SMART PHONE OPERATED MULTIPURPOSE

AGRICULTURAL ROBOT
A PROJECT REPORT

Submitted by

V.DINESH 411519106005
M.KARTHICK KUMAR 411519106009
M.KAVIPRIYA 411519106010
D.SHALANI 411519106024

in partial fulfilment for the award of the degree

of

BACHELOR OF ENGINEERING
in
ELECTRONICS AND COMMUNICATION ENGINEERING

PERI INSTITUTE OF TECHNOLOGY, CHENNAI

ANNA UNIVERSITY: CHENNAI - 600 025

MAY 2023
 ANNA UNIVERSITY: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report titled “SMART PHONE OPERATED

MULTIPURPOSE AGRICULTURAL ROBOT” is the bonafide work of V .
DINESH (411519106005), M. KARTHICKKUMAR (411519106009), M.
KAVIPRIYA (411519106010) and D. SHALINI (411519106025) who carried out
the project work under my supervision.

SIGNATURE SIGNATURE

Dr.M.RAMKUMAR PRABHU, M.E,Ph.D Dr.G.CHARULATHA, M.E,Ph.D

HEAD OF DEPARTMENT SUPERVISOR
PROFESSOR, ASSOCIATE PROFESSOR,
Department of Electronics and Department of Electronics and
Communication Engineering, Communication Engineering,
PERI Institute of Technology, PERI Institute of Technology,
Mannivakkam, Mannivakkam,
Chennai - 600 048. Chennai - 600 048.

Submitted for the Viva-Voce examination held on ……………….

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ACKNOWLEDGEMENT

We express our deep sense of gratitude to our honourable and respected

Chairman Mr. SARAVANAN PERIASMY, our Chief Operating Officer
Mr. SASIKUMAR VEERARAJAN, and other management members for
providing the infrastructure needed.

We express our gratitude to our Principal Dr.R. PALSON KENNEDY, and

ourVice Principal Mr.B.MAGESH, for their wholehearted encouragement
for completing this project.

We express our sincere thanks to Dr. M. RAMKUMAR PRABHU,

Head of the Department, Department of Electronics and Communication
Engineering, for his inspiration, continuous support and guidance in making
this project successful.

We thank Dr. G. CHARULATHA, Project coordinator of the Department

of Electronics and Communication Engineering and supervisor of our
project, for her insightful comments and constructive suggestions during all
phases of this project.

We also extend my heartfelt thanks to all the faculty Members of Electronics

and Communication who have rendered their valuable help in making this
project successful.

We are very much indebted to our PARENTS and FRIENDS for the
continuous support & encouragement throughout the project successfully.

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 ABSTRACT

The paper aims on the design, development and the fabrication of the robot which
can dig the soil, leveller to close the mud and sprayer to spray water, these whole
systems of the robot work with the battery More than 40% of the population in the
world chooses agriculture as the primary occupation, in recent years the
development of the autonomous vehicles in the agriculture has experienced
increased interest. The vehicle is controlled by Relay. The advantages of these robots
are hands-free and fast data input operations. In the field of agricultural autonomous
vehicle, a concept is been developed to investigate if multiple small autonomous
machines could be more efficient than traditional large tractors and human forces.

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 TABLE OF CONTENT
CHAPTER TITLE PAGE NO
NO
ABSTRACT iv
LIST OF FIGURES ix
LIST OF ABBREVIATIONS xi

1 INTRODUCTION 1
1.1 EMBEDDED SYSTEM 2
1.1.1 CLASSIFICATION OF 3
EMBEDDED SYSTEMS
1.1.2 BLOCK DIAGRAM OF AN 4
EMBEDDED SYSTEM
1.1.3 EMBEDDED SYSTEM 5
APPLICATION
1.2 INTERNET OF THINGS 5
1.3 HOW IOT WORKS 7
1.3.1 BENEFITS OF IOT 8
1.3.2 CONSUMER AND ENTERPRISE 9
IOT APPLICATIONS

2 LITERATURE REVIEW 10

3 METHODOLOGY 14
3.1 PROJECT DESCRIPTION 14
3.2 WORKING PRINCIPLE 14
3.3 BLOCK DIAGRAM OF THE 15

3
V
 PROJECT
3.4 HARDWARE REQURIMENT 15
3.5 SOFTWARE REQURIMENT 15

4 HARDWARE COMPONENTS DETAILS

4.1 ARDUINO UNO 16
4.1.1 STRONGER RESET CIRCUIT. 16
4.2 POWER 17
4.3 MEMORY 18
4.3.1 FUNCTIONS OF PIN 18
4.4 PIN CONFIGURATION 20
4.5 USB OVERCURRENT PROTECTION 20
4.5.1PHYSICALCHARACTERISTICS 20

5 POWER SUPPLY
5.1 DEFINITION 21
5.2 BLOCK DIAGRAM OF A BASIC 21
POWER SUPPLY
5.3 SIMPLE 5V SUPPLY FOR 22
DIGITAL CIRCUITS
5.4 CIRCUIT DESCRIPTION 23
5.4.1 CIRCUIT DIAGRAM OF THE 23
POWER SUPPLY
5.5 COMPONENT LIST 24
5.6 MORE OUTPUT CURRENT
24
5.6.1 OTHER OUTPUT VOLTAGES

4
vi
 5.6.2 SOIL MOISTURE SENSOR 25
5.6.3 SOIL MOISTURE SENSOR PIN 25
CONFIGURATION
5.6.4 HOW THE SENSOR WORKS 26
5.6.5WORKING PRINCIPLE 26
5.6.6 SPECIFICATIONS 27
5.6.7 SOIL MOISTURE SENSOR 27
APPLICATIONS
5.7 DC MOTOR 27
5.7.1WORKING 28
5.7.2 CONTROL OF DC MOTOR 30
5.7.3 MAIN TYPES OF DC MOTORS 31
5.7.4. PERMANENT MAGNET DC
MOTORS 31
5.7.5. SERIES DC MOTORS 31
5.7.6. SHUNT DC MOTORS 31
5.7.7 COMPOUND DC MOTORS 32

