3.

SCHEMATIC DIAGRAM

3.1 TRANSMITTER
10K PU LLU P VC C
10K PU LLU P
VCC

GND
R7
R6
R4

R1
R8

R5
R3
R2

VCC
R2

R5

R8
R1
R3
R4
R6
R7
VC C VC C
VC C 4 .7 K 1 GND
9
8
7
6
5
4
3
2
1

2 VCC

1
2
3
4
5
6
7
8
9
1 40 3 VEE
IN 4 (L 2 9 3 D (C A M )) (T 2 ) P 1 .0 VC C
2 39 4 RS
SW 7 (T 2 E X ) P 1 .1 P 0 .0 /A D 0 P 0 .1
3 38 5 RW
SW 8 P 1 .2 P 0 .1 /A D 1 R S (L C D ) G N D
SW 1
4
P 1 .3 P 0 .2 /A D 2
37
P 0 .3
6 EN
5 36 7 D0
IN 3 (L 2 9 3 D (C A M )) P 1 .4 P 0 .3 /A D 3 E N (L C D )
6 35 8 D1
F R O M IS P (M O S I) P 1 .5 P 0 .4 /A D 4 D 4 (L C D )
F R O M IS P
7
(M IS O ) P 1 .6 P 0 .5 /A D 5
34
D 5 (L C D )
9 D2
8 33 5K 10 D3
F R O M IS P (S C K ) P 1 .7 P 0 .6 /A D 6 D 6 (L C D )
9 32 11 D4
R ESET R ST P 0 .7 /A D 7 D 7 (L C D ) P 0 .4
V C C 3 .3 V 31 T R IM P O T 12 D5
E A /V P P P 0 .5
VCC 1 10 13 D6
(R X D ) P 3 .0 P 0 .6
R1 2
D I N (X B E E )
11
(T X D ) P 3 .1 A L E /P R O G
30
P 0 .7
14 D7
R2 3 12 VC C 15 VCC
4 13 (IN T 0 ) P 3 .2 29 16 GND
R3 S W 2 (IN T 1 ) P 3 .3 PSEN
R4 5
S W 3
14
(T 0 ) P 3 .4 P 2 .7 /A 1 5
28
R5 6 15 VC C
S W 4 (T 1 ) P 3 .5
R6 7 16 27 GND GND LC D
S W 5 (W R ) P 3 .6 P 2 .6 /A 1 4
R7 8 17 26
S W 6 (R D ) P 3 .7 P 2 .5 /A 1 3
R8 9 25
18 P 2 .4 /A 1 2 24
XTA L2 XTA L2 P 2 .3 /A 1 1
10K P U LLU P 23
19 P 2 .2 /A 1 0 22
XTA L1 XTA L1 P 2 .1 /A 9
20 21
G N D P 2 .0 /A 8

GND V C C = 3 .3 V
A T89S 52 VC C 1 vcc AD0 2 0
1
2
3
4
5
6
7
8
9
VCC
R1
R2
R3
R4
R5
R6
R7
R8

2 DOUT AD1 1 9
3 DIN AD2 1 8
10K PU LLU P P 3 .1 4 CD AD3 1 7
5 RESET AD6 1 6
6 PWM0 AD5 1 5
7 NC VREF 1 4
8 NC SLEEP 1 3
9 DTR CTS 1 2
10 GND AD4 1 1

GND
X BEE M O D U LE
1

B R ID G E R E C TIF IE R 7805 REG ULA TO R VC C = 5V

2 2 - + 4 1 3
1 V IN VO U T
GND
2 220 ohm
2 3 0 V ,A .C TRANSFORMER
(9V,1 AMP) 33pf 104pf SW 7 SW 8
3

1 0 0 0 u f /3 5 V
P 1 .1 P 1 .2
LED

P O W E R S U P P L Y (5 V D C )
GND

SW 1
P 1 .3

VC C SW 2 SW 4
P 3 .3 P 3 .5
G N D
33 pf
S W IT C H

XTA L 2 1 0 u f /6 3 V SW 3
1 I 2
P 1 .6
3 4 1 1 .0 5 9 2 M H z
P 1 .7 R ESET P 3 .4
5 S 6 33 pf
R ST
7 8
9 P 10 XTA L 1
P 1 .5 8 .2 K

VC C GND SW 5 SW 6
GND P 3 .6 P 3 .7
A T 8 9 S 5 2 IS P AT89S 52 C R YS TAL
R ESET

GND

/******* TRANSMITTER CODE FOR ROBOT WITH WIRELESS CAMERA ***********/

// CONTROLLER : AT89S52
// AUTHOR : VECTOR PROJECT TEAM
// DATE : 09-01-2010
/***********************************************************************/

