CHAPTER-I

INTRODUCTION
1.1 OVERVIEW OF THE PROJECT

The project aims in designing a Robot that can be operated using Android mobile phone. The
controlling of the Robot is done wirelessly through Android smart phone using the Bluetooth
feature present in it. Here in the project the Android smart phone is used as a remote control for
operating the Robot.
Android is a software stack for mobile devices that includes an operating system, middleware
and key applications. Android boasts a healthy array of connectivity options, including Wi-Fi,
Bluetooth, and wireless data over a cellular connection (for example, GPRS and 3G).
Android provides access to a wide range of useful libraries and tools that can be used to build
rich applications. In addition, Android includes a full set of tools that have been built from the
ground up alongside the platform providing developers with high productivity and deep insight
into their applications.
Bluetooth is an open standard specification for a radio frequency (RF)-based, short range
connectivity technology that promises to change the face of computing and wireless
communication. It is designed to be an inexpensive, wireless networking system for all classes of
portable devices, such as laptops, PDAs (personal digital assistants), and mobile phones. It also
will enable wireless connections for desktop computers, making connections between monitors,
printers, keyboards, and the CPU cable-free. The controlling device of the whole system is a
Arduino Microcontroller.
Bluetooth module, DC motors are interfaced to the Arduino Microcontroller. The data
received by the Bluetooth module from Android smart phone is fed as input to the Arduino
controller. The controller acts accordingly on the DC motors of the Robot. The robot in the
project can be made to move in all the four directions using the Android phone. In achieving the
task the controller is loaded with a program written using Embedded ‘C’ language.

1
1.2 BACKGROUND

This section takes a brief look at Android smart phones and its features, how smart
phones will help to develop a community in the environment it is used in. Hardware, software
and Communication protocols are evaluated for their suitability to this application. Finally, we
take a brief look on existing systems.

1.3 ANDROID PLATFORM

Android devices are powerful mobile computers and they become more and more popular
smart phones used worldwide. They become more and more popular for software developers
because of its powerful capabilities and open architecture, also it’s based on the java
programming language, because Android uses the Java programming language getting started
with the Android API is easy, the API is open and allows easy access to the hardware
components. Android devices provide numerous communication interfaces like USB, Wi-Fi and
Bluetooth, that can be used to connect to the robot.
We think it is a great platform for a robotic system control, because it’s much cheaper
than any other ARM-based processing unit. We use android platform because it is the widest
used in the word and runs the largest number of smart phones worldwide.

1.4 CONNECTIVITY AND COMMUNICATION

For the communication of the robot with the cell phone or a mobile we are using the
Bluetooth device. The Bluetooth device (HC-05) is attached to the robot that receives the data
from the mobile and also can transmit the data.
Bluetooth is a wireless communications protocol runs at 2.4 GHz , with client-server
architecture, suitable for forming personal area networks. It is designed for low power devices
such as mobile phones .Bluetooth now comes as standard on the majority of mobile phones, and
desktop computers. It can be easily fitted with a module to allow Bluetooth communication.

2
 Bluetooth is the only appropriate communications protocol because there is no fear of
getting the frequency interference. Bluetooth uses the MAC Address of the device. The
Bluetooth gives the connectivity between two devices using their MAC Address.

1.5 PURPOSE

The purpose of our research is to provide simpler robot’s hardware architecture but with
powerful computational platforms so that robot’s designer can focus on their research and tests
instead of Bluetooth connection infrastructure.
This simple architecture is also useful for educational robotics, because students can
build their own robots with low cost and use them as platform for experiments in several
courses.The main purpose of this project is to develop a remote user interface to control a robot
via a wireless technology. There is a need to communicate with the robot remotely in order to
control the robot movements and pass critical data both ways.
Bluetooth communication will enable us to control the robot up to 100 meters without
the need for direct sight which means that the robot could be located behind a wall or some other
object and the communication would not be lost.