6 SOFTWART REQUIREMENTS DETAILS

6.1 EMBEDDED C 33
6.2 ARDUINO IDE 37
6.3 ADVANTAGES 40

7 RESULT AND DESCISSION

7.1 PROJECT OUTPUT 41

8 CONCLUSION 42

5
Vii
8.1 FUTURE WORK 43
REFERENCES 51

Viii
6
 LIST OF FIGURES

FIGURE NO INDEX PAGE NO

1.1 Embedded System 2

1.2 Classification of embedded 4

system

1.3 Block Diagram of a typical 4

embedded system

1.4 Internet of things 6

1.5 Cloud computing 7

1.6 Example of an IoT System 8

3.1 Block diagram 15

4.1 Arduino Uno diagram 17

4.2 Pin diagram of Arduino Uno 20

5.1 Basic power supply block 21

diagram

5.2 Circuit diagram of the power 23

supply

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7
5.3 Increasing the output voltage 26

5.4 Soil moisture sensor 25

5.5 Electromagnet 28

5.6 Electromagnetic field Rotation 28

5.7 Electromagnetic field Stop 29

5,8 DC Motor 29

5.9 Evolution of DC Motor 30

5.10 Working of DC Motor 31

6.1 Block diagram of Embedded C 33

6.2 Embedded C program with 34

examples

6.3 Arduino IDE Diagram 38

6.4 Arduino IDE Software 39

diagram

x
8
 LIST OF ABBREVIATION

LED - Light Emitting Diode

USB - Universal Serial Bus

GPS - Global Positioning System

ARM - Advanced Rise Machine

CPU - Central Processing Unit

ROM - Read Only Memory

SWD - Side Water Depth

IDE - Integrated Development Environment

SPIss - Serial Peripheral Interface

XTL - Extensible Markup Language

UART - Universal Asynchronous Receiver Transmitter

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 CHAPTER 1

INTRODUCTION
Agriculture is the backbone of India. The history of Agriculture in India dates
back to Indus Valley Civilization Era and even before that in some parts of Southern
India. Today, India ranks second worldwide in farm output. The special vehicles
play a major role in various fields such as industrial, medical, military applications
etc., The special vehicle field are gradually increasing its productivity in agriculture
field. Some of the major problems in the Indian agricultural are rising of input costs,
availability of skilled labours, lack of water resources and crop monitoring. To
overcome these problems, the automation technologies were used in agriculture. The
automation in the agriculture could help farmers to reduce their efforts. The vehicles
are being developed for the processes for ploughing, levelling, water spraying. All
of these functions have not yet performed using a single vehicle. In this the robots
are developed to concentrate in an efficient manner and also it is expected to perform
the operations autonomously. The proposed idea implements the vehicle to perform
the functions such as ploughing, seed sowing, mud levelling, water spraying. These
functions can be integrated into a single vehicle and then performed. The idea of
applying robotics technology in agriculture is very new. We can expect the robots
performing agricultural operations autonomously such as ploughing, seed sowing,
mud closing and water spraying. Watching the farms day & night for an effective
report, allowing farmers to reduce the environmental impact, increase precision and
efficiency, and manage individual plants in novel ways The applications of
instrumental robotics are spreading every day to cover further domains.

1
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1.1 EMBEDDED SYSTEM:
An embedded system is a controller programmed and controlled by a real-
time operating system (RTOS) with a dedicated function within a larger mechanical
or electrical system, often with real-time consumption of embedded systems
computing constraints.

It is embedded as part of a complete device often including hardware and

mechanical parts. Embedded systems control many devices in common use today.
Ninety-eight percent of all microprocessors are manufactured to serve as embedded
system component.

Examples of properties of typical embedded computers when compared with

general-purpose counterparts are low power consumption, small size, rugged
operating ranges, and low per-unit cost. This comes at the price of limited processing
resources, which make them significantly more difficult to program and to interact
with.

However, by building intelligence mechanisms on top of the hardware, taking

advantage of possible existing sensors and the existence of a network of embedded
units, one can both optimally manage available resources at the unit and network
levels as well as provide augmented functions, well beyond those available. For
example, intelligent techniques can be designed to manage power.

Fig 1.1 Embedded system

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 Embedded Computer Sub-Assembly for Electronic Voting Machine.
Embedded systems are commonly found in consumer, industrial, automotive,
medical, commercial and military applications.

Telecommunications systems employ numerous embedded systems

from telephone switches for the network to cell phones at the end user. Computer
networking uses dedicated routers and network bridges to route data.

Consumer electronics include MP3 players, mobile phones, video game

consoles, digital cameras, GPS receivers, and printers. Household appliances, such
as microwave ovens, washing machines and dishwashers, include embedded
systems to provide flexibility, efficiency and features.

1.1.1 CLASSIFICATIONS OF EMBDDED SYSTEMS:

Fig 1.2 Classification of Embedded system

Advanced HVAC systems use networked thermostats to more accurately and
efficiently control temperature that can change by time of day and season. Home
automation uses wired- and wireless-networking that can be used to control lights,
climate, security, audio/visual, surveillance, etc., all of which use embedded devices
for sensing and controlling.

Like traffic lights, factory controllers, and largely complex systems

like hybrid vehicles, MRI, and avionics Embedded systems range from portable

3
devices such as digital watches and MP3 players, to large stationary installations.
Complexity varies from low, with a single microcontroller

1.1.2 BLOCK DIAGRAM OF AN EMBEDDED SYSTEM:

An embedded system usually contains an embedded processor. Many

appliances that have a digital interface microwave, VCRs, cars utilize embedded
systems. Some embedded systems include an operating system. Others are very
specialized resulting in the entire logic being implemented as a single program.
These systems are embedded into some device for some specific purpose other than
to provide general purpose computing.

Fig 1.3 Block diagram of a typical embedded system

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1.1.3 EMBEDDED SYSTEMS APPLICATIONS:
• Embedded systems in automobiles include motor control, cruise control, body
safety, engine safety, robotics in an assembly line, car multimedia, car
entertainment, E-com access, mobiles etc.
• Embedded systems in telecommunications include networking, mobile
computing, and wireless communications, etc.
• Embedded system in smart cards include banking, telephone and security
systems.
• Embedded Systems in satellites and missiles include defence, communication,
and aerospace
• Embedded systems in computer networking & peripherals include image
processing, networking systems, printers, network cards, monitors and
displays
• Embedded Systems in digital consumer electronics include set-top boxes,
DVDs, high-definition TVs and digital cameras.