/*HEADER FILE */
#include<reg51.h>

//LCD CONNECTIONS
#define lcd P0
sbit rs=P0^1;
sbit en=P0^3;

//SWITCH CONNECTIONS
sbit sw1=P1^3; //FORWARD
sbit sw2=P3^3; //LEFT
sbit sw3=P3^4; //BACKWARD
sbit sw4=P3^5; //RIGHT
sbit sw5=P3^6; //CAMERA LEFT
sbit sw6=P3^7; //CAMERA RIGHT

sbit sw7=P1^1; //ROBOT STOP

sbit sw8=P1^2; //CAMERA STOP

/*LCD INITIALIZATION */
void lcdinit();
void lcdcmd(unsigned char);
void lcddata(unsigned char);
void str(char *);
void delay();
void delaysec();

/*SERIAL COMMUNICATION INITIALIZATION*/

void Init_serial();
void Tx(char);

main()
{
lcdinit();
str(" ROBOT WITH ");
lcdcmd(0xc0);
str("WIRELESS CAMERA");
delaysec();
lcdcmd(0x01);
str("**WAITING FOR***");
lcdcmd(0xc0);
str("COMMAND.........");

Init_serial();

while(1)
{
if(sw1==0) //FORWARD
{
lcdcmd(0x01);
str("FORWARD");
Tx('F');
}
if(sw2==0) //LEFT
{
lcdcmd(0x01);
str("LEFT");
Tx('L');
}
if(sw3==0) //BACKWARD
{
lcdcmd(0x01);
str("BACKWARD");
Tx('B');
}
if(sw4==0) //RIGHT
{
lcdcmd(0x01);
str("RIGHT");
Tx('R');
}
if(sw5==0) //CAMERA ON-LEFT
{
lcdcmd(0x01);
str("CAMERA ON");
lcdcmd(0xc0);
str("LEFT");
Tx('C');
}
if(sw6==0) //CAMERA ON-RIGHT
{
lcdcmd(0x01);
str("CAMERA ON");
lcdcmd(0xc0);
str("RIGHT");
Tx('c');
}
 if(sw7==0) //ROBOT STOP
{
lcdcmd(0x01);
str("ROBOT STOP");
Tx('S');
delaysec();
lcdcmd(0x01);
str("**WAITING FOR***");
lcdcmd(0xc0);
str("COMMAND.........");
}
if(sw8==0) //CAMERA STOP
{
lcdcmd(0x01);
str("CAMERA STOP");
Tx('s');
}
}
}

void lcdinit() //LCD INITILIZATION FUNCTION

{
lcdcmd(0x28);
lcdcmd(0x0E);
lcdcmd(0x06);
lcdcmd(0x01);
lcdcmd(0x80);
}

void lcdcmd(unsigned char c)//LCD COMMAND FUNCTION

{
lcd=(c&0xF0);
rs=0;
en=1;
delay();
en=0;
delay();

lcd=(c<<4);
rs=0;
en=1;
delay();
en=0;
delay();
}
void lcddata(unsigned char c) //LCD DATA FUNCTION
{
lcd=(c&0xF0);
rs=1;
en=1;
delay();
en=0;
delay();

lcd=(c<<4);
rs=1;
en=1;
delay();
en=0;
delay();
}

void str(char *p) //LCD STRING FUNCTION

{
while(*p)
lcddata(*p++);
}

void delay() //DELAY FUNCTION

{
unsigned int i;
for(i=0;i<1000;i++) ;
}

void delaysec() //DELAY FOR 1SEC

{
unsigned char i;
TMOD|=0x01;
TH0=TL0=0;
TR0=1;
for(i=0;i<16;i++)
{
while(TF0==0);
TF0=0;
}
TR0=0;
}

