MobilePhone

OperatedLandRover

Raghavendra,Rahul
www.raghu.co.nr
raghavendraprasadp2004@vit.ac.in

obotics is an interesting field where every engineer can showcase his creative and technical
skills.Pleasingaspectofroboticsisthatarobotcanbemadeindigenouslybyanyone.Inthis
competitiveworldthereisneedforeveryenthusiastic,fromamateurtoprofessional,tomakea
simplerobothavinginnovatedapplicationsandwithrobustcontrol.

Mobilephonestodaybecameanessentialentityforoneandallandso,foranymobilebasedapplication
there is great reception. In this scenario making a mobile phone operated land rover is a good idea.
Conventionally wireless controlled robots utilize RF circuits, which had limitations like limited range,
limited frequency ranges and controls. But a mobile phone controlled robot can hold up these
limitations.Ithasarobustcontrol,unlimitedrange (coverageareaoftheserviceprovider),nofearof
interferingwithothercontrollersandwecanhaveasmuchas12controls.
Although the appearance and capabilities of robots vary vastly, all robots share the features of a
mechanical,movablestructureundersomeformofcontrol.Thiscontrolofrobotinvolvesthreedistinct
phases perception, processing and action. In common the preceptors are sensors mounted on the
robot,processingisdonebyonboardmicrocontrollerorprocessorandtask(action)isperformedusing
motorsorwithsomeotheractuators.
ProjectOverview
Inthepresentprojecttherobotiscontrolledbyamobilephonewhichmakesacalltothemobilephone
attachedtotherobot.Inthecourseofacallifanybuttonispressedatonecorrespondingtothebutton
pressed is heard at the other end of the call. This tone is called DTMF tone. The robot perceives this
DTMFtonewiththehelpofaphonestackedintherobot.Theprocessingofthereceivedtoneisdoneby
Atmega 32 microcontroller with the help of DTMF decoder, HT9170. The decoder decodes the DTMF
tone in to its equivalent binary digit and this binary number is sent to the microcontroller. The
microcontrollerispreprogrammedtotakeadecisionforanygiveninput.Themicrocontrolleroutputsits
decisiontomotordriverstodrivethemotorsinordertohaveforwardorbackwardmotionoraturn.
Anymobilewhichmakesacalltothemobilephonestackedintherobotwillactasremote.So,thisisa
simpleroboticprojectwhichevendoesnotrequiretheconstructionofreceiverandtransmitterkits,but
hasaninnovatedapplicationofcellphoneandrobustcontrol.
Dualtone multifrequency (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 tone dialing is
known by the trademarked term TouchTone. DTMF assigns a specific frequency (consisting of two
separatetones)toeachkeysothatitcaneasilybeidentifiedbyamicroprocessor.Thesignalgenerated
byaDTMFencoderisadirectalgebraicsummation,inrealtime,oftheamplitudesoftwosine(cosine)
wavesofdifferentfrequencies,i.e.pressing'5'willsendatonemadebyadding1336Hzand770Hzto
theotherendoftheline.

InDTMFsystemthetonesandassignmentsareasfollows:

frequencies

1209Hz

1336Hz

1477Hz

1633Hz

697Hz
770Hz
852Hz
941Hz

1
4
7
*

2
5
8
0

3
6
9
#

A
B
C
D

CircuitDescription
Figure1showstheblockdiagramofthemobileoperatedlandrover.Theimportantcomponentsofthis
projectareDTMFdecoder,Microcontrolleranddriver.

Robot

Headset

Mobileusedas
Remote

Motordriver

HT9170

DTMF
decoder

MICROCONTROLLER

ATmega32

L
2
9
3
D

Left
motor

Right
motor

Figure1,Blockdiagram
TheHT9170seriesareDualToneMultiFrequencyreceivers(DTMFdecoders).All
typesoftheHT9170seriesusedigitalcountingtechniquestodetectanddecode
allthe16DTMFtonepairsintoa4bitcodeoutput.Abuiltindialtonerejection
circuit is provided to eliminate the need for prefiltering. When input signals
givenatVP(1)andVN(2)pinsarerecognizedtobeeffective,DV(15)becomes
high,andthecorrect4bitcodeofthetone(DTMF)istransferredtotheoutput
pins,D0(11)D3(14).Figure2showstheICspinassignment.Figure3showsthe
Figure2,PinAssignment
DTMFdataoutputtableofHT9170series.
The microcontroller output is not sufficient to drive the DC motors, a highvoltage and high current
drivers are required. The L293D is a quadruple high current half H driver designed to provide

bidirectionaldrivecurrentsofupto600mAatvoltagesfrom4.5Vto36V.Itwillbecomeeasiertodrive
dcmotorswithsuchdrivers.Refertothelogicaldiagramandthefunctionaltableofthedrivershown
below. Drivers are enabled in pairs with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 are
enabledby3,4EN.Whenanenableinputishigh,theassociateddriversareenabled,theiroutputsare
active and in phase with their inputs. External highspeed output clamp diodes should be used for
inductivetransientsuppression.