1.2 INTERNET OF THINGS

• The term Internet of Things generally refers to scenarios where network
connectivity and computing capability extends to objects, sensors and everyday
items not normally considered computers, allowing these devices to generate,
exchange and consume data with minimal human intervention. There is,
however, no single, universal definition.

• Enabling Technologies: The concept of combining computers, sensors, and

networks to monitor and control devices has existed for decades. The recent
confluence of several technology market trends, however, is bringing the
Internet of Things closer to widespread reality. These include Ubiquitous

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 Connectivity, Widespread Adoption of IP-based Networking, Computing
Economics, Miniaturization, Advances in Data.
• Connectivity Models: IoT implementations use different technical
communications models, each with its own characteristics. Four common
communications models described by the Internet Architecture Board
include: Device-to-Device, Device-to-Cloud, Device-to-Gateway, and Back-
End Data-Sharing. These models highlight the flexibility in the ways that IoT
devices can connect and provide value to the user.

Fig 1.4 Internet of Things

IoT devices are implemented using both hardware and software components.
Dedicated hardware components are used to implement the interface with the
physical world, and to perform tasks which are more computationally complex.
Microcontrollers are used to execute software that interprets inputs and controls the
system. This module discusses the roles of both the hardware and software
components in the system. The functions of common hardware components are
described and the interface between the software and hardware through the

6
microcontroller is explained. IoT devices often use an operating system to support
the interaction between the software and the microcontroller. We will define the
role of an operating system in an IoT device and how an IoT operating system differs
from a standard one.

Fig 1.5 Cloud Computing

1.3 HOW IOT WORKS
An IoT ecosystem consists of web-enabled smart devices that use embedded
processors, sensors and communication hardware to collect, send and act on data
they acquire from their environments. IoT devices share the sensor data they collect
by connecting to an IoT gateway or other edge device where data is either sent to the
cloud to be analysed or analysed locally. Sometimes, these devices communicate
with other related devices and act on the information they get from one another. The
devices do most of the work without human intervention, although people can
interact with the devices -- for instance, to set them up, give them instructions or
access the data.
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 Fig:1.6 Example of An IoT System
1.3.1 BENEFITS OF IOT
The internet of things offers a number of benefits to organizations, enabling
them to:

• monitor their overall business processes;

• improve the customer experience;

• save time and money;

• enhance employee productivity;

• integrate and adapt business models;

• make better business decisions; and

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1.3.2 CONSUMER AND ENTERPRISE IOT APPLICATIONS:

There are numerous real-world applications of the internet of things, ranging from
consumer IoT and enterprise IoT to manufacturing and industrial IoT (IoT). IoT
applications span numerous verticals, including automotive, telco, energy and more.

In the consumer segment, for example, smart homes that are equipped with smart
thermostats, smart appliances and connected heating, lighting and electronic devices
can be controlled remotely via computers, smartphones or other mobile devices.

Wearable devices with sensors and software can collect and analyse user data,
sending messages to other technologies about the users with the aim of making users'
lives easier and more comfortable. Wearable devices are also used for public safety
-for example, improving first responders' response times during emergencies by
providing optimized routes to a location or by tracking construction workers' or
firefighters' vital signs at life-threatening sites.

In healthcare, IoT offers many benefits, including the ability to monitor

patients more closely to use the data that's generated and analyse it. Hospitals often
use IoT systems to complete tasks such as inventory management, for both
pharmaceuticals and medical instruments.

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 CHAPTER 2

LITERATURE REVIEW

A Jayapriya S , G R Anagha , K R Megha, Harshitha B S ‘Automatic

Farming Robot for Smart and Effective Cultivation’ for agriculture purpose.
The paper aims on the design and development of robot that is used in the field of
agriculture. The robot helps the farmer to perform soil level-ling, seed sowing, water
and pesticide sprinkling, soil level-ling and cutting the crop. It is mainly designed to
minimize the labour of farmers in addition to increasing the speed and accuracy of
the work. They are used an android application to provide the input to the robot. By
using Bluetooth, they are establishing a connection between the robot and the
application. This whole system of the robot works with the power supply. The base
frame of the robot is made with 4 wheels. One end of the frame is fitted by dc motor
(DC MOTOR 1,2) and design is used for robot movement. The other end of the
frame is fitted by a dc motor (DCMOTOR 3,4) and design is made for levelling and
digging. The whole robot requires the 12v battery for operation. Bluetooth receiver
is used to control the operation of the vehicle.

B Ranitha, M N Nikhitha, K Aruna, Afreen ‘Solar Powered Autonomous

Multipurpose Agricultural Robot Using Bluetooth/Android App’. This work
aims to design, develop and design of the robot which can sow the seeds, cut the
grass and spray the pesticides, this whole system is powered by solar energy. The
designed robot gets energy from solar panel and is operated using Bluetooth/Android
App which sends the signals to the robot for required mechanisms and movement of
the robot. This increases the efficiency of seed sowing, pesticide spraying and grass
cutting and also reduces the problem encountered in manual planting. When the solar

10
panel gets heated it converts sunlight into electricity. This electrical energy is fed
into the charging circuit. The charging circuit will work according to maximum
power point tracking (MPPT) protocol to generate pulsed voltage and also avoids
reverse current. The pulsed voltage is given to battery in order to charge it. The
charging of battery is controlled with the help of voltage sensors. Since battery is
bidirectional it will charge and supply voltage to Arduino at a time. The voltage
supply with sustained oscillation is fed into Arduino with the aid of high pass filter.
The channel relay provides voltage supply to all different mechanisms. The motor
driver is used to drive the DC motors which run the robot.

Pvr Chaitanya, Dileep Kotte, A. Srinath, K. B. Kalyan ‘Development of

Smart Pesticide Spraying Robot’. The disease that causes agents in plants is
mainly defined as any agent’s pathogens. This can be done through taking input
images using camera, analysing them using machine learning process. This also
displays the exposed area of disease and also predicts the remedies, turn on the
pesticide sprayer which sprays the respective pesticide on the exposed area to
disease. The movement of robot is done with L293d motor driver and the processor
or embedded system is done through Raspberry pi3. We use python code for
machine learning which trains the robot with pre-defined images.