void Init_serial() //SERIAL INITIALIZATION FUNCTION

{
SCON=0x50;
 TMOD=0x20;
TH1=TL1=-3;
TR1=1;
}

void Tx(char c) //SERIAL TRANSMISSION FUNCTION

{
SBUF=c;
while(!TI);
TI=0;
}

3.2 RECEIVER:
 10K PU LLU P
10K PU LLU P VC C

VCC
R8

R5
R4
R2
R1
R7
R6

R3

VCC
GND

R3

R6
R1
R2
R4
R5
R7
R8
VC C
VC C VC C

9
8
7
6
5
4
3
2
1
4 .7 K 1 GND

1
2
3
4
5
6
7
8
9
IN 4 (L 2 9 3 D (C A M ))
1
(T 2 ) P 1 .0 VC C
4 0 2 VCC
2
(T 2 E X ) P 1 . 1 P 0 .0 /A D 0
3 9 3 VEE
3
P 1.2 P 0 .1 /A D 1
3 8
R S (L C D ) P 0 .1
4 RS
4 3 7 5 RW
P 1.3 P 0 .2 /A D 2 G N D
IN 3 (L 2 9 3 D (C A M ))
5
P 1.4 P 0 .3 /A D 3
3 6
E N (L C D ) P 0 .3
6 EN
F R O M IS P
6
(M O S I ) P 1 .5 P 0 .4 /A D 4
3 5
D 4 (L C D )
7 D0
7 3 4 8 D1
F R O M IS P (M I S O ) P 1 .6 P 0 .5 /A D 5 D 5 (L C D )
F R O M IS P
8
(S C K ) P 1 .7 P 0 .6 /A D 6
3 3
D 6 (L C D )
9 D2
R ESET
9
R ST P 0 .7 /A D 7
3 2
D 7 (L C D )
5K 1 0 D3
V C C 3.3V
E A /V P P
3 1
P 0 .4
1 1 D4
VCC 1 10 TR IM P O T 1 2 D5
D O U T (X B E E ) (R X D ) P 3 .0 P 0 .5
R1 2 11
(T X D ) P 3 . 1 A L E /P R O G
30
P 0 .6
1 3 D6
R2 3 12
(I N T 0 ) P 3 . 2
VC C
P 0 .7
1 4 D7
R3 4 13 29 1 5 VCC
5 14 (I N T 1 ) P 3 . 3 PSEN 28 1 6
R4 IN 1 (L 2 9 3 D ) (T 0 ) P 3 .4 P 2 .7 /A 1 5
GND
R5 6
IN 2 (L 2 9 3 D )
15
(T 1 ) P 3 .5
R6 7
IN 3 (L 2 9 3 D )
16
(W R ) P 3 . 6 P 2 .6 /A 1 4
2 7 VC C
R7 8 17 2 6 GND GND LC D
IN 4 (L 2 9 3 D ) (R D ) P 3 .7 P 2 .5 /A 1 3
R8 9
P 2 .4 /A 1 2
2 5
18 2 4
10K PU LLU P
XTA L2 XTA L 2 P 2 .3 /A 1 1 2 3
19 P 2 .2 /A 1 0 2 2
XTA L1 XTA L 1 P 2 .1 /A 9
20 2 1
G N D P 2 .0 /A 8 V C C = 3 .3 V
1 vcc AD0 2 0
2 DOUT AD1 1 9
GND P 3 .0 3 DIN AD2 1 8
A T89S52 VC C 4 CD AD3 1 7

1
2
3
4
5
6
7
8
9
5 RESET AD6 1 6

VCC
R1
R2
R3
R4
R5
R6
R7
R8
6 PWM0 AD5 1 5
10K PU LLU P 7 NC VREF 1 4
8 NC SLEEP 1 3
9 DTR CTS 1 2
10 GND AD4 1 1

GND X BEE MO D U LE

GND GND
1

B R ID G E R E C T IF IE R 7805 R EG ULA TO R VC C = 5V
2 2 - + 4 1 3 1 0 u f /3 5 V VC C 1 0 uf /35 V
1 V IN VO U T
GND
2 220 ohm 1 EN1 VSS 1 6
2 3 0 V ,A .C TRANSFORMER 2 IN1 IN4 1 5
P 0 .1

1
(9V,1 AMP) 33pf 104pf
3 OUT1 OUT4 1 4
4 GND GND 1 3
3

1 0 0 0 u f /3 5 V 5 GND GND 1 2

D C M O T O R
LED 6 OUT2 OUT3 1 1
7 IN2 IN3 1 0
VS EN2 P 0 .5
8 9
GND GND

P O W E R S U P P L Y (5 V D C )

2
GND VC C
L 2 9 3 D (C A M )

GND GND
VC C

G N D 1 0 u f /3 5 V VC C 1 0 uf /35 V
33 pf
S W IT C H

XTA L2 1 0 u f /6 3 V 1 EN1 VSS 1 6

1 I 2
P 1 .6 2 IN1 IN4 1 5
3 4 1 1 .0 5 9 2 M H z P 3.4 P 3 .7
P 1 .7 R ESET 3 OUT1 OUT4 1 4

1
5 S 6
R ST 33 pf
4 GND GND 1 3
1

7 8
9 P 10 XTA L1 5 GND GND 1 2
8 .2 K
D C M O TO R

D C M O T O R
P 1 .5 6 OUT2 OUT3 1 1
7 IN2 IN3 1 0
P 3.5 VS EN2 P 3 .6
VC C 8 9
GND
GND GND GND
A T 8 9 S 5 2 IS P AT89S52 C R YS TAL
R ESET

2
2

VC C
L293D