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 CHAPTER-II

HARDWARE DESCRIPTION
2.1 ARDUINO MICROCONTROLLER

Arduino Uno is a microcontroller board has 14 digital input/output pins of which 6 can be
used as PWM outputs, 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power
jack, an ICSP header and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC
adapter or battery to get started.. You can tinker with your UNO without worrying too much
about doing something wrong, worst case scenario you can replace the chip and start over again.

"Uno" means one in Italian and was chosen to mark the release of Arduino Software
(IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE) were the reference
versions of Arduino, now evolved to newer releases. The Uno board is the first in a series of
USB Arduino boards, and the reference model for the Arduino platform .

Fig 2.1:Arduino

4
Technical specifications :

Microcontroller ATmega328P
Operating Voltage 5V
Input Voltage
7-12V
(recommended)
Input Voltage (limit) 6-20V
14 (of which 6 provide PWM
Digital I/O Pins
output)
PWM Digital I/O Pins 6
Analog Input Pins 6
DC Current per I/O Pin 20 Ma
DC Current for 3.3V Pin 50 mA
32 KB (ATmega328P)
Flash Memory
of which 0.5 KB used by bootloader
SRAM 2 KB (ATmega328P)
EEPROM 1 KB (ATmega328P)
Clock Speed 16 MHz
LED_BUILTIN 13
Length 68.6 mm
Width 53.4 mm
Weight 25 g
Table 2.1 Arduino pin description
Programming :

The Arduino Uno can be programmed with the (Arduino Software (IDE)). Select
"Arduino” Uno from the Tools Board menu (according to the microcontroller on your board).

The ATmega328 on the Arduino Uno comes preprogrammed with a bootloader that
allows you to upload new code to it without the use of an external hardware programmer. It
communicates using the original STK500 protocol .You can also bypass the bootloader and
program the microcontroller through the ICSP (In-Circuit Serial Programming) header
using Arduino ISP or similar. The ATmega16U2 firmware source code is available in the
Arduino repository.

5
Power :

The Arduino Uno board can be powered via the USB connection or with an external
power supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter or battery. The
adapter can be connected by plugging a 2.1mm center-positive plug into the board's power jack.
Leads from a battery can be inserted in the GND and Vin pin headers of the POWER connector.

The board can operate on an external supply from 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may become unstable. If
using more than 12V, the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts.

The power pins are as follows:

 Vin:
The input voltage to the Arduino board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source). You
can supply voltage through this pin, or, if supplying voltage via the power jack, access it
through this pin.

 5V:
This pin outputs a regulated 5V from the regulator on the board. The board can be
supplied with power either from the DC power jack (7 - 12V), the USB connector (5V),
or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses
the regulator, and can damage your board.

 3.3V:
A 3.3 volt supply generated by the on-board regulator. Maximum current draw is
50 mA.

 GND:
Ground pins

6
Memory:

The ATmega328 has 32 KB (with 0.5 KB occupied by the bootloader). It also has 2 KB
of SRAM and 1 KB of EEPROM

Input and Output:

Each of the 14 digital pins on the Uno can be used as an input or output,
using pinMode(), digitalWrite() and digitalRead() functions. They operate at 5 volts. Each pin
can provide or receive 20 mA as recommended operating condition and has an internal pull-up
resistor (disconnected by default) of 20-50k ohm. A maximum of 40mA is the value that must
not be exceeded on any I/O pin to avoid permanent damage to the microcontroller

In addition, some pins have specialized functions:

 Serial: 0 (RX) and 1 (TX):

Used to receive (RX) and transmit (TX) TTL serial data. These pins are connected
to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip.

 External Interrupts: 2 and 3:

These pins can be configured to trigger an interrupt on a low value, a rising or
falling edge, or a change in value. See the attachInterrupt() function for details.

 PWM: 3, 5, 6, 9, 10, and 11:

Provide 8-bit PWM output with the analogWrite() function.

 SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK):

These pins support SPI communication using the SPI library.

 LED: 13:
There is a built-in LED driven by digital pin 13. When the pin is HIGH value, the
LED is on, when the pin is LOW, it's off.

