Tutorial Arm Servo Robot

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

RETURN


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

FORM 2
Option Explicit
Dim Rs As New ADODB.Recordset

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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