DTMF CONTROLLER &LINE FOLLOWER ROBOT

A :DTMF CONTROLLER:-
Conventionally, Wireless-controlled robots use rf circuits, which have the drawbacks of limited working range, limited
frequency range and the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides
the advantage of robust control, working range as large as the coverage area of the service provider, no interference with
other controllers and up to twelve controlles.
Although the appearance and the capabilities of robots vary vastly, all robots share the feature of a mechanical, movable
structure under some form of control. The Control of robot involves three distinct phases: perception, processing and action.
Generally, the preceptors are sensors mounted on the robot , processing is done by the on-board microcontroller or
processor, and the task is perfomed using motors or with some other actuators. 

In this project the robot, is controlled by a mobile phone that makes call to the mobile phone attached to the robot in the
course of the call, if any button is pressed control corresponding to the button pressed is heard at the other end of the call.
This tone is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the help of phone stacked in
the robot 
The received tone is processed by the atmega16 microcontroller with the help of DTMF decoder MT8870 the decoder
decodes the DTMF tone in to its equivalent binary digit and this binary number is send to the microcontroller, the
microcontroller is preprogrammed to take a decision for any give input and outputs its decision to motor drivers in order to
drive the motors for forward or backward motion or a turn. 
The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this simple robotic project does
not require the construction of receiver and transmitter units. 
DTMF signaling is used for telephone signaling over the line in the voice frequency band to the call switching center. The
version of DTMF used for telephone dialing is known as touch tone. 
DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it can easily be identified by the
electronic circuit. The signal generated by the DTMF encoder is the direct algebraic submission, in real time of the
amplitudes of two sine(cosine) waves of different frequencies, i.e. ,pressing 5 will send a tone made by adding 1336hz and
770hz to the other end of the mobile.

Following diagram shows the circuit for dtmf controller :-

Figures shows the block diagram and circuit diagram of the microcontroller- based robot. The important components of this
robot are DTMF decoder, Microcontroller and motor driver. 
An MT8870 series dtmf decoder is used here. All types of the mt8870 series use digital counting techniques to detect and
decode all the sixteen DTMF tone pairs in to a four bit code output. The built -in dial tone rejection circuit eliminated the need
for pre- filtering. When the input signal given at pin2 (IN-) single ended input configuration is recognized to be effective, the
correct four bit decode signal of the DTMF tone is transferred to Q1 (pin11) through Q4(pin14) outputs. 
The atmega 8 is a low power, 8 bit, cmos microcontroller based on the AVR enhanced RISC architecture. It provides the
following feature: 16kb of in system programmable flash memory with read write capabilities, 512bytes of EEPROM, 1KB
SRAM, 32 general purpose input/output lines. 32 general purpose working registers. All the 32 registers are directly
connected to the arithmetic logic unit, allowing two independent registers to be accessed in one signal instruction executed
in one clock cycle. The resulting architecture is more code efficient. Outputs from port pins PD0 through PD3 and PD7 of the
microcontroller are fed to inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293d respectively, to drive
geared motors. Switch S1 is used for manual reset. 

 MT8870 DTMF DECODER - 1

" Atmega 8 microcontroller - 1
" L293d motor driver ic - 1
" Cd7004 not gate ic - 1
" 1n4007 diode - 1
" 100k resistances - 2
" 10 k resistances - 5
" 330 k resistances - 1
" 0.47mf capacitors - 1
" 0.1mf capacitors - 1
" 22pf capacitors - 4
" 3.57mhz crystal - 1
" 12mhz crystal - 1
" Push to on switch - 1
" 2 geared motors (6v, 50 rpm) - 2 (4 for four wheel drive)
" Battery 6v (1.5V – 4 NOS) 

WORKING:-
In order to control the robot, you have to make a call to the cell phone attached to the robot from any phone. 
now the phone is picked by the phone on the robot through auto answer mode(which is in the phn, just enable it). 
now when you press 2 the robot will move forward 
when you press 4 the robot will move left 
when you press 8 the robot will move backwards 
when you press 6 the robot will move right 
when you press 5 the robot will stop
LINE FOLLOWER:-

A line follower is an autonomous bot that can follow a specific colored line painted on a surface of
different contrast, such as white on black.

To start with first of all I will be discussing a small concept of light. I believe you all know that the
light that strikes any platform is reflected. The reflection and absorption coefficient of light depend
upon material, color of platform and other factors. In simple words the black surface absorbs the light
and the white surface reflects it, this is the basic concept behind making a line follower.

So the line follower has an emitter and a reflector. The reflector receives the light and
generates a voltage proportional to the intensity of the light, if this voltage is above a threshold it
means SIGNAL=1 (logic one) else SIGNAL= 0 (logic zero).

Let’s take up an example where we have to move our robot on black surface having white line.
Suppose I have two Infra Red (IR) sensor pairs that are on different halves of a robot with respect to
geometrical central axis of the bot. The sensors are placed in such a way that the white line lies in
between both the sensors when the robot is placed on the white track painted on black surface to
move. Now if the white line is between both the sensors while moving forward both the sensors will be
on black surface and the detectors/receivers will receive less amount of light since black absorbs light
and hence signal provided by both the infra-red receivers will be low.

Circuit diagram:-