope sensor input and outputs the cursor movement on the computer. The accelerometer and gyroscope sensors as inputs are used to detect the x, y and z axes when the head mouse is moved. So the results of detection of the accelerometer sensor and gyroscope will be processed into cursor movements in the computer. While </span></i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Arduino ProMicro</span></i><i style="mso-bidi-font-style: normal;"><span style="color: #212121; font-family: "times new roman" , "serif"; font-size: 12.0pt;"> is a signal controller and processor.</span></i><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Keyword :Arduino, </span></i><i style="mso-bidi-font-style: normal;"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Sensor </span></i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">accelerometer</span></i><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"> <i style="mso-bidi-font-style: normal;">an</i></span><i style="mso-bidi-font-style: normal;"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">d</span></i><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"> </span><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">gyroscope</span></i><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">.<o:p></o:p></span></i></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <div style="text-align: center;"> <span style="font-family: "times new roman" , "serif"; text-align: left; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"><br /></span></span></span></div> <div style="text-align: center;"> <span style="font-family: "times new roman" , "serif"; text-align: left; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"><br /></span></span></span></div> <div style="text-align: center;"> <span style="font-family: "times new roman" , "serif"; text-align: left; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"> </span>I.<span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;">            </span></span></span><span style="font-family: "times new roman" , "serif"; text-align: left; text-indent: -36pt;">PENDAHULUAN</span></div> </div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Pada zaman sekarang kemajuan teknologi sangat cepat. Dengan kemajuan teknologi diharapkan dapat membantu hidup semua manusia, baik yang normal atau yang memiliki keterbatasan. Pada sebagian orang yang memiliki keterbatasan pada tangannya, pada saat menggunakan tetikus akan mengalami kendala berupa pergerakan tetikus serta kenyamanan menggunakan tetikus. Karena pada saat ini, belum banyak tetikus yang ramah untuk orang yang memiliki keterbatasan. </span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="EN-ID" style="font-family: "times new roman" , "serif"; mso-ansi-language: EN-ID; mso-bidi-font-size: 10.0pt; mso-bidi-font-weight: bold;">Kemudian</span><span lang="EN-ID" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-bidi-font-size: 10.0pt; mso-bidi-font-weight: bold;"> </span><span lang="EN-ID" style="font-family: "times new roman" , "serif"; mso-ansi-language: EN-ID; mso-bidi-font-size: 10.0pt; mso-bidi-font-weight: bold;">dibuatlah</span><span lang="EN-ID" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-bidi-font-size: 10.0pt; mso-bidi-font-weight: bold;"> </span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-bidi-font-size: 10.0pt; mso-bidi-font-weight: bold;">alat <i><u>tetikus kepala. </u></i>Alat ini sangat bermanfaat bagi orang yang memiliki keterbatasan untuk mengoperasikan tetikus umumnya. Karena dengan alat ini orang yang memiliki keterbatasan dapat mengoperasikan tetikus dengan mudah. Hanya dengan meletakan tetikus kepala ini di kepala atau di anggota tubuh yang lainnya yang dapat digerakkan, kursor pada komputer akan bergerak sesuai pergerakan dari tetikus kepala. Untuk fungsi tekan kiri pada tetikus, cukup dengan mengarahkan kursor pada gambar simbol di layar monitor dan tunggu dua detik.</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> <o:p></o:p></span></div> </div> <span style="font-family: "times new roman" , "serif"; font-size: 11.0pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br /> <div class="WordSection3"> <div class="MsoListParagraph" style="line-height: normal; text-align: center; text-indent: -36pt;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"> </span>II.<span style="font: 7.0pt "Times New Roman";">            </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">TINJAUAN PUSTAKA<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-right: -4.65pt; tab-stops: 28.3pt;"> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">2.1 Arduino </span></b><b style="mso-bidi-font-weight: normal;"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Pro Micro</span></b><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Arduino ProMicro adalah modul Development Board Arduino yang merupakan varian berukuran mini ( dimensi: 33 x 18 mm ). Arduino Board ini dioperasikan oleh MCU ATmega32U4, unik dan berbeda dari papan pengembang semacam Arduino Pro MINI yang berbasis ATmega328, karena ATmega32U4 ini memiliki fungsi komunikasi USB secara terpadu tanpa perlu bantuan dari prosesor sekunder. Fitur true-functionality USB ini memungkinkan modul ini untuk berperan sebagai USB HID (USB Human Interface Device), misalnya sebagai USB mouse atau keyboard.