Ajesh, Anandhu K, Jelvin Raju, Jerin Saji ‘Bluetooth Controlled Farm

Robot’. This project strives to develop a robot capable of performing operations like
automatic ploughing, seed dispensing, fruit picking and pesticide spraying. The
project presents a low cost, low power and simple system for device control. This
system will have high application in farming. For manual control the robot uses the
Bluetooth pairing app as control device and helps in the navigation of the robot
outside the field. The L298N Motor Driver Module is a high voltage Dual H-Bridge
manufactured by ST Company. It is designed to accept standard TTL voltage levels.

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H-bridge drivers are used to drive inductive loads that requires forward and reverse
function with speed control such as DC Motors, and Stepper Motors. It uses the
popular L298 motor driver IC and has an on-board 5V regulator which it can supply
to an external circuit. It can control up to 4 DC motors, or 2 DC motors with
directional and speed control. Motor drivers acts as an interface between the motors
and the control circuits. Motor requires high amount of current whereas the
controller circuit works on low current signals. So, the function of motor drivers is
to take a low-current control signal and then turn it into a higher-current signal that
can drive a motor.

Amruta Sulakhe, M.N. Karanjkar ‘Design and Operation of Agriculture

Based Pesticide Spraying Robot’. Compared to spraying pesticides manually
outdoors, the environment is more closed, and has a high temperature, humidity and
so on for operating the spray work in the green-house. In order to protect labourer
and reduce labour intensity, we develop a prototype of pesticide spraying robot
specially used in the greenhouse. Robot is controlled with a PIC16F877A
microcontroller. Designing of the latest inverted ROBOT which can be controlling
using an APP for android mobile. We are developing the remote buttons in the
android app by which we can control the robot motion with them. And in which we
use Bluetooth communication to interface controller and android. Controller can be
interfaced to the Bluetooth module though UART protocol. According to commands
received from android the robot motion can be controlled.

Dr. Chanda V Reddy, Anudheep R, H M Vishal, Harshitha S, Sai

Spoorthi N ‘Agro bot’. This is my final warning. If not submitted I have to reduce
marks. agriculture plays an important role in economic status in India. Agriculture -
Technology is the process of applying technology in agriculture sector, which
improves the efficiency of the crop produced. Compared to traditional methods this

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process has various advantages in sowing the seeds. Seed sowing robot is regulated
and hand-operated. It slashes the exercise of farmers and increases the potential of
seed sowing compared to normal planting. In this system we are operating an
automated seed sowing robot. It consists of Arduino at mega 328P microcontroller
l293ddriver, battery, servomotor, ultrasonic sensor, soil moisture sensor. Robot will
sow the seed on the ground until it finds an obstacle. If the obstacle is found it stops
and before sowing the seed on the field it usually turns right thus moving forward.

Aruna Devi, Bharathi R ‘Robot Control Using Mobile Phone’. I have not
received any update regarding paper. This is my final warning. If not submitted I
have to reduce marks. Recently, robot technology has gained popularity because of
labour shortage, ability to work for long hours, etc. Conventionally, wireless control
robots use RF circuits, which have the drawbacks of limited working range, limited
frequency range and limited control. Use of a mobile phone for robotic control can
overcome these limitations. It provides the advantages of robust control, working
range as large as the coverage area of the service provider.

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 CHAPTER 3

METHODOLOGY
The aim of this paper is to develop a multipurpose machine, which is used for
digging the soil and leveller to close the mud and water sprayer to spray water with
least changes in accessories with minimum cost. This whole system of the robot
works with the battery controlled through mobile. The base frame is made for the
robot with 4 wheels connected and driven the rear wheel is dc motor. One end of the
frame, cultivator is fitted which is also driven by dc motor and design is made to dig
the soil. water pump sprayer to spray the water. The whole robot requires the 12v
battery to operate the system. IR transmitter and IR receiver is used to control the
operation of the vehicle. Moisture sensor is used to sense the water level in the
ground and turn on and turn off the pumping motor depending on water level.

3.1 PROJECT DESCRIPTION

In this the robots are developed to concentrate in an efficient manner and also
it is expected to perform the operations autonomously.

3.2 WORKING PRINCIPLE

Step 1 - Power on the robot.
Step 2- Robot starts moving forward and all sensors powered on.
Step 3 - Moisture sensor is used to check moistness in the soil to water the
plants.
Step 4 - If moisture sensor is low, sensor turns on the water pump (or) if
moisture is high, sensor turns off the water pump.
Step 5 - Switch is used to turn on ploughshare for digging the field (or) farm.
Step 6 - Smart phone is connected to robot through Bluetooth interface app

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3.3 BLOCK DIAGRAM OF THE PROJECT

Fig 3.1 Block diagram

3.4 HARDWARE REQURIMENTS

• Soil moisture sensor

• Motor
• Bluetooth
• Arduino uno

3.5 SOFTWARE REQURIMENTS

• Arduino IDE
• Embedded C

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 CHAPTER 4

HARDWARE DESCRIPTION

4.1 ARDUINO UNO:

The Arduino Uno is a micro controller board based on the ATmega328 (data
sheet). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power
jack, an ICSP header, and a reset button. It contains everything needed to support
the micro controller; simply connect it to a computer with a USB cable or power it
with an AC-to-DC adapter or battery to get started. The Uno differs from all
preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed
as a USB-to-serial converter. Revision 2 of the Uno board has a resistor pulling the
8U2 HWB line to ground, making it easier to put into DFU mode. Revision 3 of
the board has the following new features:
1.0 pinout: added SDA and SCL pins that are near to the AREF pin and two
other new pins placed near to the RESET pin, the IOREF that allow the shields to
adapt to the voltage provided from the board. In future, shields will be compatible
both with the board that use the AVR, which operate with 5V and with the Arduino
Due that operate with 3.3V. The second one is a not connected pin, that is reserved
for future purposes.
4.1.1 STRONGER RESET CIRCUIT
At mega 16U2 replace the 8U2. "Uno" means one in Italian and is named to
mark the upcoming release of Arduino 1.0. The Uno and version 1.0 will be the

16
reference versions of Arduino, moving forward. The Uno is the latest in a series of
USB.
4.2 POWER:
VIN: The input voltage to the Arduino board when it's using an external power
source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the
power jack, access it through this pin.
5V. This pin outputs a regulated 5V from the regulator on the board. The board can
be supplied with power either from the DC power jack (7 - 12V), the USB connector
(5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V
pins bypasses the regulator, and can damage your board. We don't advise it.

