SMART VACUUM ROBOT

Mohammad Alif Akwan Bin Abdul Manan (04DEP20F2007)

Nur Fatihah Aqilah Bt Mohammad Fadzli (04DEP20F2002)

FINAL PROJECT REPORT (DEE 50102)

JABATAN KEJURUTERAAN ELEKTRIK

POLITEKNIK KOTA BHARU, KELANTAN
SESI 1 2022/2023

1
 APPROVED BY

I admit that this work is the result of our group work. I hereby attach an attachment that

has been checked for authenticity.

Project title : Smart Vacuum Robot

Prepared by :

…………………

Student Name : Mohammad Alif Akwan Bin Abdul Manan

Registration Number : 04DEP20F2007
Date : 11/30/2022

Prepared by :

………………….

Student Name : Nur Fatihah Aqilah Bt Mohammad Fadzli

Registration Number : 04DEP20F2002
Date : 11/30/2022

2
 SUPERVISOR APPROVAL

I acknowledge that I have read this work and in my view this work is adequate in scope

and quality for the purpose of awarding the Diploma in Electrical (Computer).

Signature :

………………………………

Supervisor Name : EN. Mohd Shakirurahman Bin Ismail

Date :

3
 APPRECIATION

In the name of God Most Gracious and Most Merciful. Blessings and salutations upon the
Prophet Muhammad S.A.W.

This opportunity, the highest appreciation and thanks goes to the supervisor of this
research project, EN. MOHD SHAKIRURAHMAN BIN ISMAIL for all his continuous and
undivided guidance and guidance. Without the guidance provided, this study would not have
been successful.

Infinite gratitude is also addressed to the lecturers and also to all parties directly involved
who also provided guidance, insight and guidance in the effort to complete and realize this study.
All your guidance and services are very valuable.

To my family, especially my father and mother, thank you for all the sacrifices and
understanding given as well as the encouragement that strengthens the spirit to keep trying
without giving up.

Finally, many thanks to my friends for their views, opinions, encouragement, guidance,
advice and moral support that have been given throughout my efforts to complete this research.

Hopefully this research can contribute and benefit everyone.

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 ABSTRAK

SMART VACUUM ROBOT merupakan mesin yang berfungsi untuk menyedut habuk
dan kotoran, kebiasaannya dari lantai. Produk ini melakukan kerja secara automatik dan tidak
mengeluarkan tenaga yang banyak dalam proses membersihkan lantai. Situasi yang dapat kita
lihat seringkali berlaku bagi suri rumah semasa membersihkan rumah adalah kesukaran untuk
membersihkan lantai yang berdebu. Kaedah yang diguna pakai sekarang ialah membersih hanya
dengan menggunakan penyapu dan mop. Ia mengambil masa yang agak lama untuk melakukan
kerja pembersihan tersebut kerana rumah yang luas. Selain itu, terdapat juga debu-debu yang
telah tercampur dengan air akan melekat di lantai dan ia menjadi sukar untuk dibersihkan
menggunakan penyapu dan mop. Antara masalah utama yang dihadapi sebelum inovasi
diperkenalkan ialah masalah pengambilan masa yang panjang untuk membersihkan lantai yang
luas, pengguna juga akan sukar bernafas disebabkan oleh saluran pernafasan tersumbat dengan
habuk-habuk yang terdapat dalam bengkel dan kesakitan pada bahagian pinggang dan tangan
akan berlaku kerana pengguna perlu membongkokkan badan untuk membersihkan habuk yang
berada di bawah meja. Objektif utama produk ini ialah mereka bentuk satu mesin yang dapat
mempercepatkan proses membersihkan lantai berbanding sistem manual yang sedia ada. Selain
itu, mengurangkan penggunaan tenaga pengguna, tidak menggunakan masa yang agak lama
untuk membersihkan lantai dan dapat mengelakkan risiko kecederaan agar lebih terjamin. Alat
ini mampu menyedut habuk dengan kawalan Internet Of Things (IOT) iaitu secara automatik
yang dapat mempercepatkan proses pembersihan. Produk ini ditambahbaikkan dengan ciri
keselamatan yang kuat agar pengguna tidak tercedera semasa membersihkan lantai. Justeru ia
mudah dan selamat digunakan.