</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Spesifikasi :<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Microcontroller ATmega32U4 <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Operating Voltage 5V (hubungkan langsung ke pin VCC)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Konektor micro-USB<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Input Voltage (recommended) 7-12V<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Input Voltage (limits) 6-20V<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>DC Current per I/O Pin 40 mA<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>DC Current for 3.3V Pin 50 mA<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Digital I/O Pins 20<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>9 pin berkemampuan ADC 10-bit (Arduino "analog" pins), A0-A3 + A5-A10 (A4 N/C)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>5 pin berkemampuan PWM (Pulse Width Modulation) untuk mensimulasikan keluaran "analog" (berfungsi seperti DAC dengan memodulasi pulsa listrik dalam frekuensi tinggi)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Flash Memory 32 KB (ATmega32u4) of which 4 KB used by bootloader <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Koneksi serial<span style="mso-spacerun: yes;">  </span>Rx dan Tx (hardware UART) dengan indikator LED SMD<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>SRAM 2.5 KB (ATmega32u4)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>EEPROM 1 KB (ATmega32u4)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Clock Speed 16 MHz<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Antarmuka I2C (pin SDA dan SCL)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-tab-count: 1;">         </span>Antarmuka SPI / Serial Peripheral Interface (MOSI,MISO,SCLK)<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Perlengkapan : <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">•<span style="mso-tab-count: 1;">           </span>1x Arduino ProMicro.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">•<span style="mso-tab-count: 1;">           </span>1x Kabel USB.<o:p></o:p></span></div> <div class="separator" style="clear: both; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirh4I-KLgp5XXdX4Mf8l2Br8bYblARIDRvhiGxPPYgofxBMW7q2lx6xJG9nnbTedGGKUzqcN5ITXpwfqgY8xah9OBpjOnTDCsWc3BXn1ElERrEQbBtLGBsU0RZtMXX8rnIOGudxHQd1xU/s1600/1.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="375" data-original-width="450" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirh4I-KLgp5XXdX4Mf8l2Br8bYblARIDRvhiGxPPYgofxBMW7q2lx6xJG9nnbTedGGKUzqcN5ITXpwfqgY8xah9OBpjOnTDCsWc3BXn1ElERrEQbBtLGBsU0RZtMXX8rnIOGudxHQd1xU/s320/1.png" width="320" /></a></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 36pt; text-align: center;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Gambar 2.1Arduino UNO</span><span style="font-family: "times new roman" , "serif"; font-size: 10.0pt; line-height: 115%;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%;"> <br /></div> <div class="MsoListParagraph" style="line-height: 115%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 18.0pt; margin-right: 0cm; margin-top: 0cm; mso-add-space: auto; mso-list: l3 level2 lfo2; tab-stops: 28.0pt; text-indent: -18.0pt;"> <!--[if !supportLists]--><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , "serif"; line-height: 115%;"><span style="mso-list: Ignore;">2.2<span style="font: 7.0pt "Times New Roman";">  </span></span></span></b><!--[endif]--><b><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i>.</span></b><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , "serif"; font-size: 10.5pt; line-height: 115%;"><o:p></o:p></span></b></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="background: white; color: #222222; font-family: "times new roman" , "serif";">Sensor MPU6050 adalah sensor mampu membaca kemiringan sudut berdasarkan data dari sensor accelerometer dan sensor gyroscope. Sensor ini juga dilengkapi oleh sensor suhu yang dapat digunakan untuk mengukur suhu dikeadaan sekitar. Jalur data yang digunakan pada sensor ini adalah jalur data I2C[5].<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="background: white; color: #222222; font-family: "times new roman" , "serif";">Gyroscope merupakan sensor kecepatan angular yang digunakan untuk mengukur kecepatan rotasi dari suatu benda [3]. Gyroscope berfungsi untuk mengukur atau menentukan orientasi suatu benda berdasarkan pada ketetapan momentum sudut, dengan kata lain gyroscope menentukan gerakan sesuai grafitasi yang dilakukan oleh pengguna. Gyroscope memiliki peranan yang sangat penting dalam hal mempertahankan keseimbangan suatu benda. Ouput yang dihasilkan oleh gyroscope berupa kecepatan sudut yang pada sumbu x akan menjadi phi(Φ), sumbu y menjadi theta(θ), dan sumbu z menjadi psi(ψ). Sistem koordinat sensor sama dengan penggunaan pada sensor percepatan. Rotasi bernilai positif dalam arah berlawanan arah jarum jam, maka dari itu proses pengamatan melihat dari beberapa lokasi positif pada x, y, atau z sumbu pada perangkat diposisikan pada titik asal akan melaporkan rotasi positif jika perangkat tampaknya berputar berlawanan arah jarum jam. Output dari gyroscope terintegrasi dari waktu kewaktu untuk menghitung rotasi yang menggambarkan perubahan sudut atas perubahan waktu.Sensor </span><i style="mso-bidi-font-style: normal;"><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">accelerometer</span></i><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"> dan <i style="mso-bidi-font-style: normal;">gyroscope</i></span><span style="background: white; color: #222222; font-family: "times new roman" , "serif";"> berkomunikasi mikrokontroller melalui bus I2C (inter integrated circuit). Hal ini memungkinkan modul ini menjadi slave, yang hanya mengirim data yang dibutuhkan. Ataupun menjadi master, seperti memerintahkan modul tambahan untuk mendukung proses sensor </span><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">accelerometer dan gyroscope</span><span style="background: white; color: #222222; font-family: "times new roman" , "serif";"> sendiri[1].