 TWI: A4 or SDA pin and A5 or SCL pin:

Support TWI communication using the Wire library.

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Pin Diagram Of Arduino :

Fig 2.1.1:Pin mapping of arduino

Communication:
Arduino Uno has a number of facilities for communicating with a computer, another
Arduino board, or other microcontrollers. The ATmega328 provides serial communication,
which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels
this serial communication over USB and appears as a virtual com port to software on the
computer. The Arduino Software (IDE) includes a serial monitor which allows simple textual
data to be sent to and from the board. The RX and TX LEDs on the board will flash when data is
being transmitted via the USB-to-serial chip and USB connection to the computer (but not for
serial communication on pins 0 and 1).

Differences with other boards:

The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed as
a USB-to-serial converter.

Warnings:
The Arduino Uno has a resettable polyfuse that protects your computer's USB ports from
shorts and overcurrent. Although most computers provide their own internal protection, the fuse
provides an extra layer of protection. If more than 500 mA is applied to the USB port, the fuse
will automatically break the connection until the short or overload is removed.

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2.2 BLUETOOTH MODULE

Overview:
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed
for transparent wireless serial connection setup. Serial port Bluetooth module is fully qualified
Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Blue core 04-External single chip Bluetooth system with
CMOS technology and with AFH(Adaptive Frequency Hopping Feature). It has the footprint as
small as 12.7mmx27mm. Hope it will simplify your overall design/development cycle.

Fig 2.2:Bluetooth Module

Specifications:
Hardware features:

 Typical -80dBm sensitivity

 Up to +4dBm RF transmit power
 Low Power 1.8V Operation ,1.8 to 3.6V I/O
 PIO control
 UART interface with programmable baud rate
 With integrated antenna
 With edge connector

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Software features:
 Default Baud rate: 38400, Data bits:8 Stop bit:1,Parity:No parity, Supported baud rate:
9600,19200,38400,57600,115200,230400,460800.
 Given a rising pulse in PIO0, device will be disconnected.
 Status instruction port PIO1: low-disconnected, high-connected.
 PIO10 and PIO11 can be connected to red and blue led separately. When master and
slave are paired, red and blue led blinks 1time/2s in interval, while disconnected only
blue led blinks 2times/s.
 Auto-connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”1234” as default
 Auto-reconnect in 30 min when disconnected as a result of beyond the range of
connection

Pin diagram Of Bluetooth Module :

Fig 2.2.1:Pin diagram of Bluetooth Module

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Pin Description:
The HC-05 Bluetooth Module has 6pins. They are as follows:

ENABLE:
When enable is pulled LOW, the module is disabled which means the module will not
turn on and it fails to communicate .When enable is left open or connected to 3.3V, the module is
enabled i.e the module remains on and communication also takes place.

Vcc:
Supply Voltage 3.3V to 5V

GND:
Ground pin

TXD & RXD:

These two pins are used for communication

STATE:
It acts as a status indicator .When the module is not connected to or paired with any other
Bluetooth device, signal goes Low .At this low state , the led flashes continuously which denotes
that the module is not paired with other device .When this module is connected to or paired with
any other Bluetooth device , the signal goes High .At this high state , the led blinks with a
constant delay say for example 2s delay which indicates that the module is paired.

BUTTON SWITCH:
This is used to switch the module into AT command mode .To enable AT command
mode; press the button switch for a second .With the help of AT commands, the user can change
the parameters of this module but only when the module is not paired with any other BT device.
If the module is connected to any other Bluetooth device, it starts to communicate with that
device and fails to work in AT command mode.

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2.3MOTOR DRIVER

L2988 Description:
L2988 is a typical Motor driver or Motor Driver IC which allows DC motor to drive on
either direction. L2988 is a 16-pin IC which can control a set of two DC motors simultaneously
in any direction. It means that you can control two DC motor with a single L2988 IC. Dual H-
bridge Motor Driver integrated circuit(IC). The L2988 can drive small and quiet big motors as
well.