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 ABSTRACT

SMART VACUUM ROBOT is a machine that works to suck dust and dirt, usually from
the floor. This product does the work automatically and does not expend a lot of energy in the
process of cleaning the floor. A situation that we can see often happens to housewives when
cleaning the house is the difficulty in cleaning the dusty floor. The method used now is to clean
only by using a broom and a mop. It takes quite a long time to do the cleaning work because of
the vastness of the house. In addition, there is also dust that has been mixed with water will stick
to the floor and it becomes difficult to clean using a broom and mop. Among the main problems
faced before the innovation was introduced was the problem of taking a long time to clean the
wide floor, the user would also have difficulty breathing due to the respiratory tract being
blocked with the dust found in the workshop and pain in the waist and hands would occur
because the user had to bent down to clean the dust under the table. The main objective of this
product is to design a machine that can speed up the process of cleaning the floor compared to
the existing manual system. In addition, it reduces the energy consumption of users, does not use
a long time to clean the floor and can avoid the risk of injury to be more secure. This tool is
capable of vacuuming dust with Internet Of Things (IOT) control which is automatic which can
speed up the cleaning process. This product is enhanced with strong safety features so that users
are not injured while cleaning the floor. Therefore it is easy and safe to use.

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SENARAI KANDUNGAN

PENGAKUAN ........................................................................................... Error! Bookmark not defined.

PENGESAHAN PENYELIA .................................................................... Error! Bookmark not defined.
PENGHARGAAN ..................................................................................... Error! Bookmark not defined.
ABSTRAK ................................................................................................................................................ 5
ABSTRACT .............................................................................................................................................. 6
SENARAI KANDUNGAN ...................................................................................................................... 7
SENARAI JADUAL ................................................................................................................................. 8
SENARAI RAJAH ................................................................................................................................... 8
BAB 1 ....................................................................................................................................................... 9
1.1 PENDAHULUAN ....................................................................................................................... 9
1.2 OBJEKTIF .................................................................................................................................. 9
1.3 PENYATAAN MASALAH ...................................................................................................... 10
1.4 SKOP KAJIAN ......................................................................................................................... 10
BAB 2 ..................................................................................................................................................... 12
2.1 PENGENALAN......................................................................................................................... 12
2.2 REVIEW PAST RELEVANT PROJECT 1 ........................................................................... 13
2.3 REVIEW PAST RELEVANT PROJECT 2 ........................................................................... 13
2.4 RUMUSAN ................................................................................................................................ 14
BAB 3 ..................................................................................................................................................... 15
3.1 PENGENALAN............................................................................................................................. 15
3.2 REKABENTUK PROJEK ........................................................................................................... 16
3.2.1 GAMBARAJAH BLOK PROJEK ...................................................................................... 16
3.2.2 CARTA ALIR PROJEK 2 ................................................................................................... 17
3.2.3 PENERANGAN PROJEK ................................................................................................... 18
3.3 PERKAKASAN PROJEK ........................................................................................................... 18
3.3.1 LITAR SKEMATIK ............................................................................................................ 18
3.3.2 PENERANGAN KOMPONEN UTAMA ........................................................................... 19
3.3.2.1 KOMPONEN 1 ............................................................................................................... 19
3.3.2.2 KOMPONEN 2 ................................................................................................................ 20
3.3.2.3 KOMPONEN 3 ................................................................................................................. 20

7
 3.3.3 OPERASI LITAR................................................................................................................. 21
3.4 PERISIAN PROJEK .................................................................................................................... 21
3.4.1 CARTA ALIR BAGI SISTEM ............................................................................................ 22
3.4.2 PENERANGAN .................................................................................................................... 22
3.5 PEMBANGUNAN PROTOTAIP ................................................................................................ 23
3.5.1 REKABENTUK MEKANIKAL/SUSUNATUR PRODUK .............................................. 23
BAB 4 .........................................................................................................................................................
4.1 PENGENALAN.................................................................................................................................
4.2.1 PERKAKASAN.........................................................................................................................
4.2.2 PERISIAN .................................................................................................................................
4.3 RUMUSAN ........................................................................................................................................
RUJUKAN .............................................................................................................................................. 31
LAMPIRAN............................................................................................................................................ 32
LAMPIRAN A ........................................................................................................................................ 32
LAMPIRAN B ........................................................................................................................................ 33
LAMPIRAN C ........................................................................................................................................ 34

SENARAI JADUAL
Table 1 Configuration of Parameter ........................................................................................................... 24

SENARAI RAJAH
Figure 1 Example of Electronic Parts ............................................................. Error! Bookmark not defined.
Figure 2 Diode ................................................................................................ Error! Bookmark not defined.