Fig 4.1 Arduino Uno diagram

3V 3. A 3.3-volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.

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GND. Ground pins.

4.3 MEMORY
The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also
has 2 KB of SRAM and 1 KB of EEPROM (which can be read and written with
the EEPROM library). Input and Output Each of the 14 digital pins on the Uno can
be used as an input or output, using pin Mode (), digital Write (), and digital Read
() functions. They operate at 5 volts. Each pin can provide or receive a maximum
of 40 mA and has an internal pull-up resistor (disconnected by default) of 20-50
Kilo ohms.
4.3.1 FUNCTIONS OF PIN
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data.These pins are connected to the corresponding pins of the ATmega8U2 USB-
to-TTL Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the attach
Interrupt () function for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write
() function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication using the SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin
is HIGH value, the LED is on, when the pin is LOW, it's off. The Uno has 6 analog
inputs, labeled A0 through A5, each of which provide 10 bits of resolution (i.e., 1024
different values). By default, they measure from ground to 5 volts, though is it

18
possible to change the upper end of their range using the AREF pin and the analog
Reference () function. Additionally, some pins have specialized functionality:
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using
the Wire library. There are a couple of other pins on the board: AREF. Reference
voltage for the analog inputs. Used with analog Reference (). Reset. Bring this line
LOW to reset the micro controller. Typically used to add a reset button to shields
which block the one on the board. See also the mapping between Arduino pins and
ATmega328 ports. The mapping for the Atmega8, 168, and 328 is identical.
Communication the Arduino Uno has a number of facilities for communicating with
a computer, another Arduino, or other micro controllers.
The ATmega328 provides UART TTL (5V) serial communication, which is
available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels
this serial communication over USB and appears as a virtual com port to software
on the computer. The '16U2 firmware uses the standard USB COM drivers, and no
external driver is needed.
However, on Windows, a .inf file is required. The Arduino software includes
a serial monitor which allows simple textual data to be sent to and from the Arduino
board. The RX and TX LEDs on the board will flash when data is being transmitted
via the USB-to-serial chip and USB connection to the computer (but not for serial
communication on pins 0 and 1). A Software Serial library allows for serial
communication on any of the U no's digital pins. The ATmega328 also supports I2C
(TWI) and SPI communication. The Arduino software includes a Wire library to
simplify use of the I2C bus; see the documentation for details. For SPI
communication, use the SPI library.

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 4.4 PIN CONFIGURATION:

Fig 4.2 Pin diagram of Arduino Uno

4.5 USB OVERCURRENT PROTECTION:

The Arduino Uno has a resettable poly fuse that protects your computer's USB
ports from shorts and overcurrent. Although most computers provide their own
internal protection, the fuse provides an extra layer of protection. If more than 500
mA is applied to the USB port, the fuse will automatically break the connection until
the short or overload is removed.

4.5.1 PHYSICAL CHARACTERISTICS:

The maximum length and width of the Uno PCB are 2.7 and 2.1 inches
respectively, with the USB connector and power jack extending beyond the former
dimension. Four screw holes allow the board to be attached to a surface or case. Note
that the distance between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple
of the 100-mil spacing of the other pins.
20
 CHAPTER 5
POWER SUPPLY
5.1 DEFINITION

A power supply (sometimes known as a power supply unit or PSU) is a

device or system that supplies electrical or other types of energy to an output load or
group of loads. The term is most commonly applied to electrical energy supplies,
less often to mechanical ones, and rarely to others.

5.2 BLOCK DIAGRAM OF A BASIC POWER SUPPLY

Fig 5.1 Basic Power Supply Block Diagram

The transformer steps up or steps down the input line voltage and isolates
the power supply from the power line. The rectifier section converts the alternating
current input signal to a pulsating direct current. However, as you proceed in this
chapter you will learn that pulsating dc is not desirable. For this reason, a filter
section is used to convert pulsating dc to a purer, more desirable form of dc
voltage.

The final section, the regulator, does just what the name implies. It maintains
the output of the power supply at a constant level in spite of large changes in load
current or input line voltages. Now that you know what each section does, let's trace

21
an AC signal through the power supply. At this point you need to see how this signal
is altered within each section of the power supply. Later on, in the chapter you will
see how these changes take place. In view B of figure 4-1, an input signal of 115
volts AC is applied to the primary of the transformer. The transformer is a step-up
transformer with a turn’s ratio of 1:3. We can calculate the output for this transformer
by multiplying the input voltage by the ratio of turns in the primary to the ratio of
turns in the secondary; therefore, 115 volts AC´ 3 = 345 volts ac (peak-to- peak) at
the output. Because each diode in the rectifier section conducts for 180 degrees of
the 360-degree input, the output of the rectifier will be one-half, or approximately
173 volts of pulsating DC. The filter section, a network of resistors, capacitors, or
inductors, controls the rise and fall time of the varying signal. Consequently, the
signal remains at a more constant DC level. We will see the filter process more
clearly in the discussion of the actual filter circuits. The output of the filter is a signal
of 110 volts dc, with ac ripple riding on the dc. The reason for the lower voltage
(average voltage) will be explained. The regulator maintains its output at a constant
110-volt dc level, which is used by the electronic equipment (more commonly called
the load).

5.3 SIMPLE 5V SUPPLY FOR DIGITAL CIRCUITS

• Brief description of operation: Gives out well-regulated +5V output, output

current capability of 100 mA.

• Circuit protection: Built-in overheating protection shuts down output when

regulator IC gets too hot.

• Circuit complexity: Very simple and easy to build.

• Circuit performance: Very stable +5V output voltage, reliable operation.

22
 • Availability of components: Easy to get, uses only very common basic
components.

• Applications: Part of electronics devices, small laboratory power supply.

5.4 CIRCUIT DESCRIPTION

This circuit is a small +5V power supply, which is useful when experimenting
with digital electronics. Those transformers are easily available, but usually their
voltage regulation is very poor, which makes then not very usable for digital circuit
experimenter unless a better regulation can be achieved in some way.

