Robots Using Arduino

Robots Using Arduino

DTMF CONTROLLED ROBOTBY

RAMNIK UJJWAL

Robots

• Industrial robots • Medical robots • Service robots • Military robots • Entertainment robots • Hobby and competition robots

DTMF signals

• The DTMF tone for each key is sum of two sinusoidal waves of frequencies. Each key has unique frequency pair and thus unique DTMF tone.

• The 12 keys on a cellphone( 0,1,…,8,9,*,#) has unique signal associated with itself. This is DTMF signal.

• When the call is on, the pressing of any numerical key leads to generation of DTMF signal which is audible on the other side.

DTMF signal through Cellular Network

• The DTMF signals from source to destination follow the same path as that normal voice would have as you normally talk on mobile passing through many base stations and even satellites in case of large distances.

  1209 Hz 1336 Hz 1477 Hz 1633 Hz697 Hz 1 2 3 A770 Hz 4 5 6 B852 Hz 7 8 9 C941 Hz * 0 # D

3.5mm Audio Jack

• One wire comes from the ground terminal of the jack that is connected to common ground of the complete circuit. The other wire can be attached to anyone of two signal terminals.

8870 DTMF Decoder

• It is an IC that takes DTMF signal as input and decodes it and shows the corresponding key as four bit output.

• The M-8870 is a full DTMF Receiver that integrates both bandsplit filter and decoder functions into a single 18-pin DIP or SOIC package.

8870 Functional TableF-low F-high KEY TOW Q4 Q3 Q2 Q1

697 1209 1 H 0 0 0 1697 1336 2 H 0 0 1 0697 1477 3 H 0 1 1 0770 1209 4 H 0 1 0 0770 1336 5 H 0 1 0 1770 1477 6 H 0 1 1 0852 1209 7 H 0 1 1 1852 1336 8 H 1 0 0 0852 1477 9 H 1 0 0 1941 1209 0 H 1 0 0 1941 1336 . H 1 0 1 0941 1477 # H 1 0 1 1697 1633 A H 1 1 0 1770 1633 B H 1 1 1 0852 1633 C H 1 1 1 1941 1633 D H 0 0 0 0

- - ANY L Z Z Z Z

Motor Driver IC(L293D)

• Microcontrollers can’t supply the current required by DC motor to run. So, to fulfill this requirement these motor driver ICs are used.

• It works on the concept of H-bridge

Pin Description

Pin No. Function Name1 Enable Pin for

motor 1; active high

Enable 1,2

2 Input 1 for motor 1 Input 1

3 Output 1 for motor 1

Output 1

4 Ground(0v) Ground

5 Ground(0v) Ground

6 Output 2 for motor 1

Output 2

7 Input 2 for motor 1 Input 2

8 Supply voltage for motors; 9-12v (up

to 36v)

Vcc2

9 Enable Pin for motor 2; active

high

Enable 3,4

10 Input 1 for motor 2 Input 3

11 Output 1 for motor 2

Output 3

12 Ground(0v) Ground

13 Ground(0v) Ground

14 Output 2 for motor 2

Output 4

15 Input 2 for motor 2 Input 4

16 Supply voltage; 5v (up to 36v)

Vcc1

Lets consider a Motor connected on left side output pins (pin 3,6). For rotating the motor in clockwise

direction the input pins has to be provided with Logic 1 and Logic 0.

Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]

Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

Arduino Uno• Arduino is an open-source design for

a microcontroller interface board.• The Uno is a microcontroller board

based on the ATmega328P. • It 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.

Microcontroller

• The 28-pin microcontroller chip used on Arduino is the ATmega328.

• The electrically erasable programmable readonly memory (EEPROM) memory is a little like the Flash memory in that it is nonvolatile

DTMF Controlled Robot

• DTMF controlled robot run by some commands that are send via mobile phone. One is user mobile phone that is called ‘remote phone’ and second one that are connected with Robot’s circuit using aux wire. This mobile phone is called ‘Receiver Phone’. 

Components used in Robot

• Resistor

• Capacitor

• Diodes

• DC Motors

Components Used

• Chassis

• Castor wheels

• Wheels

• PCB

Conclusion

• One mobile is in your hand (cell 1) and other on the robot (cell 2). Cell 2 should be set to auto answering mode so that cell 2 automatically picks up the call. The earphone plug, 8870 DTMF decoder is connected to cell 2. You make a call from cell 1 to cell 2. Cell 2 being in auto- answering mode picks up the call. Now keypad of cell 1 acts as remote. As any key is pressed on cell 1, the corresponding 4-bit output appears on output pins of 8870 which can be further used.