8
 BAB 1

INTRODUCTION

1.1 PENDAHULUAN

The project will cover lightweight cleaning processes for housewives in the

house. The purpose of this project is to ease the burden of housewives while spending up

the cleaning work. The project name given is ‘smart cleaner vacuum’ which realistically

uses a vacuum system in a cleaning job is to easier than a cleaning system in a cleaning

job is easier than using a cleaning system such as a broom and a shovel.

1.2 OBJEKTIF

• Improve the time in the cleaning process through manual methods to

• automatic method.
• Produce a Vacuum Machine with IoT that can help and facilitate
• users in the cleaning process more effectively.
• Reduce energy and time consumption.
• Suction dust and dirt, usually from the floor

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1.3 PENYATAAN MASALAH

Cleaning the house is very complicated and requires a lot of energy and takes a long time.
Cleaning tools available in the market such as brooms, mops and brushes only use manual
methods where the users need to bend down to clean the dust on the floor. If dust who want to be
cleaned a lot then problems such as pain in the waist and hand will happen. Because of this, it is
difficult for users to clean the house perfectly. In addition, the user will also have difficulty
breathing. This is due to the channel breathing blocked with dust found on the floor. When the
user using a broom then the dust flying in the air will be annoying users with asthma are more
likely to have more critical shortness of breath.

1.4 SKOP KAJIAN

• This machine is specially designed for use by housewives when cleaning the house
• Create equipment designs that save space and cost
• Can be used at home or in the office
• Various types of objects and dust can be inhaled
• Spare parts are easy to find and maintain

The project we are running involves several electronic components that involve a
purchase cost of rm197.89. The components involved in this project are the main materials are
arduino uno, ultrasonic sensor, arduino motor shield, gear motor with wheel, 12V battery, ion
battery cell, pvc pipe, 6v motor, and a few more. some of these components are bought online
because it can make things easier for us. the rest we buy at an electronics store in town.

10
 The estimated budget that we released is as much as RM200 but the actual cost is only
RM197.89 and does not include the cost of other consumables. Our type of purchase according
to the table that has been prepared as in table 1. This project is considered an affordable project
because it does not involve too high a cost.

11
 CHAPTER 2

KAJIAN LITERATUR

2.1 PENGENALAN

We will create a project that can help us especially among housewives. The
project we will create is a vacuum cleaner robot. This project uses a use ultrasonic sensor.
The total sensor used is 3 sensors. It willplace in front of body vacuum cleaner robot to
detect obstacle. The range of detection obstacle between 25 cm. Apart from that, during
the cleaning process by this vacuum cleaner robot does not need to be monitored and it
will do its own cleaning task. This can save us time. in addition to that we can also do
other work while waiting for this robot vacuum to finish cleaning. This project using
microcontroller PIC16F877A. The suitable area for vacuum cleaner robot is on flat area.
Next, the design of vacuum cleaner robot is round shaped. Vacuum cleaner robot
dimension is 180mm x 180mm. Battery LiPo 11.1 V with capacity 2200mAh is used for
the robot.

12
 2.2 REVIEW PAST RELEVANT PROJECT 1
2.3 REVIEW PAST RELEVANT PROJECT 2

NO TITLE/AUTHOR OBJECTIVE METHOD RESULT

The results of testing the

value of the ultrasonic
This tool works when the sensor distance found
This paper discusses
A. Irawan, Yuda, Muhardi, Arduino Uno different conditions that
about information
Muhardi, Ordila, Rian, AND microcontroller occur. In a distance of> 15
regarding several parts,
Diandra, Roni. “Automatic processes the ultrasonic cm, the condition of the
namely of an Ultrasonic
1 Floor Cleaning Robot Using sensor as a distance prototype cleaning robot
Sensor, Motor Shield
Arduino and Ultrasonic detector and a DC motor for the road floor cleaning
L298, Arduino Uno
Sensor” Journal of Robotics as a robot driver, then the is obtained, while the
microcontroller, Servo,
and Control(JRC). (July 2021) DC motor is driven by distance <15 cm, the
and Dc Motor.
the Motor Shield L298. condition for the prototype
of the street floor cleaning
robot has stopped.