<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; text-align: justify;"> <span style="background: white; color: #222222; font-family: "times new roman" , "serif";">Gyroscope digunakan untuk mengukur orientasi berdasarkan prinsip momentum sudut[2]. MPU-6050 sendiri adalah chip dengan 3-axis Accelerometer(sensor percepatan) dan 3-axis Gyroscope (pengatur keseimbangan), atau dengan kata lain 6 degrees of freedom (DOF) IMU. Selain itu, MPU-6050 sendiri sudah memiliki Digital Motion Processors (DMP), yang akan mengolah data mentah dari masing-masing sensor. Sejumlah data tersebut akan diolah menjadi data dalam bentuk quaternions (4 Dimensi). DMP pada MPU6050 juga berfungsi meminimalisasi error yang dihasilkan[4].</span><span style="font-family: "times new roman" , "serif"; mso-bidi-font-size: 10.5pt; mso-fareast-font-family: "Times New Roman";"> </span><span style="background: white; color: #222222; font-family: "times new roman" , "serif";"><o:p></o:p></span></div> <div align="center" class="MsoListParagraphCxSpFirst" style="line-height: 115%; margin-left: 18.0pt; mso-add-space: auto; tab-stops: 28.0pt; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgONWHjfxiEBuGE5gKc_o2xTswjwvt7zBvhXTr6NIAGmrePIcAUiCK82-_wuaj_ofR3A5qy-i5UjSGU42E19xMT7xHsCpoqIIN4L5hmyK-diTMU0W2L2N6pj_r0gwYqZfrnpVxvWMHhsxM/s1600/2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="485" data-original-width="632" height="245" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgONWHjfxiEBuGE5gKc_o2xTswjwvt7zBvhXTr6NIAGmrePIcAUiCK82-_wuaj_ofR3A5qy-i5UjSGU42E19xMT7xHsCpoqIIN4L5hmyK-diTMU0W2L2N6pj_r0gwYqZfrnpVxvWMHhsxM/s320/2.jpg" width="320" /></a></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: 115%; margin-left: 18.0pt; mso-add-space: auto; tab-stops: 28.0pt; text-align: justify;"> <br /></div> <div align="center" class="MsoListParagraphCxSpLast" style="line-height: 115%; margin-left: 18.0pt; mso-add-space: auto; tab-stops: 28.0pt; text-align: center;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar 2.2 </span><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i>.</span><span lang="IN" style="font-family: "times new roman" , "serif"; line-height: 115%;"><o:p></o:p></span></div> <div align="center" class="MsoListParagraph" style="line-height: normal; mso-list: l1 level1 lfo1; mso-text-indent-alt: -18.0pt; text-align: center; text-indent: -36.0pt;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"> </span>III.<span style="font: 7.0pt "Times New Roman";">            </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">PERANCANGAN ALAT<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-bottom: 8.0pt; margin-left: 29.0pt; margin-right: 1.0pt; margin-top: 0cm; tab-stops: 28.0pt; text-indent: -28.25pt;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">3.1</span><span style="font-family: "times new roman" , "serif"; font-size: 10.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Perangkat</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Keras</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Rangkaian</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Elektronika</span><span style="font-family: "times new roman" , "serif"; font-size: 10.0pt; line-height: 115%;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-bottom: 8.0pt; margin-left: 29.0pt; margin-right: 1.0pt; margin-top: 0cm; tab-stops: 28.0pt; text-indent: -28.25pt;"> <span style="font-family: "times new roman" , "serif"; font-size: 10.0pt; line-height: 115%;"><span style="mso-tab-count: 1;">            </span></span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Adapun</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">sistem yang digunakan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">yaitu:</span><span style="font-family: "times new roman" , "serif"; font-size: 10.0pt; line-height: 115%;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 1.0cm; margin-right: 0cm; margin-top: 0cm; mso-list: l2 level1 lfo3; text-indent: -.65pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">a.<span style="font: 7.0pt "Times New Roman";">                        </span></span></span><!--[endif]--><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Arduino Pro Micro</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-bottom: .0001pt; margin-bottom: 0cm; margin-left: 1.0cm; margin-right: 0cm; margin-top: 0cm; mso-list: l2 level1 lfo3; text-indent: -.65pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">b.<span style="font: 7.0pt "Times New Roman";">                        </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Sensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i>.</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; tab-stops: 29.0pt;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; tab-stops: 29.0pt; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">3.2 <span style="mso-tab-count: 1;">    </span>Blok Diagram <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; tab-stops: 29.0pt; text-indent: -1.0cm;"> <br /></div> <div align="center" class="MsoNormal" style="line-height: 115%; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfo4cRd4_gbDbOp3MVidJd-4grcFLNFBmBTbj3rPG3qAn7w_tkXXRcjSIjQ5bi0sp_4fU8GceX8oES2F21VoLid_cPYKyXaxCWYix_XMnLzZNz2xr1z0KlcW8Am9WOmtPhV-iVQlnojlc/s1600/3.