This circuit can give +5V output at about 150 mA current, but it can be
increased to 1 A when good cooling is added to 7805 regulator chip. The circuit has
over overload and terminal protection.

Fig:5.2 Circuit Diagram of The Power Supply

5.4.1 CIRCUIT DIAGRAM OF THE POWER SUPPLY

23
 The capacitors must have enough high voltage rating to safely handle the
input voltage feed to circuit. The circuit is very easy to build into a piece of Vero
board.

Pinout of the 7805 regulator IC.

1. Unregulated voltage in
2. Ground
3. Regulated voltage out

5.5 COMPONENT LIST

• 7805 regulator IC.
• 100 uF electrolytic capacitor, at least 25V voltage rating.
• 10 uF electrolytic capacitor, at least 6V voltage rating.
• 100 nF ceramic or polyester capacitor.

5.6 MORE OUTPUT CURRENT

If we need more than 150 mA of output current, we can update the output current
up to 1A doing the following modifications:

• Change the transformer from where we take the power to the circuit to a
model which can give as much current as we need from output

• Put a heat sink to the 7805 regulators (so big that it does not overheat
because of the extra losses in the regulator)

24
 Fig:5.3 Increasing the Output Voltage

5.6.1 OTHER OUTPUT VOLTAGES

If we need other voltages than +5V, we can modify the circuit by replacing
the 7805 chips with another regulator with different output voltage from regulator
78xx chip family. The last numbers in the chip code tells the output voltage. The
input voltage must be at least 3V greater than regulator output voltage to otherwise
the regulator does not work well.

5.6.2 SOIL MOISTURE SENSOR

The soil moisture sensor is one kind of sensor used to gauge the volumetric
content of water within the soil. As the straight gravimetric dimension of soil
moisture needs eliminating, drying, as well as sample weighting.

These sensors measure the volumetric water content not directly with the
help of some other rules of soil like dielectric constant, electrical resistance,
otherwise interaction with neutrons, and replacement of the moisture content.
The relation among the calculated property as well as moisture of soil should
be adjusted & may change based on ecological factors like temperature, type of soil,
otherwise electric conductivity.

25
 The microwave emission which is reflected can be influenced by the moisture
of soil as well as mainly used in agriculture and remote sensing within hydrology.

5.6.3 SOIL MOISTURE SENSOR PIN CONFIGURATION

Fig:5.4 Soil Moisture Sensor

The FC-28 soil moisture sensor includes 4-pins

• VCC pin is used for power

• A0 pin is an analog output
• D0 pin is a digital output
• GND pin is a Ground

This module also includes a potentiometer that will fix the threshold value, &
the value can be evaluated by the comparator-LM393. The LED will turn on/off
based on the threshold value.

5.6.4 HOW THE SENSOR WORKS

The Soil Moisture Sensor uses capacitance to measure dielectric permittivity
of the surrounding medium. In soil, dielectric permittivity is a function of the water
content. The sensor creates a voltage proportional to the dielectric permittivity, and
therefore the water content of the soil.

26
 The sensor averages the water content over the entire length of the sensor.
There is a 2 cm zone of influence with respect to the flat surface of the sensor, but it
has little or no sensitivity at the extreme edges.

5.6.5 WORKING PRINCIPLE

This sensor mainly utilizes capacitance to gauge the water content of the
soil (dielectric permittivity). The working of this sensor can be done by inserting
this sensor into the earth and the status of the water content in the soil can be
reported in the form of a percent.This sensor makes it perfect to execute
experiments within science courses like environmental science, agricultural
science, biology, soil science, botany, and horticulture.

5.6.6 SPECIFICATIONS
• The required voltage for working is 5V
• The required current for working is <20mA
• Type of interface is analog
• The required working temperature of this sensor is 10°C~30°C

5.6.7 SOIL MOISTURE SENSOR APPLICATIONS

• Agriculture
• Landscape irrigation
• Research
• Simple sensors for gardeners

5.7 DC MOTOR

27
 A DC motor is any of a class of rotary electrical machines that converts direct
current electrical energy into mechanical energy. The most common types rely on
the forces produced by magnetic fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or electronic, to periodically change
the direction of current flow in part of the motor.

DC motors were the first type widely used, since they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed can
be controlled over a wide range, using either a variable supply voltage or by
changing the strength of current in its field windings. Small DC motors are used in
tools, toys, and appliances. The universal motor can operate on direct current but is
a lightweight brushed motor used for portable power tools and appliances. Larger
DC motors are used in propulsion of electric vehicles, elevator and hoists, or in
drives for steel rolling mills. The advent of power electronics has made replacement
of DC motors with AC motors possible in many applications.

5.7.1 WORKING
The DC motor is a machine that transforms electric energy into mechanical
energy in form of rotation. Its movement is produced by the physical behaviour of
electromagnetism. DC motors have inductors inside, which produce the magnetic
field used to generate movement. But how does this magnetic field changes if DC
current is being used

28
 Fig:5.5 Electro Magnet
An electromagnet, which is a piece of iron wrapped with a wire coil that has
voltage applied in its terminals. If two fixed magnets are added in both sides of
this electromagnet, the repulsive and attractive forces will produce a torque.

Fig:5.6 Electromagnetic Field Rotation

Then, there are two problems to solve: feeding the current to the rotating
electromagnet without the wires getting twisted, and changing the direction of
the current at the appropriate time. Both of these problems are solved using two
devices: a split-ring commutator, and a pair of brushes.

Fig:5.7 Electromagnetic Field Stop

As it can be seen, the commutator has two segments which are connected to
each terminal of the electromagnet, besides the two arrows are the brushes which
apply electric current to the rotary electromagnet. In real DC motors it can be
found three slots instead of two and two brushes.

29
 Fig:5.8 DC Motor
This way, as the electromagnet is moving its polarity is changing and the shaft
may keep rotating. Even if it is simple and sounds that it will work great there are
some issues which make these motors energy inefficient and mechanically
unstable, the principal problem is due to the timing between each polarity
inversion. Since polarity in the electromagnet is changed mechanically, at some
velocities polarity is changing too soon, which result in reverse impulses and
sometimes in changing too late, generating instantaneous “stops” in rotation.
Whatever the case, these issues produce current peaks and mechanical instability.