Design of the chassis,

circuit for the limited
Working on calculation space, navigation, and
Designing a Robot and design by ourselves vacuum was made easy
“Development of a vacuum
Layout of the electrical using trial and error along with challenges
cleaner robot” by T.B. Asafa;
components, effective method takes a lot of faced, recommended
T.M. Afonja; E.A. Olaniyan;
interaction with real- time however this paper changes and
H.O. Alade. Publisher-
world objects, helped us in this regard, improvements,
2 Mechanical Engineering
restrictions in movement as it talks about the approximate cost, and code
Department, Ladoke Akintola
and many other model design, expectations thanks to the
University of Technology,
important factors must be restrictions and cleaning detailed explanation in the
P.M.B. 4000, Ogbomoso,
thought of before area along with the Report. potential energy
Nigeria. (December 2018)
building a prototype. design and circuit layout occurs, then a decrease in
interaction furthermore fluid pressure is associated
with an increase in fluid
velocity.

“Vision-Based Dirt Detection

The robustness of the
and Adaptive Tiling Scheme A three- layer filtering
visual dirt detection
for Selective Area Coverage” framework was used for
algorithm assessed by
by Balakrishnan Ramalingam; The objective is to Visual dirt detection,
measuring the dirt
3 Prabakaran Veerajagadheswar; eventually maximize the which includes edge
detection ratio of different
Muhammad Ilyas;Mohan system delivery capacity. detection, periodic
surfaces with various kinds
Rajesh Elara; Arunmozhi pattern detection filter,
of dirt types multimedia
Manimuthu. Publisher- and noise filtering.
contents to the MUs
Hindawi. (December 2018)

13
2.4 RUMUSAN

In conclusion, this chapter tells about the concept or theory and previous research on
smart vacuum machines. In previous studies, there are three types of vacuum with different
concepts and mechanisms. Between the three references, there are several techniques and
concepts that can be used in producing this project. Systematic planning of concepts or theories
in producing projects also plays a role in getting projects that operate smoothly and have an
orderly arrangement of mechanisms.

14
 BAB 3

METODOLOGI

3.1 PENGENALAN

Methodology is a general research strategy that outlines the way in which rearch works
and, among other things, identify the methods to be used in it. These methods, described in the
methodology, determine the way or means of data collection sometimes, how certain decisions
are calculate. The methodology does not specify particular method, although much attention is
given to the nature and nature of the process to be followed in a particular procedure or to
achieve the goal.

Any description of how the calculation of certain results is always an planation of a

method and has never been a description of the methodology. It is before important to avoid the
use of the methodology as a synonym for method or by of methods. Doing it diverts it from the
true epistemological meaning and reduces the procedure itself, or set of tools, or instruments that
supposed to be the result. Methodology is a design process for conducting research or
evelopment or procedures not by itself an instrument, or method, or procedure for doing
something.

Methods and methods are irreversible. However in recent years, there has been a
tendency to use the methodology as a “a pure substitute for the word method”. Using a
methodology as a synonym for method or set of methods leads to confussion and
misinterpretation and weakening the proper analysis that should be done in planning research.

15
3.2 REKABENTUK PROJEK

3.2.1 GAMBARAJAH BLOK PROJEK

16
3.2.2 CARTA ALIR PROJEK 2

17
 3.2.3 PENERANGAN PROJEK

In the production of a project, technology plays a role for a work to operate smoothly and
systematically. With this Smart Vacuum, users no longer use manual methods in cleaning
because the Smart Vacuum that will be produced uses automatic movement where the most
important concept used in the construction of this project is cleaning and moving automatically.
At first, existing vacuums were produced using manual methods where users used their hands to
control the hose on the vacuum machine.