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="684" data-original-width="807" height="270" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfo4cRd4_gbDbOp3MVidJd-4grcFLNFBmBTbj3rPG3qAn7w_tkXXRcjSIjQ5bi0sp_4fU8GceX8oES2F21VoLid_cPYKyXaxCWYix_XMnLzZNz2xr1z0KlcW8Am9WOmtPhV-iVQlnojlc/s320/3.png" width="320" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; text-align: center;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Gambar 3.1 Diagram Blok</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; text-align: center;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">3.3<span style="mso-tab-count: 1;">     </span>Diagram Alir<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 1cm; text-align: left; text-indent: -1cm;"> <br /></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <br /> <span style="font-family: "times new roman" , "serif"; line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9gfetAajczZWBVHdob2bE0OmznvqJ3jjI7dea_RGZbvsjNcJdQ0RvnQ2XKBP1mkMkBMIKhcWgZ8oA3TqiBPQCaHLo5XFUb55Mj1g3Jm3C2yPgGAHMuxEo2GJkCdoKodOHSxoMns04DLo/s1600/4.png" imageanchor="1" style="font-family: "Times New Roman"; margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="771" data-original-width="410" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9gfetAajczZWBVHdob2bE0OmznvqJ3jjI7dea_RGZbvsjNcJdQ0RvnQ2XKBP1mkMkBMIKhcWgZ8oA3TqiBPQCaHLo5XFUb55Mj1g3Jm3C2yPgGAHMuxEo2GJkCdoKodOHSxoMns04DLo/s320/4.png" width="170" /></a></span><br /> <span style="font-family: "times new roman" , serif; text-indent: -37.7953px;">Gambar 3.2 Diagram Alir</span></div> <div class="MsoNormal" style="line-height: 115%;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">3.4<span style="mso-spacerun: yes;">  </span>GambarRangkaian<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjoErNRFsELSFDEqQ7aLH7fq__Sk30mfGzQWm5s2JekQ1n5wa8gBT5N_Ur2kKb5-DvWMG0Ls6XLaDFfTGRga63FGuQ_KVm0KTjF7Xb2WbCOFnd8Xso7NMV4TfTtjeQBFxsxkCJjvJVXrmw/s1600/5.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="768" data-original-width="1366" height="179" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjoErNRFsELSFDEqQ7aLH7fq__Sk30mfGzQWm5s2JekQ1n5wa8gBT5N_Ur2kKb5-DvWMG0Ls6XLaDFfTGRga63FGuQ_KVm0KTjF7Xb2WbCOFnd8Xso7NMV4TfTtjeQBFxsxkCJjvJVXrmw/s320/5.png" width="320" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar 3.3 RangkaianLengkap<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 21.3pt; text-indent: -21.3pt;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 21.3pt; text-indent: -21.3pt;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">3.5<span style="mso-tab-count: 1;">  </span>GambarPengawatan<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <br /> <br /> <span style="font-family: "times new roman" , "serif"; line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6tEasFNpt03FpVdFOAS-4ANizSfR8ZfbZeUliiP9VpGBv9MpVzBpbMpZeBCcWrv_qRdHMLLGuhnrIbYdnAo-x7Kg6trU0pyFvVP1sbZLf1Vy24Mtj_j-bi1CMVHO4O03_VlMka85k8YY/s1600/6.jpg" imageanchor="1" style="font-family: "Times New Roman"; margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="744" data-original-width="837" height="284" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6tEasFNpt03FpVdFOAS-4ANizSfR8ZfbZeUliiP9VpGBv9MpVzBpbMpZeBCcWrv_qRdHMLLGuhnrIbYdnAo-x7Kg6trU0pyFvVP1sbZLf1Vy24Mtj_j-bi1CMVHO4O03_VlMka85k8YY/s320/6.jpg" width="320" /></a></span><br /> <span style="font-family: "times new roman" , serif; text-indent: -37.7953px;">Gambar 3.4 Diagram Pengawatan</span><br /> <span style="font-family: "times new roman" , serif; text-indent: -37.7953px;"><br /></span></div> <div align="center" class="MsoListParagraphCxSpLast" style="line-height: normal; mso-list: l1 level1 lfo1; mso-text-indent-alt: -18.0pt; text-align: center; text-indent: -36.0pt;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";">  </span>IV.<span style="font: 7.0pt "Times New Roman";">            </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">PENGUJIAN ALAT<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; margin-right: 2.8pt; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Pengujian</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">ini</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">bertujuan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">untuk</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">mengecek</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">fungsi</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> k</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">erja</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">alat</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">sesuai yang dikehendaki. Mulai</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dari</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">pengecekan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">kepekaan </span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">s</span><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">ensor <i style="mso-bidi-font-style: normal;">accelerometer</i> dan <i style="mso-bidi-font-style: normal;">gyroscope</i></span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-font-weight: bold; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dengan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">meng</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">uji sumbu x, y, dan z</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">, di set sesuai yang diinginkan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">pengecekan</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> pergerakan kursor pada komputer a</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">pakah</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">luaran</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">sesuai</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dengan</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> posisi kursor pada komputer</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">. Serta