Fig 2.3 : Motor Driver

Concept:
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be
flown in either direction. As you know voltage need to change its direction for being able to
rotate the motor in clockwise or anticlockwise direction. Hence, H-bridge IC is ideal for driving
a DC motor.

In a single L2988 chip there two H-Bridge circuit inside the IC which can rotate two dc
motor independently. Due its size it is very much used in robotic application for controlling DC
motors. Given below is the pin diagram of a L2988 motor controller.

There are two Enable pins on L2988. Pin 1 and pin 9, for being able to drive the motor,
the pin 1 and 9 need to be high. For driving the motor with left H-bridge you need to enable pin 1
to high. And for right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1
or pin9 goes low then the motor in the corresponding section will suspend working. It’s like a
switch.

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2.3.1 L2988 PIN DIAGRAM

Fig 2.3.1: L2988 Pin Diagram

Working:
There are 4 input pins for L2988, pin 2, 7 on the left and pin 15, 10 on the right as shown
on the pin diagram. Left input pins will regulate the rotation of motor connected across left side
and right input for motor on the right hand side. The motors are rotated on the basis of the inputs
provided across the input pins as LOGIC 0 or LOGIC 1.In simple you need to provide Logic 0 or
1 across the input pins for rotating the motor.

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2.3.2 L2988 BLOCK DIAGRAM

Fig 2.3.2: L2988 Block Diagram

Features:
 Wide supply-voltage range: 4.5V to 36V
 Separate input- logic supply
 Internal ESD protection
 Thermal shutdown
 High-Noise-Immunity input

Pin Description:

Table2.2:Motor Driver Pin Description

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2.3.3 OPERATION OF H-BRIDGE
The switching elements (1,2,3,4) are usually bi-polar or FET transistors, in some high-
voltage applications IGBTs. Integrated solutions also exist but whether the switching elements
are integrated with their control circuits.

In general H-bridge is a circuit consisting of four switching elements, The basic operating
mode of an H-bridge is fairly simple, if transistors 1 and 2 are turned on, the left lead of the
motor will be connected to the power supply, while the right lead is connected to ground. Current
starts flowing through the motor which energizes the motor in (let’s say) the forward direction
and the motor shaft starts spinning.

If 2 and 4 are turned on, the reverse will happen, the motor gets energized in the reverse
direction, and the shaft will start spinning backwards.

In a bridge, you should never ever close both 1 and 3 (or 2 and 4) at the same time. If you
did that, you just have created a really low-resistance path between power and GND, effectively
short-circuiting your power supply. This condition is called ‘shoot-through’ and is an almost
guaranteed way to quickly destroy your bridge, or something else in your circuit.

Fig: 2.3.3 H-Bridge

15
Current Flow in H-Bridge:

Fig.2.3.3.1 Forward operation of motors

Fig.2.3.3.2 Backward operation of motors

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2.3.4 MOVEMENT OF WHEELS
The left motors are together connected in parallel and the right motors are together
connected in parallel. When all the wheels are rotating in clockwise direction then the robot will
move forward, when all the wheels are rotating in anticlockwise direction the robot will move
backwards, when the left motors are moving in clockwise direction the robot moves to the right
and when the right motors are moving in clockwise direction the robot move to the left. Finally
when none of the motors are moving the robot is at rest.

Fig 2.3.4 Movement of wheels

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2.4 DC MOTOR
A DC motor is an electric motor that runs on direct current (DC) electricity. In any
electric motor, operation is based on simple electromagnetism. A current-carrying conductor
generates a magnetic field; when this is then placed in an external magnetic field, it will
experience a force proportional to the current in the conductor, and to the strength of the external
magnetic field. As you are well aware opposite (North and South) polarities attract, while like
polarities (North and North, South and South) repel. The internal configuration of a DC motor is
designed to harness the magnetic interaction between a current-carrying conductor and an
external magnetic field to generate rotational motion.

Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet
or winding with a "North" polarization, while green represents a magnet or winding with a
"South" polarization).