3.3 PERKAKASAN PROJEK

3.3.1 LITAR SKEMATIK

18
 3.3.2 PENERANGAN KOMPONEN UTAMA

3.3.2.1 KOMPONEN 1

Arduino is an open-source platform used for building electronics projects. Arduino consists of
both a physical programmable circuit board (often referred to as a microcontroller) and a piece of
software, or IDE (Integrated Development Environment) that runs on your computer, used to write
and upload computer code to the physical board.

The Arduino platform has become quite popular with people just starting out with electronics,
and for good reason. Unlike most previous programmable circuit boards, the Arduino does not need
a separate piece of hardware (called a programmer) in order to load new code onto the board -- you
can simply use a USB cable. Additionally, the Arduino IDE uses a simplified version of C++, making it
easier to learn to program. Finally, Arduino provides a standard form factor that breaks out the
functions of the micro-controller into a more accessible package

19
 3.3.2.2 KOMPONEN 2

A servo motor is a type of motor that can rotate with great precision. Normally this type of
motor consists of a control circuit that provides feedback on the current position of the motor shaft,
this feedback allows the servo motors to rotate with great precision. If you want to rotate an object
at some specific angles or distance, then you use a servo motor. It is just made up of a simple motor
which runs through a servo mechanism. If motor is powered by a DC power supply then it is called
DC servo motor, and if it is AC-powered motor then it is called AC servo motor

3.3.2.3 KOMPONEN 3

As the name indicates, ultrasonic sensors measure distance by using ultrasonic waves. The sensor
head emits an ultrasonic wave and receives the wave reflected back from the target. Ultrasonic Sensors
measure the distance to the target by measuring the time between the emission and reception.

20
 3.3.3 OPERASI LITAR

3.4 PERISIAN PROJEK

Arduino is an open-source hardware and software company, project, and user community
that designs and manufactures single-board microcontrollers and microcontroller kits for building
digital devices.

21
 3.4.1 CARTA ALIR BAGI SISTEM

3.4.2 PENERANGAN

The literature review was conducted with the aim of obtaining information and data
regarding previous studies. The information obtained as a result of scientific research can be
used in the improvement of the project to be carried out.

As a result of observation and research, the method used to make a smart vacuum has
many weaknesses in terms of the electronic components used. As a result of this method, it will
make it easier for technology equipment to be damaged quickly if it is incorrectly connected or
incorrectly installed. Therefore, it is necessary to study the components in advance so that there
is no waste and damage.

22
3.5 PEMBANGUNAN PROTOTAIP

3.5.1 REKABENTUK MEKANIKAL/SUSUNATUR PRODUK

23
3.6 RUMUSAN

After researching the research methodology, a lot of information can be gathered about
smart vacuums. This information provides references about the design concept,
dimensions and cost estimates that will be used in the production of the project. This
information is also very useful as a guide to help simplify the process of designing and
also developing smart vacuum prototypes.

Table 1 Configuration of Parameter

No. Configuration Value

1. Battery 12V
2. Servo Motor 12V

24
 BAB 4

DAPATAN DAN PERBINCANGAN

4.1 PENGENALAN

At the end of this project, we succeeded in creating a “SMART VACUUM ROBOT”.

This project will cover a light cleaning process. The purpose of this project is to ease the burden
of housewives in terms of saving time and not using a lot of energy for the process of cleaning
the house. Our project helps to clean the floor surface without human intervention. The cleaning
system in cleaning work is easier than using cleaning systems such as brooms and shovels.

4.2 DAPATAN DAN ANALISIS

Every project that is implemented and done must have its own advantages and
disadvantages. After completing the manufacturing process and testing this project, it was
found that this Smart Vacuum Robot has several advantages and disadvantages. Among
the advantages of this project is as stated in the objective that this Smart Vacuum Robot

25
can help and facilitate the user in cleaning work because this vacuum takes a short time to
suck up dirt in large quantities compared to other vacuums.

As noted during testing of the Smart Vacuum Robot and other vacuums, it was
found that the time taken by the Smart Vacuum Robot to suck dirt is the fastest time
compared to other vacuums. In addition, this project is also easy to maintain because its
design makes every part easy to open and reassemble. Next, the project has a space to
collect dust and dirt that is easily replaceable, easy to remove and put back in for cleaning
work.