pengecekan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">kerja</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> fungsi tekan kanan pada tetikus dengan menunggu tunda dua detik apakah benar ditekan atau tidak. P</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">engecekan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">melalui</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">kabel-kabel jumper yang yangkurang pas pemasangannya</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">sehingga</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">mengakibatkan</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> pergerakan kursor yang lambat dan tunda yang lama ketika memilih gambar pada layar monitor. </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span><br /> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><br /></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhbmwQVBBQsdS2hu_1-NlX_UcooAz-TEF0ZiIrOK1c7Zc1Nyrd32IVSMBFe0AFXXTgyY7gBNS_tDKOUdAsHoroHglx7NJFf4x8AU-98B6DkMpXouelCquqVdXAO6j1hc-gobcGlxTk1Q4Q/s1600/7.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="1280" data-original-width="960" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhbmwQVBBQsdS2hu_1-NlX_UcooAz-TEF0ZiIrOK1c7Zc1Nyrd32IVSMBFe0AFXXTgyY7gBNS_tDKOUdAsHoroHglx7NJFf4x8AU-98B6DkMpXouelCquqVdXAO6j1hc-gobcGlxTk1Q4Q/s320/7.jpg" width="240" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar4.1<span style="mso-spacerun: yes;">  </span>Alat Tampak Depan<o:p></o:p></span><br /> <span style="font-family: "times new roman" , "serif"; line-height: 115%;"><br /></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3ta3KE-sflOLk50AteoazDMW7iGHWJtmw-nywjAnRpPUtA6n5zkZfQKH5ystB72BjTmph-P9JEXSZckK3Pdrje3E5tfIgDGCvnena16-w-SSqICactgvjkv0bFmLZ4V2tOlAiv95qnfM/s1600/8.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="655" data-original-width="491" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3ta3KE-sflOLk50AteoazDMW7iGHWJtmw-nywjAnRpPUtA6n5zkZfQKH5ystB72BjTmph-P9JEXSZckK3Pdrje3E5tfIgDGCvnena16-w-SSqICactgvjkv0bFmLZ4V2tOlAiv95qnfM/s320/8.jpg" width="239" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar 4.2 Alat Tampak Belakang</span><br /> <br /></div> </div> <div class="WordSection4"> <div align="center" class="MsoNormal" style="line-height: 115%; text-align: center;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiS3rn0ZbTWKj53ckvuYoZonq_6ixa0WxYpNLQBNqJIPZvMQLo-UkzlQLnFqMXxq3_FmQsD9pXPzZcbg8dXtkRxqwdtNhlM_S3_89Pp9gkqwZvNCu9x9_JHxNccUHmMDAA9a_e2hHxb1x8/s1600/9.jpg" imageanchor="1" style="clear: right; margin-bottom: 1em; margin-left: 1em;"><img border="0" data-original-height="679" data-original-width="509" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiS3rn0ZbTWKj53ckvuYoZonq_6ixa0WxYpNLQBNqJIPZvMQLo-UkzlQLnFqMXxq3_FmQsD9pXPzZcbg8dXtkRxqwdtNhlM_S3_89Pp9gkqwZvNCu9x9_JHxNccUHmMDAA9a_e2hHxb1x8/s320/9.jpg" width="239" /></a><br /> <span style="font-family: "times new roman" , serif;">Gambar 4.3 Alat Tampak SampingKiri</span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <br /></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2c6MjqNByVSGDGKGpUJPFPo-jOc8xXEJa68MazUdNZjdfm3Ed4GSPsuhRfoZDzMqU-98lozDaiNMmJqR6biJ-fFb_rT33Gimw2IoMMNdWrFpOb3NaBkdtoSNdCM4oQzOZJqVyQM5MGIc/s1600/10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="1280" data-original-width="960" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2c6MjqNByVSGDGKGpUJPFPo-jOc8xXEJa68MazUdNZjdfm3Ed4GSPsuhRfoZDzMqU-98lozDaiNMmJqR6biJ-fFb_rT33Gimw2IoMMNdWrFpOb3NaBkdtoSNdCM4oQzOZJqVyQM5MGIc/s320/10.jpg" width="240" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar4.4 Alat Tampak Samping Kanan<o:p></o:p></span><br /> <span style="font-family: "times new roman" , "serif"; line-height: 115%;"><br /></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg95arI4KAzuk8NSnUAwVAs8Gf-IZW2lUOk3_pKM9efTpzy96-SgUZ35clO9Y_6Y7qCXNGUz3UpUeliqlptoncV9nzV1aUCr6XHbzqUIXwr_xlqcCXmE_Iux5IxI1pih4qZI25EW_Ek7Aw/s1600/11.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-indent: 0px;"><img border="0" data-original-height="1280" data-original-width="960" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg95arI4KAzuk8NSnUAwVAs8Gf-IZW2lUOk3_pKM9efTpzy96-SgUZ35clO9Y_6Y7qCXNGUz3UpUeliqlptoncV9nzV1aUCr6XHbzqUIXwr_xlqcCXmE_Iux5IxI1pih4qZI25EW_Ek7Aw/s320/11.jpg" width="240" /></a></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; line-height: 115%;">Gambar 4.5 Alat Tampak Atas<o:p></o:p></span></div> <div align="center" class="MsoNormal" style="line-height: 115%; margin-left: 1.0cm; text-align: center; text-indent: -1.0cm;"> <span style="font-family: "times new roman" , "serif"; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; text-indent: -36pt;"><span style="mso-list: Ignore;"><span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;"> </span>V.<span style="font-family: "times new roman"; font-size: 7pt; font-stretch: normal; line-height: normal;">            </span></span></span><span style="font-family: "times new roman" , "serif"; text-indent: -36pt;">KESIMPULAN</span><br /> <span style="font-family: "times new roman" , "serif"; text-indent: -36pt;"><br /></span></div> <div class="MsoNormal" style="line-height: 115%; margin-left: 18.0pt; text-align: justify;"> <span lang="IN" style="font-family: "times new roman" , "serif"; line-height: 115%;">H</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">asil</span><span lang="IN" style="font-family: "times new roman" , "serif"; line-height: 115%;"> dari </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">pembahasan</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> <span lang="IN">dan uji coba </span></span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">alat</span><span lang="IN" style="font-family: "times new