Fig 2.4: DC motor

Every DC motor has six basic parts axle, rotor (a.k.a., armature), stator, commentator,
field magnets, and brushes. In most common DC motors, the external magnetic field is produced
by high-strength permanent magnets. The stator is the stationary part of the motor this includes
the motor casing, as well as two or more permanent magnet pole pieces. The rotor rotates with
respect to the stator. The rotor consists of windings (generally on a core), the windings being
electrically connected to the commutator. The above diagram shows a common motor layout
with the rotor inside the stator (field) magnets.

The geometry of the brushes, commutator contacts, and rotor windings are such that
when power is applied, the polarities of the energized winding and the stator magnet(s) are
misaligned, and the rotor will rotate until it is almost aligned with the stator's field magnets. As
the rotor reaches alignment, the brushes move to the next commutator contacts, and energize the
next winding. Given our example two-pole motor, the rotation reverses the direction of current

18
through the rotor winding, leading to a "flip" of the rotor's magnetic field, driving it to continue
rotating.

Fig 2.4.1.: Dc motor operation

In real life, though, DC motors will always have more than two poles (three is a very
common number). In particular, this avoids "dead spots" in the commutator. You can imagine
how with our example two-pole motor, if the rotor is exactly at the middle of its rotation
(perfectly aligned with the field magnets); it will get "stuck" there. Meanwhile, with a two-pole
motor, there is a moment where the commutator shorts out the power supply (i.e., both brushes
touch both commutator contacts simultaneously). This would be bad for the power supply, waste
energy, and damage motor components as well. Yet another disadvantage of such a simple motor
is that it would exhibit a high amount of torque "ripple".

So since most small DC motors are of a three-pole design, let's tinker with the workings
of one via an interactive animation.

2.5 NINE VOLTS BATTERY

The nine-volt battery, in its most common form was introduced for the early transistor
radios. It has a rectangular prism shape with rounded edges and a polarized snap connector at the
top. This type is commonly used in walkie-talkies, clocks and smoke detectors.

The nine-volt battery format is commonly available in primary carbon-zinc and alkaline
chemistry, in primary lithium iron disulfide, and in rechargeable form in nickel-cadmium, nickel-
metal hydride and lithium-ion. Mercury-oxide batteries of this format, once common, have not
been manufactured in many years due to their mercury content.

19
 Fig 2.5 : 9 v battery Fig 2.6 : Battery Snap

2.6 BATTERY SNAP

The battery has both terminals in a snap connector on one end. The smaller circular
(male) terminal is positive, and the larger hexagonal or octagonal (female) terminal is the
negative contact. The connectors on the battery are the same as on the connector itself; the
smaller one connects to the larger one and vice versa. The same snap-style connector is used on
other battery types in the Power Pack (PP) series. Battery polarization is normally obvious since
mechanical connection is usually only possible in one configuration. A problem with this style of
connector is that it is very easy to connect two batteries together in a short circuit, which quickly
discharges both batteries, generating heat and possibly a fire. Because of this hazard, 9-volt
batteries should be kept in the original packaging until they are going to be used. An advantage is
that several nine-volt batteries can be connected to each other in series to provide higher voltages

20
2.7 BREAD BOARD

Breadboard is a construction base for prototyping of electronics. Originally it was

literally a bread board, a polished piece of wood used for slicing bread. In the 1970s the solder
less breadboard (AKA plug board, a terminal array board) became available and nowadays the
term "breadboard" is commonly used to refer to these.

Because the solder less breadboard does not require soldering, it is reusable. This makes
it easy to use for creating temporary prototypes and experimenting with circuit design. For this
reason, solder less breadboards are also extremely popular with students and in technological
education. Older breadboard types did not have this property. A strip board (Vero board) and
similar prototyping printed circuit boards, which are used to build semi-permanent soldered
prototypes or one-offs, cannot easily be reused. A variety of electronic systems may be
prototyped by using breadboards, from small analog and digital circuits to complete central
processing units (CPUs).