The weakness of the Smart Vacuum Robot is the battery. Smart Vacuum Robot
has a 12v battery that will cause difficulties for users because they have to buy a new
battery. This is because our project has a problem charging the movement energy to the
battery.

4.2.1 PERKAKASAN

ARDUINO UNO

The Arduino Uno is an open-source microcontroller board based on the

Microchip ATmega328P microcontroller and developed by Arduino.cc and
initially released in 2010. The board is equipped with sets of digital and analog
input/output pins that may be interfaced to various expansion boards and other
circuits.

26
 ARDUINO MOTOR SHIELD

Arduino Motor Shield is based on the L298 (datasheet), which is a dual full-
bridge driver designed to drive inductive loads such as relays, solenoids, DC
and stepping motors. It lets you drive two DC motors with your Arduino board,
controlling the speed and direction of each one independently.

ULTRASONIC SENSOR

An ultrasonic sensor is an instrument that measures the distance to an object

using ultrasonic sound waves. An ultrasonic sensor uses a transducer to send
and receive ultrasonic pulses that relay back information about an object's
proximity.

27
 SERVO MOTOR

A servo motor is a type of motor that can rotate with great precision. Normally
this type of motor consists of a control circuit that provides feedback on the
current position of the motor shaft, this feedback allows the servo motors to
rotate with great precision.

4.3 RUMUSAN

As a conclusion for this chapter , the analysis and findings have been made. This Smart
Vacuum Robot has a lot of advantages however there are every cons to pros. Hence, the
challenges are taken as a room for improvements and more developments for future generation
and well as to enhance their knowledge on the project we carried out. Test run is carried out to
determine the fullest potential of the vacuum to be working for cleaning proses that will be done
as easier step

28
 BAB 5

KESIMPULAN DAN CADANGAN

5.1 PENGENALAN

This chapter explains about discussion , conclusion and upgrade plan all together for the project.
From the data from the test run of the project, the analysis have been done. Hence, the
discussion from all the results of test run and analysis will be explain in this chapter. Then , the
conclusion will be made based on the discussion and upgrade plan that have been made.

5.2 KESIMPULAN

Based on this through out project , it is confident to say that this Smart Vacuum Robot
gives alot of benefits not to just humans , but also the environment in the house. Plus , with all
the convenient that this Smart Vacuum Robot offers to the amputees , it will help them alot
especially in process of cleaning in the house. In hopes that this project could make it to the
goverment and non-goverment office or facotry, to be widely use by all amputees , because it
will greatly leave a positive effects to the environment and also human. All the upgrades and
improvements will be made so that this project could give more benefits and advantages . Hence,
hope that this project could expand even more through out all the upcomings generations.

29
5.3 CADANGAN KAJIAN LANJUTAN

Based on the data we collected , we can agree to the fact that we need to make more
effective of rubish tank that can easier the flow of the process. This is because the process of
rubish flow are very difficult to transfer the rubish. The process became difficult because the
flow to the tank is more complicated is because we need know more details about the mass of the
tank, the system from vacuum to the tank and the pressure of the vacuum. Thus , this causes the
transfer of rubish are need to do as manual step. However , if we replace the vacuum machine
near to the rusbish ban or plastic, it will be more easier to transfer it. Other than that , the way of
the way about rubish entered the nozzle should be better due to the problems that occurs
afterhand.

The results of the nozzle vacuum was a bit not 100% of the rubish can be cleaned. In
order to avoid this results , the nozzle could be done by using proper customade plastic or iron
plate to replace the enter nozzle for the vacuum hose. By using that way , hte entered system will
become more smooth . Furthermore, the piece of composite panel at the back side should be
change. This is because the vacuum hub is difficult to replace at the pieace. However , this could
be change if the composite panel are replace it with more thick piece and we must to make sure
that the piece are strong to support the vacuum hub.By adding the support screw at the surface, it
will be easier for the process of transfering the rubish to the ban.