roman" , "serif"; line-height: 115%;"> tetikus kepala. M</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">aka diambil</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">kesimpulan</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">bahwa</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">dengan</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">diaplikasikannya</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">alat</span><span style="font-family: "times new roman" , "serif"; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; line-height: 115%;">ini</span><span lang="IN" style="font-family: "times new roman" , "serif"; line-height: 115%;"> di<span style="mso-spacerun: yes;">  </span>tempat umum<span style="mso-spacerun: yes;">  </span>sangat membantu bagi orang yang memiliki keterbatasan untuk menggerakan tetikus dengan mudah. . <o:p></o:p></span></div> <div align="center" class="MsoListParagraphCxSpMiddle" style="line-height: normal; mso-list: l1 level1 lfo1; mso-text-indent-alt: -18.0pt; text-align: center; text-indent: -36.0pt;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";"><br /></span></span></span> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;"><span style="font: 7.0pt "Times New Roman";">  </span>VI.<span style="font: 7.0pt "Times New Roman";">            </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">SARAN<o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal;"> <br /></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 14.2pt; mso-add-space: auto; text-align: justify;"> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Dari hasil</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">revision</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">alat agar alat</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">tersebut</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dapat</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dikembangkan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">lagi</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">dengan</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"> </span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">adanya :<o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; mso-list: l0 level1 lfo4; text-align: justify; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">1.<span style="font: 7.0pt "Times New Roman";">      </span></span></span><!--[endif]--><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Fungsi tekan tetikus kiri</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; mso-list: l0 level1 lfo4; text-align: justify; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">2.<span style="font: 7.0pt "Times New Roman";">      </span></span></span><!--[endif]--><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Fungsi gulung atas atau bawah</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; mso-list: l0 level1 lfo4; text-align: justify; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">3.<span style="font: 7.0pt "Times New Roman";">      </span></span></span><!--[endif]--><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">Fungsi Drag</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; mso-list: l0 level1 lfo4; text-align: justify; text-indent: -18.0pt;"> <!--[if !supportLists]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">4.<span style="font: 7.0pt "Times New Roman";">      </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">Dll.<o:p></o:p></span></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; text-align: justify;"> <br /></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; text-align: justify;"> <br /></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; text-align: justify;"> <br /></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; text-align: justify;"> <br /></div> <div class="MsoListParagraphCxSpMiddle" style="line-height: normal; margin-left: 32.2pt; mso-add-space: auto; text-align: justify;"> <br /></div> <div align="center" class="MsoListParagraphCxSpLast" style="line-height: normal; mso-list: l1 level1 lfo1; mso-text-indent-alt: -18.0pt; text-align: center; text-indent: -36.0pt;"> <span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><span style="mso-list: Ignore;">VII.<span style="font: 7.0pt "Times New Roman";">            </span></span></span><!--[endif]--><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><span style="mso-spacerun: yes;"> </span>DAFTAR PUSTAKA</span><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span><br /> <span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><br /></span></div> <div class="MsoNormal" style="line-height: normal; margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <!--[if supportFields]><span style='font-family:"Times New Roman","serif";mso-fareast-font-family:"Times New Roman"'><span style='mso-element:field-begin;mso-field-lock:yes'></span>ADDIN Mendeley Bibliography CSL_BIBLIOGRAPHY <span style='mso-element:field-separator'></span></span><![endif]--><span style="font-family: "times new roman" , "serif"; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[1]<span style="mso-tab-count: 1;">      </span>B. Firman and T. Elektro, “Implementasi Sensor Imu Mpu6050 Berbasis Serial I2C Pada Self-Balancing Robot,” no. May, 2013.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <span style="font-family: "times new roman" , "serif"; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[2]<span style="mso-tab-count: 1;">      </span>M. Rif, W. Djuriatno, D. N. Sulistiyanto, P. Siwindarto, and S. M. Aswin, “Pemanfaatan 3 axis Gyroscope L3G4200D untuk pengukuran Sudut Muatan Roket,” vol. 6, no. 2, pp. 177–182, 2012.