5.7.2 CONTROL OF DC MOTOR

DC motors have only two terminals. If you apply a voltage to these terminals the
motor will run, if you invert the terminals position the motor will change its
direction. If the motor is running and you suddenly disconnect both terminals the
motor will keep rotating but slowing down until stopping. Finally, if the motor is
running and you suddenly short-circuit both terminals the motor will stop. So, there

30
is not a third wire to control a DC motor, but knowing the previous behaviours it can
be designed a way to control it, and the solution is an H-bridge.

Fig:5.9 Evolution of DC Motor

Look at the last evolution of the DC Motor above, you can observe that there
are four gates and a motor connected between them. This is the simplest H-
bridge, where the four gates represent for transistors. By manipulating these gates
and connecting the upper and lower terminals to a voltage supply, you can control
the motor in all the behaviours as below.

Fig:5.10 Working of DC Motor

5.7.3 MAIN TYPES OF DC MOTORS

Understanding the different types of DC motors will also help you

understand how they’re used for different applications, and which type may apply
to your application.There are 4 main types of DC motors:

5.7.3.1 PERMANENT MAGNET DC MOTORS

31
 The permanent magnet motor uses a permanent magnet to create field flux.
This type of DC motor provides great starting torque and has good speed regulation,
but torque is limited so they are typically found on low horsepower applications.
5.7.3.2 SERIES DC MOTORS
In a series DC motor, the field is wound with a few turns of a large wire
carrying the full armature current. Typically, series DC motors create a large amount
of starting torque, but cannot regulate speed and can even be damaged by running
with no load. These limitations mean that they are not a good option for variable
speed drive applications.
5.7.3.3. SHUNT DC MOTORS
In shunt DC motors the field is connected in parallel (shunt) with the armature
windings. These motors offer great speed regulation due to the fact that the shunt
field can be excited separately from the armature windings, which also offers
simplified reversing controls.

5.7.3.4 COMPOUND DC MOTORS

Compound DC motors, like shunt DC motors, have a separately excited shunt
field. Compound DC motors have good starting torque but may experience control
problems in variable speed drive applications.

32
 CHAPTER 6
SOFTWART REQUIREMENTS DETAILS
6.1 EMBEDDED C
Embedded C is most popular programming language in software field for
developing electronic gadgets. Each processor used in electronic system is
associated with embedded software.

Embedded C programming plays a key role in performing specific function

by the processor. In day-to-day life we used many electronic devices such as mobile
phone, washing machine, digital camera, etc. These all-device working is based on
micro controller that are programmed by embedded C.

Fig 6.1 Block diagram of Embedded C

33
 The Embedded C code written in above block diagram is used for blinking the
LED connected with Port0 of micro controller.In embedded system programming C
code is preferred over other language. Due to the following reasons:

• Easy to understand

• High Reliability

• Portability

• Scalability

Function is a collection of statements that is used for performing a specific

task and a collection of one or more functions is called a programming language.

Most consumers are familiar with application software that provide

functionality on a computer. Embedded software however is often less visible, but
no less complicated. Unlike application software, embedded software has fixed
hardware requirements and capabilities, and addition of third-party hardware or
software is strictly controlled.
Embedded software needs to include all needed device drivers at
manufacturing time, and the device drivers are written for the specific hardware. The
software is highly dependent on the CPU and specific chips chosen. Most embedded
software engineers have at least a passing knowledge of reading schematics, and
reading data sheets for components to determine usage of registers and
communication system. Conversion between decimal, hexadecimal and binary is
useful as well as using bit manipulation.

Web applications are rarely used, although XML files and other output may
be passed to a computer for display. File systems with folders are typically absent as
are SQL databases.

34
 Software development requires use of a cross compiler, which runs on a
computer but produces executable code for the target device. Debugging requires
use of an in-circuit emulator, JTAG or SWD. Software developers often have access
to the complete kernel (OS) source code.
Size of the storage memory and RAM can vary significantly. Some systems
run in 16 KB of Flash and 4 KB of RAM with a CPU operating at 8 MHz, other
systems can rival contemporary computers.[8] These space requirements lead to
more work being done in C or embedded C++, instead of C++. Interpreted languages
like BASIC (while e.g. Parallax Propeller can use compiled BASIC) and Java (Java
ME Embedded 8.3[9] is available for e.g. ARM Cortex-M4, Cortex-M7 micro
controllers and older ARM11used in Raspberry Pi and Intel Galileo Gen. 2) are not
commonly used; while an implementation of the interpreted Python 3
language – Micro Python – is however available expressly for micro controller use,
e.g. 32-bit ARM-based (such as BBC micro: bit) and 16-bit PIC micro controllers.

Communications between processors and between one processor and other

components are essential. Besides direct memory addressing, common protocols
include I²C, SPI, serial ports, and USB. Communications protocols designed for use
in embedded systems are available as closed source from companies
including InterNiche Technologies and CMX Systems. Open-source protocols stem
from uIP, lwip, and others. This program explains how to use structure within
structure in C using normal variable. “College detail’ structure is declared inside
“student detail” structure in this program. Both structure variables Please note that
members of “student_college_detail” structure are accessed by 2 dots(.) operator
and members of “student are normal structure variables.

35
 Fig 6.2 Embedded C program with examples

A Keyword is a special word with a special meaning to the compiler (a C

Compiler for example, is a software that is used to convert program written in C to
Machine Code). For example, if we take the Kiel's Cx51 Compiler (a popular C
Compiler for 8051 based Micro controllers) the following are some of the keywords:

• bit

• sbit

• sfr

• small

• large

These are few of the many keywords associated with the Cx51 C Compiler along
with the standard C Keywords.

36
6.2 ARDUINO IDE
Arduino is an open-source platform used for building electronics projects.
Arduino consists of both a physical programmable circuit board (often referred to as
a microcontroller) and a piece of software, or IDE (Integrated Development
Environment) that runs on your computer, used to write and upload computer code
to the physical board.

The Arduino platform has become quite popular with people just starting out
with electronics, and for good reason. Unlike most previous programmable circuit
boards, the Arduino does not need a separate piece of hardware (called a
programmer) in order to load new code onto the board – you can simply use a USB
cable. Additionally, the Arduino IDE uses a simplified version of C++, making it
easier to learn to program. Finally, Arduino provides a standard form factor that
breaks out the functions of the micro-controller into a more accessible package.