Figure3DTMFDataOutputTable

Figure4LogicaldiagramofL293D

Figure5 FunctionalTableofL293D

MicrocontrollerusedinthisprojectisATmega32.ItisalowpowerCMOS8bitAVRmicrocontrollerwith
32K bytes in system programmable Flash. It has EEPROM of 1024 bytes, 8 channel 10 bit ADC, 32
programmableI/Olines,Speedgradesof016MHzitisbasedontheAVRenhancedRISCarchitecture.
ThecompilerusedforprojectisICCAVRcompiler.Thisisacrosscompileranditstrialversioncanbe
downloadedfromtheImagecraftcompilerwebsite.Compilationandburningofthecodewillbeeasier
foramateurswiththissoftware.ThecircuitforprogrammingthemicrocontrollerandtheISPcablefor
parallelportisshownbelow.

Figure6Circuitformicrocontrollerprogramming

Figure7ISPcableforparallelport

SoftwareDescription
Withefficientsoftware,eveniftherearelimitedcontrols,wecanhaveanewcontrolwithcombination
oftwoormoreavailablecontrols.ThecrosscompilerusedinthisprojectsupportsCprogramming.The
Ccodeoftheprojectisgivenbelow.TheCprogramcodeiscrosscompiledintohexcodeandburnedin
tothemicrocontrollerusingtheparallelportISP.
Working
Theuserinordertocontroltherobotshouldmakeacalltothecellphoneattachedintherobot,from
anyphone,whichcansendDTMFtunesonpressingthenumericbuttons.Thecellphoneintherobot
will be kept in auto answer mode. So, after a ring the cell phone accepts the call. Now the user may
pressanybuttononhis mobile.The DTMF tones thusproducedarereceivedbythecell phonein the
robot.Thesetonesarefedtothecircuitbyheadsetofthecellphone.HT9170decodesthereceived
tone and sends equivalent binary number to the micro controller. According to the program in the
microcontroller,therobotstartsmoving.

Asshowninthecircuit,theinputtothecircuitfromtherobotscellphoneisgiventhroughheadsetat
the2nd&3rdpinsofHT9170.ThedecodeddigitaldatawillbegivenoutbytheHT9170at11,12,13&14
pins. These digits are negated using 4 not gates of a 7404 HEX INVERTER. This inverted input will be
given to the port A of micro controller at 37, 38, 39 and 40 pins which are PA3, PA2, PA1 and PA0
respectively.ThemicrocontrollerisprogrammedtogiveoutputatportD,tocontrolthemotordriver.
Asexplainedpreviously,themotordriverL293DcandriveaDCmotorwithanenableandtwocontrol
inputs.So,inputsat1A(2),2A(7)andenableat1,2EN(1)candriveaDCmotorconnectedat1Y(3)and
2Y(6).ThePD0(14),PD1(15)andPD7(21)pinsofportDofmicrocontrollerareconnectedto1A,2A
and1,2ENpinsrespectively.So,with1,2ENpinenabledandif1A,2Apinsareprovidedwith1,0asinput
respectively,themotorrotatesinadirectionand0,1inputmakesthemotortoruninviceversa.And
theinput1,1causeselectricalbrake.Themicrocontrollerisprogrammedinsuchawaythatwhenthe
user presses (for ex.) 2 button, both the drivers will be activated to make their motors to make a
forwardmotion.Adetailedtableisgivenbelow,delineatingeverystepindatatransferwhenadigitis
pressed.
No.pressed
byuser
2

O/pofHT9170
DTMFdecoder

I/ptothe
microcontroller

0x02
00000010

0x04
00000100

0xFD
11111101

o/pfrom
microcontroller

0x09
00001001

ActionPerformed

0x05
00000101

Leftturn
Rightmotorforwarded
Leftmotorbackwarded
Rightturn
Rightmotorbackwarded
Leftmotorforwarded
Backwardmotion