<o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal; margin-left: 32.0pt; mso-layout-grid-align: none; mso-pagination: none; text-autospace: none; text-indent: -32.0pt;"> <span style="font-family: "times new roman" , "serif"; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;">[3]<span style="mso-tab-count: 1;">      </span>A. T. S. Wahyu Andhyka Kusuma, Zamah Sari, “Sensor Fusion Accelerometer dan Gyroscope untuk Pengukuran Perubahan Kinematik Pergelangan Kaki,” <i>Kinetik</i>, vol. 1, no. 1, pp. 17–22, 2016.</span><span style="font-family: "times new roman" , "serif"; mso-no-proof: yes;"><o:p></o:p></span></div> <div class="MsoListParagraph" style="line-height: normal;"> <br /></div> </div> <span style="font-family: "times new roman" , "serif"; font-size: 11.0pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br /> <div class="MsoNormal" style="line-height: 115%; margin-right: -36.55pt;"> <b style="mso-bidi-font-weight: normal;"><i style="mso-bidi-font-style: normal;"><u><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 16.0pt; line-height: 115%;">Fathoni Kurnia Ramadhani</span></u></i></b><b style="mso-bidi-font-weight: normal;"><i style="mso-bidi-font-style: normal;"><u><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 14.0pt; line-height: 115%;"><o:p></o:p></span></u></i></b></div> <div class="MsoNormal" style="line-height: 115%; margin-right: 4.45pt; text-align: justify;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhx5egjDa6TGJD6g-kjNbb4J1CM5VCUUTHU67wG5e5teJPyC4r9qQmVdnj87wFvgrX3OdrwR_lLNGi-HbfF_zSYLz0o1uBlnQcsWfUq129a7CSwxzBmXCOkrUY5Sd3WGar6is8mrPy3ryE/s1600/12.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" data-original-height="500" data-original-width="668" height="239" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhx5egjDa6TGJD6g-kjNbb4J1CM5VCUUTHU67wG5e5teJPyC4r9qQmVdnj87wFvgrX3OdrwR_lLNGi-HbfF_zSYLz0o1uBlnQcsWfUq129a7CSwxzBmXCOkrUY5Sd3WGar6is8mrPy3ryE/s320/12.jpg" width="320" /></a><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Penulis dilahirkan di Semarang, 20 Januari 1998. Penulis telah menempuh pendidikan formal di SD Islam Hidayatullah Semarang, SMP Islam Hidayatullah Semarang, dan SMA Islam Hidayatullah Semarang.</span><span style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Tahun 2016 penulis</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mengikuti</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">seleksi</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mahasiswa</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">baru diploma (D3) dan</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">diterima</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">menjadi</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mahasiswabaru diploma (D3) di kampus</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Politeknik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Negeri Semarang (Polines) dengan Program Studi D3 TeknikElektronika, JurusanTeknikElektro. Penulisterdaftardengan NIM 3.32.16.1.1</span><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">1</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">. Apabila</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">ada</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">kritik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">dan saran yang membangun</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">serta</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">pertanyaan</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mengenai</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">penelitian</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">ini bis</span><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">a</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> menghubungi via email: <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%;"> <a href="mailto:fathoni.kurnia@gmail.com"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">fathoni.kurnia@</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">gmail.com</span></a><span class="MsoHyperlink"><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";"><o:p></o:p></span></span></div> <div class="MsoNormal" style="line-height: 115%;"> <br /></div> <div class="MsoNormal" style="line-height: 115%;"> <b style="mso-bidi-font-weight: normal;"><i style="mso-bidi-font-style: normal;"><u><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 16.0pt; line-height: 115%;">Fachruz Dzaky R<o:p></o:p></span></u></i></b></div> <div class="MsoNormal" style="line-height: 115%;"> <br /></div> <div class="MsoNormal" style="line-height: 115%; margin-right: -2.6pt; text-align: justify;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEsqsPRVmP1kw6MEQMQywe1BWR8uhbLon8fvNG5gD00vBW138o35lII3_k9j54pAoRsDYIetE_YYOi4VtXyuyVATt7eMVDcY4rtp_rbVlZxy1KNkBjjTqbrp_GERN9hRvDMZ2_Zauc2zg/s1600/13.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" data-original-height="768" data-original-width="1024" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEsqsPRVmP1kw6MEQMQywe1BWR8uhbLon8fvNG5gD00vBW138o35lII3_k9j54pAoRsDYIetE_YYOi4VtXyuyVATt7eMVDcY4rtp_rbVlZxy1KNkBjjTqbrp_GERN9hRvDMZ2_Zauc2zg/s320/13.jpg" width="320" /></a><span style="font-family: "times new roman" , "serif"; mso-ascii-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-hansi-theme-font: major-bidi;">Penulis dilahirkan di Surakarta, 17 Maret<span style="mso-spacerun: yes;">  </span>1998. Penulis telah menempuh pendidikan formal di SD MUHAMMADIYAH 1 SOLO, SMPN 8 Solo, dan SMAN 3 Solo.