Fig 2.7 : Breadboard

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 CHAPTER III
PRINCIPLE OF OPERATION
3.1 BLOCK DIAGRAM

Fig 3.1 Block Diagram of Bluetooth controlled Robot using Arduino

WORKING:

Android smart phones are undoubtedly the most popular gadgets these days. You will
find various apps on the Internet that exploit inbuilt hardware in these mobile phones, such as
Bluetooth and Wi-Fi, to control other devices. Presented here is a robot that can be controlled
using an app running on an Android phone. The control commands are sent via Bluetooth and
the robot has such features as:

1. It can be controlled from Android smart phones by touch or voice commands

2. The robot will sense and inform to the phone its distance from the nearest obstacle
3. It will also send information about the direction in which it is moving

22
APP RUNNING IN MOBILE PHONE:

Fig 3.1.1 App running in Android Phone

23
3.2 CIRCUIT DIAGRAM

Fig: 3.2: Circuit diagram

The circuit uses six 9V batteries one to power the Arduino board and the other to power
the motor driver. Regulated 5V supply for rest of the circuit is provided by the Arduino board
itself. LED on the board indicates presence of power supply.

Bluetooth module used in the project can be connected to any device, to communicate
with other Bluetooth-enabled devices such as mobile phones, handheld computers and laptops.
The module runs on a 3.6V to 6V supply. The board is very easy to use as the user simply needs
to connect it to a computer with a USB cable, or power it with an AC-to-DC adaptor or battery to
get started. The microcontroller on the board is programmed using Arduino programming
language using Arduino development environment. Pins 9 and 8 of BOARD are connected to
pins TX and RX of the Bluetooth module, respectively. Pins 2, 3, 4, 5 of BOARD are the output
pins, which are connected to for controlling the motors. Pins 2,3,4,5 of BOARD are connected to
IN1, 1N2, IN3and IN4 of IC1 to control motors. The control commands for the robot are sent
from the phone using the app shown in Fig. 3.2. You can send the commands either by touching
on various options on the phone’s screen or through speech commands. Corresponding to control
commands you select on the app, the related data is sent through Bluetooth of the phone. Data
transmitted by the phone is received by Bluetooth module at the robot end. The received data is

24
fed to pin 8 of BOARD. The microcontroller on BOARD processes the received data and drives
motors accordingly.

3.3 TRUTH TABLE

LEFT MOTORS RIGHT MOTORS DIRECTION

M11 M12 M21 M22

1 0 1 0 FORWARD

0 1 0 1 REVERSE

0 0 1 0 LEFT

1 0 0 0 RIGHT

0 0 0 0 STOP

TABLE: 3.1 TRUTH TABLE

Fig: 3.3: Left and right motors

25
3.4 SOFTWARE
The software for the robot is written in Arduino programming language. The Arduino
UNO is programmed using Arduino IDE software. Atmega328 on Arduino UNO comes with a
boot loader that allows you to upload new code to it without using an external hardware
programmer. It uses STK500 protocol to communicate. You can bypass the boot loader and
program the microcontroller through ICSP (in-circuit serial programming) header, but using boot
loader programming is quick and easy.

PROGRAM:

#define m11 9
#define m12 10
#define m21 11
#define m22 12
charstr[2];
inti=0;
void forward()
{
digitalWrite(m11, HIGH);
digitalWrite(m12, LOW);
digitalWrite(m21, HIGH);

digitalWrite(m22, LOW);

void backward()

{
digitalWrite(m11, LOW);
digitalWrite(m12,HIGH);
digitalWrite(m21, LOW);
digitalWrite(m22, HIGH);
}
void left()
{
digitalWrite(m11, LOW);
digitalWrite(m12, LOW);
digitalWrite(m21, HIGH);
digitalWrite(m22, LOW);
}

