Wireless
Gesture
Controlled
Robot
Course Title:
Arduino and Robotics
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Team 2:
Gagan GR
Mohit Bagur
2
Components used
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This project makes use of two
Arduino Unos, one on the receiving
and the transmitting end, and
implements a Nordic Semiconductor
nRF24L01 2.4GHz wireless link to
establish wireless communication
between the transmitter and the
receiver.
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The sensor used here is an MPU6050
gyroscope/accelerometer module on
the transmitting end which is aimed
to be wrist-mounted.
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Functional Components
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Arduino Uno
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MPU6050 accelerometer-gyroscope
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L298N motor drivers
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NRF24L01 2.4GHz wireless
communications module
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Custom LiPo battery pack and 2-way
parallel TP4056 chargers
4
Arduino Uno
The Arduino Uno is a general purpose microcontroller
platform based on the Atmel ATMega328P
microcontroller. As confgured, it has 2KB of SRAM,
32KB EEPROM and a AVR-RISC core running at 16MHz.
The Uno has 13 digital pins and 6 analog pins, and
supports numerous communication protocols such as
SPI, I2C, UART and I2S.
5
MPU6050 Accelerometer
The MPU6050 is a Micro Electro-Mechanical System (MEMS) which
consists of a 3-axis Accelerometer and 3-axis Gyroscope inside it. This
helps us to measure acceleration, velocity, orientation, displacement and
many other motion related parameter of a system or object. This module
also has a Texas Instruments Digital Motion Processor inside it which is
powerful enough to perform complex calculation and thus free up the
work for Microcontroller.
6
L298N Motor Driver
It is a high voltage ,high current dual full-bridge driver
designed to accept standard TTL logic level inductive
loads such as relays, solenoids, DC and stepping motors.
Two enable inputs are provided to enable or disable the
device independently of the input signals .The emitters
of the lower transistors of each bridge are connected
together and the corresponding external terminals can
be used for the connection of an external sensing
resistor. An additional supply input is provided so that
the logic works at a lower voltage. 7
nRF24L01
The nRF24L01 is a wireless transceiver module,
operating in the frequency of 2.4GHz, which falls
under the ISM band and hence it is legal to use in
almost all countries for engineering applications. The
modules when operated efciently can cover a
distance of 100 meters (200 feet) which makes it a
great choice for all wireless remote controlled
projects, with a peak bitrate throughput of about
~2Mbps.
8
Implementation
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The project has two functional
components: a wrist-mounted transmitter
containing the gyroscope and the
transmitter, and a bot that contains the
receiver, batteries for the driver and the
motors. The gyroscope sends over
orientation data to the Arduino that
transmits it to the bot that then uses the
supplied orientation data to perform
directional maneuvering.
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Code Snippets:
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MPU code
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Applications of Handsfree Control
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This system of using gyroscopes to
monitor orientation and perform
directional maneuvering can be
implemented on a larger scale in the
form of driving aids for the diferently
abled. The low cost of the components
involved makes it a very cost efective
solution for afordable products.
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Contributions
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Mohit Bagur:
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Hardware design and implementation
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Running code optimisations
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Gagan GR:
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Initial idea and testing code
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Final presentation
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