</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> Tahun 2016 penulis</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mengikuti</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">seleksi</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mahasiswa</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">baru diploma (D3) dan</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">diterima</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">menjadi</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mahasiswa</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">baru diploma (D3) di kampus</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Politeknik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Negeri Semarang (Polines) dengan Program Studi D3 Teknik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Elektronika, Jurusan</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Teknik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">Elektro. Penulis</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">terdaftar</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">dengan NIM 3.32.16.1.1</span><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">0</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">. Apabila</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">ada</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">kritik</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">dan saran yang membangun</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">serta</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">pertanyaan</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">mengenai</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">penelitian</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> </span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">ini bis</span><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;">a</span><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"> menghubungi via email: <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; margin-right: -36.55pt;"> <a href="mailto:nalendroagung@gmail.com"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">fachruzdzaky6</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">@gmail.com</span></a><b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , "serif"; line-height: 115%;"><o:p></o:p></span></b></div> <b style="mso-bidi-font-weight: normal;"><span style="font-family: "times new roman" , "serif"; font-size: 11.0pt; line-height: 107%;"><br clear="all" style="mso-special-character: line-break; page-break-before: always;" /> </span></b> <br /> <div class="MsoNormal"> <br /></div> <div class="MsoNormal" style="line-height: 115%;"> <b style="mso-bidi-font-weight: normal;"><i style="mso-bidi-font-style: normal;"><u><span lang="IN" style="font-family: "times new roman" , "serif"; font-size: 16.0pt; line-height: 115%;">Galuh Wicaksono</span></u></i></b><b style="mso-bidi-font-weight: normal;"><i style="mso-bidi-font-style: normal;"><u><span style="font-family: "times new roman" , "serif"; font-size: 16.0pt; line-height: 115%;"><o:p></o:p></span></u></i></b></div> <div class="MsoNormal" style="line-height: 115%; margin-right: -22.75pt; text-align: justify;"> <!--[if gte vml 1]><v:shape id="Picture_x0020_13" o:spid="_x0000_s1026" type="#_x0000_t75" style='position:absolute;left:0;text-align:left; margin-left:1.5pt;margin-top:.9pt;width:146.25pt;height:187.5pt;z-index:251659264; visibility:visible;mso-wrap-style:square;mso-width-percent:0; mso-height-percent:0;mso-wrap-distance-left:9pt;mso-wrap-distance-top:0; mso-wrap-distance-right:9pt;mso-wrap-distance-bottom:0; mso-position-horizontal:absolute;mso-position-horizontal-relative:text; mso-position-vertical:absolute;mso-position-vertical-relative:text; mso-width-percent:0;mso-height-percent:0;mso-width-relative:margin; mso-height-relative:margin'> <v:imagedata src="file:///C:\Users\HP\AppData\Local\Temp\msohtmlclip1\01\clip_image027.png" o:title="galuh"/> <w:wrap type="square"/> </v:shape><![endif]--><!--[if !vml]--><span style="font-family: "times new roman" , "serif"; font-size: 12.0pt; line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEih8HJbhGBG2pKkMuX3JUXEDJ1vNb_UzKC1iIWQt3jo7RTSrPrVmxyct2-umQrMUuTL8FTg_CxDtWKQ3BCRZz2zktNA9PMZgjCmiLcQZsO-IUZwAv8jraR4BbdD-hJNxR-Epk_haAzkv20/s1600/14.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" data-original-height="472" data-original-width="354" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEih8HJbhGBG2pKkMuX3JUXEDJ1vNb_UzKC1iIWQt3jo7RTSrPrVmxyct2-umQrMUuTL8FTg_CxDtWKQ3BCRZz2zktNA9PMZgjCmiLcQZsO-IUZwAv8jraR4BbdD-hJNxR-Epk_haAzkv20/s320/14.png" width="240" /></a>Penulis dilahirkan di Semarang, 21 Mei 1997. Penulis telah menempuh pendidikan formal di SD N Tlogosari Kulon 06 , SMP N 15 Semarang, SMK N 7 Semarang. Tahun 2016 penulis mengikuti seleksi mahasiswa baru diploma (D3) dan diterima menjadi mahasiswa baru diploma (D3) di kampus Politeknik Negeri Semarang (Polines) dengan Program Studi D3 Teknik Elektronika, Jurusan Teknik Elektro. Penulis terdaftar dengan NIM 3.32.16.1.12. Apabila ada kritikdan saran yang membangun serta pertanyaan mengenai penelitian ini bisa menghubungi via email: <o:p></o:p></span></div> <div class="MsoNormal" style="line-height: 115%; text-align: justify;"> <a href="mailto:21mei1997@gmail.com"><span lang="IN" style="font-family: "times new roman" , "serif"; mso-ansi-language: IN; mso-fareast-font-family: "Times New Roman";">21mei1997</span><span style="font-family: "times new roman" , "serif"; mso-fareast-font-family: "Times New Roman";">@gmail.com</span></a><span style="font-family: "times new roman" , "serif"; line-height: 115%;"><o:p></o:p></span></div> <div class="MsoNormal" style="line-height: normal;"> <br /></div> <br />

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