26
void right()
{
digitalWrite(m11, HIGH);
digitalWrite(m12, LOW);
digitalWrite(m21, LOW);
digitalWrite(m22, LOW);
}
void Stop()
{
digitalWrite(m11, LOW);
digitalWrite(m12, LOW);
digitalWrite(m21, LOW);
digitalWrite(m22, LOW);
}
void setup()
{
Serial.begin(9600);
pinMode(m11, OUTPUT);
pinMode(m12, OUTPUT);
pinMode(m21, OUTPUT);
pinMode(m22, OUTPUT);
}
void loop()
{
while(Serial.available())
{
charch=Serial.read();
str[i++]=ch;

if(str[i-1]=='1')
{
Serial.println("Forward");
forward();
i=0;
}
else if(str[i-1]=='2')
{
Serial.println("Left");
right();
i=0;
}

27
else if(str[i-1]=='3')
{
Serial.println("Right");
left();
i=0
}

else if(str[i-1]=='4')
{
Serial.println("Backward");
backward();
i=0;
}
else if(str[i-1]=='5')
{
Serial.println("Stop");
Stop();
i=0;
}
delay(100);
}
}

28
3.5 PROTOTYPE OF THE ROBO:

Fig 3.4Prototype Of Robot

29
 CHAPTER-IV

4.1 Applications and Advantages:

 Low cost.

 The robot is small in size so can be used for spying.

 With few additions and modifications, this robot can be used in the borders for detecting
and disposing hidden land mines.

 The robot can be used for reconnaissance or surveillance.

 It can attached to wheel chair for physically handicapped people by voice control.

 Maintenance is less.

4.2 Future Development:

 We can interface sensors to this robot so that it can monitor some parameters.

 We can add wireless camera to this robot.

 This project will be further implemented on platform like AVR, ARM microcontroller
etc.

 More can be done in the process of UART communication control and many challenges
will be carry out to increase reliability and efficiency.

 This system also can be developed by using GSM technology. The knowledge is ever
expanding and so are the problems which the mankind strive to solve.

DISADVANTAGES:

 Precise Programming needed (time, training, specialist knowledge).

 Range is less.

30
4.3 RESULT:
With the help of this we aimed at obtaining the accuracy. It has been tested to best of our
ability. We were able to view the things accurately that were happening. In our view our design
has not caused any sort of disturbances. This robot will move based on the motor direction
depending upon the input we give through command via remote section unit.

4.4 CONCLUSION:

Wireless control is one of the most important basic needs for all living beings. But
unfortunately due to a huge amount of data and communication overheads the technology is not
fully utilized.

Many of the wireless-controlled robots use RF modules. But this project make use of
Android mobile phone for robotic control which is very cheap and easily available. For this the
android mobile user has to install an application on her/his mobile. Then user needs to turn on
the Bluetooth in the mobile. The wireless communication techniques used to control the robot is
Bluetooth technology. User can use various commands like move forward, reverse, move left,
move right using these commands which are sent from the Android mobile. Robot has a
Bluetooth receiver unit which receives the commands and give it to the microcontroller circuit to
control the motors. The microcontroller then transmits the signal to the motor driver IC’s to
operate the motors The objective of the paper is to realize the smart living , more specifically the
home lighting control system using Bluetooth Technology. Robot and smart phones are a perfect
match, specially mobile robots. As phones and mobile devices are each time more powerful,
using them as robot for building robot with advanced feature such as voice recognition. Android
Bluetooth-enable phones and Bluetooth module via HC-05 and communication among Bluetooth
devices. It is concluded that smart living will gradually turn into a reality that consumer can
control their home remotely and wirelessly.

The purpose of this project is to reduce human power with the help of multiple features of
war robot which is more compact and reliable and can also rotates in 360degrees. The spy robot
can easily move, capture images and wirelessly transmit them, thus giving the soldiers an
intimation about the dangers and situations in the war field. The robot will move depending on
the motor direction based upon the input we give through remote section. Bluetooth technology
is used to control robot. The robot is used for short distance surveillance thus ensuring the
security of the region. This helps the forces to view the things accurately that are currently
happening in the surrounding area and to plan ahead accordingly. Thus we should be able to
manipulate its path when necessary, to create the robot safely. To all that, a Bluetooth unit is
needed, where controls the Robot. Not for long range applications it can be used as a spy robot
within short distances

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