30
 RUJUKAN

1. A. Irawan, Yuda, Muhardi, Muhardi, Ordila, Rian, AND Diandra, Roni. “Automatic Floor
Cleaning Robot Using Arduino and Ultrasonic Sensor” Journal of Robotics and Control(JRC).
(July 2021)

2. “Development of a vacuum cleaner robot” by T.B. Asafa; T.M. Afonja; E.A. Olaniyan; H.O.
Alade. Publisher-Mechanical Engineering Department, Ladoke Akintola University of
Technology, P.M.B. 4000, Ogbomoso, Nigeria. (December 2018)

3. “Vision-Based Dirt Detection and Adaptive Tiling Scheme for Selective Area Coverage” by
Balakrishnan Ramalingam; Prabakaran Veerajagadheswar; Muhammad Ilyas;Mohan Rajesh
Elara; Arunmozhi Manimuthu. Publisher-Hindawi. (December 2018)

31
 LAMPIRAN

LAMPIRAN A
1. GANTT CHART

WEEK/PROJECT DURATION W W W W W W W W W W W W W W
NO
ACTIVITY (DAYS) 1 2 3 4 5 6 7 8 9 10 11 12 13 14

1 Project briefing 1 days

Discussion & choosing

2 4 days
the project title

Prepare infographic of
3 3 days
proposed project

4 Survey Costing 1 days

Prepare investigation
5 1 week
report

Prepare and
Submit
6 1 days
Investigation
Report Draf

Presentation
7 1 days
Investigation Report

8 Construction circuit 1

9 Construction circuit 2

Final project
10
presentation

11 Prepare & Proposal

32
12 Submit Proposal

LAMPIRAN B

1. DATASHEET

33
LAMPIRAN C

2. PROGRAM CODING

#include <AFMotor.h>

#include <NewPing.h>

#include <Servo.h>

#define TRIG_PIN A0

#define ECHO_PIN A1

#define MAX_DISTANCE 200

#define MAX_SPEED 190 // sets speed of DC motors

#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor motor1(1, MOTOR12_1KHZ);

34
AF_DCMotor motor2(2, MOTOR12_1KHZ);

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

Servo myservo;

boolean goesForward=false;

int distance = 100;

int speedSet = 0;

void setup() {

myservo.attach(10);

myservo.write(115);

delay(2000);

distance = readPing();

delay(100);

distance = readPing();

delay(100);

distance = readPing();

delay(100);

distance = readPing();

delay(100);

void loop() {

int distanceR = 0;

int distanceL = 0;

35
delay(40);

if(distance<=15)

moveStop();

delay(100);

moveBackward();

delay(300);

moveStop();

delay(200);

distanceR = lookRight();

delay(200);

distanceL = lookLeft();

delay(200);

if(distanceR>=distanceL)

turnRight();

moveStop();

}else

turnLeft();

moveStop();

}else

36
 moveForward();

distance = readPing();

int lookRight()

myservo.write(50);

delay(500);

int distance = readPing();

delay(100);

myservo.write(115);

return distance;

int lookLeft()

myservo.write(170);

delay(500);

int distance = readPing();

delay(100);

myservo.write(115);

return distance;

delay(100);

37
int readPing() {

delay(70);

int cm = sonar.ping_cm();

if(cm==0)

cm = 250;

return cm;

void moveStop() {

motor1.run(RELEASE);

motor2.run(RELEASE);

motor3.run(RELEASE);

motor4.run(RELEASE);

void moveForward() {

if(!goesForward)

goesForward=true;

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

38
 for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid
loading down the batteries too quickly

motor1.setSpeed(speedSet);

motor2.setSpeed(speedSet);

motor3.setSpeed(speedSet);

motor4.setSpeed(speedSet);

delay(5);

void moveBackward() {

goesForward=false;

motor1.run(BACKWARD);

motor2.run(BACKWARD);

motor3.run(BACKWARD);

motor4.run(BACKWARD);

for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid
loading down the batteries too quickly

motor1.setSpeed(speedSet);

motor2.setSpeed(speedSet);

motor3.setSpeed(speedSet);

motor4.setSpeed(speedSet);

delay(5);

39
}

void turnRight() {

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(BACKWARD);

motor4.run(BACKWARD);

delay(500);

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

void turnLeft() {

motor1.run(BACKWARD);

motor2.run(BACKWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

delay(500);

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

40