The Arduino hardware and software were designed for artists, designers,
hobbyists, hackers, newbies, and anyone interested in creating interactive objects or
environments. Arduino can interact with buttons, LEDs, motors, speakers, GPS
units, cameras, the internet, and even your smart-phone or your TV! This flexibility
combined with the fact that the Arduino software is free, the hardware boards are
pretty cheap, and both the software and hardware are easy to learn has led to a large
community of users who have contributed code and released instructions for
a huge variety of Arduino-based projects

There are many varieties of Arduino boards (explained on the next page) that
can be used for different purposes. Some boards look a bit different from the one
below, but most Arduinos have the majority of these components in common.

37
 Fig 6.3 Arduino IDE Diagram
Programs written using Arduino Software (IDE) are called sketches. These
sketches are written in the text editor and are saved with the file extension.ino. The
editor has features for cutting/pasting and for searching/replacing text. The message
area gives feedback while saving and exporting and also displays errors. The console
displays text output by the Arduino Software (IDE), including complete error
messages and other information. The bottom righthand corner of the window
displays the configured board and serial port. The toolbar buttons allow you to verify
and upload programs, create, open, and save sketches, and open the serial monitor.
The Arduino IDE is incredibly minimalistic, yet it provides a near-complete
environment for most Arduino-based projects. The top menu bar has the standard
options, including “File” (new, load save, etc.), “Edit” (font, copy, paste, etc.),
“Sketch” (for compiling and programming), “Tools” (useful options for testing
projects), and “Help”. The middle section of the IDE is a simple text editor that
where you can enter the program code. The bottom section of the IDE is dedicated
to an output window that is used to see the status of the compilation, how much
memory has been used, any errors that were found in the program, and various other
useful messages.

38
 Projects made using the Arduino are called sketches, and such sketches are
usually written in a cut-down version of C++ (a number of C++ features are not
included). Because programming a microcontroller is somewhat different from
programming a computer, there are a number of device-specific libraries (e.g.,
changing pin modes, output data on pins, reading analog values, and timers). This
sometimes confuses users who think Arduino is programmed in an “Arduino
language.” However, the Arduino is, in fact, programmed in C++. It just uses unique
libraries for the device.

Fig 6.4 Arduino IDE Software diagram

The Arduino IDE supports the languages C and C++ using special rules of
code structuring. The Arduino IDE supplies a software library from
the Wiring project, which provides many common input and output procedures.

39
User-written code only requires two basic functions, for starting the sketch and the
main program loop, that are compiled and linked with a program stub main() into an
executable cyclic executive program with the GNU toolchain, also included with the
IDE distribution. The Arduino IDE employs the program avrdude to convert the
executable code into a text file in hexadecimal encoding that is loaded into the
Arduino board by a loader program in the board's firmware.

6.3 ADVANTAGES

• Reduces the number of labours require for agricultural activity.

• Due its quick action time will be saved.
• Agribot can able to work in any environmental condition.
• The robots can work without sleep so they can work 24/7/365.
• Protection against harmful effects of chemicals

40
 CHAPTER 7

RESULTS AND DESCISSION

41
 CHAPTER 8

CONCLUSION AND FUTURE ENHANCEMENTS

In agriculture, the opportunities for robot-enhanced productivity are immense

and the robots are appearing on farms in various guises and in increasing numbers.
The other problem associated with autonomous farm equipment can probably be
overcome with technology. This equipment may be in our future, but there are
important reasons for thinking that it may not be just replacing the human driver
with a computer. It may mean a rethinking of how crop production is done. Robots
can improve the quality of our lives but there are downsides. The robot performs the
tasks like digging the ground, sowing the seeds and backfilling the soil automatically
in a sequence without human intervention. Thus, an effort is made so that the robot
becomes an aid to the farmers. The design is accepted and unique compared to the
existing robots. This study therefore concludes that if we use Smart phone operated
advanced irrigation vehicle, it will solve many issues related to excessive man power
and heavy ploughing machines. The present situation in our country all the
agricultural machine is working on manual operation otherwise by petrol engine or
tractor is expensive, farmer can’t work for long time manually to avoid this problem,
we need to have some kind of power source system to operate the digging machine.

8.1 FUTURE WORK

The robots have potential for multitasking, sensory acuity, operational

consistency as well as suitability to odd operating conditions. The study on

42
agricultural robotic system had been done using model structure design mingled with
different precision farming machineries. Few prototypes were designed by European
Union named CROPS, USA-ISAAC2 & Michigan_x0002_Hortibot, Australia-
AgBot, Finland-Demeter, India-Agribot and many other countries. The agricultural
robots are designed using different localization techniques which are vision, GPS,
laser and sensor-based navigation control system. comparative study including an
overview of Robotics approach for precision Agriculture in India and worldwide
development is explored.

43
Appendix1:Coding
String i;
#define soil A0
#define ir 2
#define motor 8
int revleft4 = 4;
int fwdleft5 = 5;
int revright6 = 6;
int fwdright7 = 7;
void setup() {
Serial.begin(9600);
pinMode(soil,INPUT);
pinMode(ir,INPUT);
pinMode(motor,OUTPUT);
pinMode(revleft4, OUTPUT); // set Motor pins as output
pinMode(fwdleft5, OUTPUT);
pinMode(revright6, OUTPUT);
pinMode(fwdright7, OUTPUT);
digitalWrite(motor,LOW);

44
void loop() {
while(Serial.available()>0)
{
i=Serial.readString();
Serial.println(i);
}
int b = analogRead(soil);
b =map(b,0,1024,0,100);
Serial.println(b);
int c = digitalRead(ir);
Serial.println(c);

if (i=="2")
{
digitalWrite(fwdright7, HIGH);
digitalWrite(revright6, LOW);
digitalWrite(fwdleft5, HIGH);
digitalWrite(revleft4, LOW);
}
if (i=="3")
{
digitalWrite(fwdright7, LOW);

45
 digitalWrite(revright6, HIGH);
digitalWrite(fwdleft5, LOW);
digitalWrite(revleft4, HIGH);
}
}

46
Appendix2:Acceptence Conference Paper

A1: Conference Paper

47
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