0x06
00000110

0XFB
11111011

0XF9
11111001

0x08
00001000

0XF7
11110111

0x06
00000110

0x05
00000101

0XFA
11111010

0x00
00000000

0x0A
00001010

Forwardmotion

Brake

Figure8Detaileddataofeverystep

Applicationdevelopment
The generic purpose land rover delineated in this project can be further improved to have specific
purposes. For a land rover we need to have 4 controls, to make it roam around. The remaining 8
controls can be configured for other purposes, by some modifications in the software code of
microcontroller.
Letsnowupgradeourlandrovertoasumorobot,whichhastofightordefenditselfinagivenarena.
Thebasicmovementofforward,backward,turnrightandturnleftcanbeassignedto2,8,4and6.For5
wecanhaveabreak.Nowweshouldaddsomeweapontomaketherobotcapableofattacking.Lets
take some long wooden ruler and a dc motor. A hole is made at the center of wooden ruler and is

pivotedtightlytotheaxleofmotor,suchthattheaxlewillbecomeperpendiculartothesurfaceofruler.
Withthisarrangementtherulerwillrotatealongaverticalaxispassingthroughitscenter,sothatitcan
attackanyrobotcomingwithinthisarea.Anadditionalmotordrivershouldbeemployedtodrivethis
motor.Andnowweshouldengagetwomorekeys(*,#)tocontroltherotationofthisruler.Forthiswe
needtoprogramthemicrocontrollertodrivethemotorsinonedirectionif*ispressedonceandstop
therotationifthesame*ispressedagain;if#ispressedthemotorshoulddriveinotherdirectionand
shouldbestoppedifpressedagain.
Inthisfashiononecaninnovativethelandroverinanywaytheapplicationdemands.Wecanaddsome
ball holding mechanism to make a ball picking and dropping robot. If we add some ball pushing
mechanism,thenthelandroverwillbecomeasoccerrobot.Likethiswecangoonimprovingtheland
roverfordifferentapplications.
MechanicalConstruction
For construction of any robot, the important mechanical constraint is the number of motors we are
goingtousing.Onecanhaveeithertwowheeldriveorafourwheeldrive.Fourwheeldriveeventhough
is complex than two wheel drive will provide more torque and good control. Two wheel drive is very
easytoconstruct.
Topandbottomviewsofalandrover,fourwheeldriven,isshowninthefigurefIg10.Thechassisused
inthatmodelisasheetmadeupofparaxandisofsize9x20cm.Motorsarefixedtothebottomofthis
sheetandcircuitisplacedabovethissheetanditisaffixedfirmly.Acellphoneisalsoplacedoverthe
sheetasshowninthefigure.

Figure10topviewoftherover

Figure9 bottom view

Inthefourwheeldrivesystemthetwomotorsinasidearecontrolledparallel.SoasingleL293Ddriver

IC can drive the rover. But in two wheel drive the pair of motors on a side is replaced with a single
motor. Some supporting wheels like castor wheels are used to support the robot in two wheel drive
mechanism. A two wheel driven land rover is displayed in the figure 10, 11. For this robot beads are
affixedwithglue,willactassupportwheels.

Figure12.frontviewofthechassisandalandrover.

Figure11.landroverwitha2wheeldrive

Thecircuit,whichisusedintheproject,isshownbelow.Aschematicofthecircuitisalsoshown,to
haveaclearidea.

I/pfromheadsetto
decoder
HT9170,DTMFdecoder
IC7404hexinverter
Atmega32,microcontroller

L293D,motordriver

Inputtomotorfromdriver.

i/pfromheadset

Figure13.Theentireschematicofthecircuit

CProgramcode

#include<iom32v.h>
#include<macros.h>
void delay(unsigned int i)
{unsigned int j;
while(i--)
for(j=0;j<=1000;j++);
}
void main()
{unsigned int k,h;
DDRA=0x00;
DDRD=0xFF;
DDRB=0xFF;
while(1)
{k =~PINA;
h=k & 0x0F;
PORTB=h;
switch(h)
{case 0x02: {PORTD=0x09; // if the i/p is 0x02, then give
break;
// the o/p 0x09 i.e. to move forward
}
case 0x08: {PORTD=0x06;
break;
}
case 0x04: {PORTD=0x05;
break;
}
case 0x06: {PORTD=0x0A;
break;
}
case 0x05: {PORTD=0x00;
break;
}
}

}
}