1

INTRODUCTION

2

INTRODUCTION

Conventionally Wireless-controlled Robots use RF circuits, which have

limited working range, limited frequency range and 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 area of the service

provider, no interference with other controllers.

Although the appearance and capabilities of robot vary vastly, all robots

share 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 performed using motors

or with some other actuators.

The project consists of a set of GSM [1] equipment, GSM Mobile Handset

and GSM Mobile Infrastructure. Here the GSM network is internally connected to

the public telephone communication network like PSTN.Through a mobile handset

we can dial the assigned number for that particular Robotic Vehicle and after the

reception of acknowledgement signal; we can send the Control Signals in the form

of DTMF [3] codes via handset. Here each DTMF tone resembles a specific

activity of the Robotic Vehicle and accordingly the Robotic Vehicle generates the

actions. These actions can be either movement of the Robotic Vehicle or some

actions like Pick and Place in the Robotic Structure.

3

LITERATURE

REVIEW

4

LITERATURE REVIEW

Robotics is an interesting field where every engineer can showcase his

creative and technical skills.

Radio control (often abbreviated to R/C or simply RC) is the use of radio signals to

remotely control a device. The term is used frequently to refer to the control of

model vehicles from a hand-held radio transmitter. Industrial, military, and

scientific research organizations make [traffic] use of radio-controlled vehicles as

well.

A remote control vehicle is defined as any mobile device that is controlled

by a means that does not restrict its motion with an origin external to the device.

This is often a radio control device, cable between control and vehicle, or an

infrared controller. A remote control vehicle (Also called as RCV) differs from a

robot in that the RCV is always controlled by a human and takes no positive action

autonomously. One of the key technologies which underpin this field is that of

remote vehicle control. It is vital that a vehicle should be capable of proceeding

accurately to a target area; maneuvering within that area to fulfill its mission and

returning equally accurately and safely to base. Recently, Sony Ericsson released a

remote control car that could be controlled by any Bluetooth cell phone. Radio is

the most popular because it does not require the vehicle to be limited by the length

of the cable or in a direct line of sight with the controller (as with the infrared

Set-up). Bluetooth is still too expensive and short range to be

Commercially viable. We control robot anywhere of world where mobile network

is possible. And watch our robot through use 3g technology video conferencing.

HISTORY OF REMOTE CONTROLLED VEHICLES:

The First Remote Control Vehicle:

Precision Guided Weapon: This propeller-driven radio controlled boat, Built

by Nikola Tesla in 1898, is the original prototype of all modern-day uninhabited

aerial vehicles and precision guided weapons. In fact, all remotely operated

vehicles in air, land or sea. Powered by lead-acid batteries and an electric drive

motor, the vessel was designed to be maneuvered alongside a target using

instructions received from a wireless remote control transmitter. Once in position,

a command would be sent to detonate an explosive charge contained within the

boat‘s forward compartment. The weapons guidance system incorporated a secure

Communications link between the pilot‘s controller and the surface running

torpedo in an effort to assure that control could be maintained

Even in the presence of electronic countermeasures. To learn more about Tesla!s

system for secure wireless communications and his pioneering imp lamentation of

the electronic logic-gate circuit read ‗Nikola Tesla — Guided Weapons &

5

Computer Technology‘, Tesla Presents Series Part 3, with commentary by Leland

Anderson.

Use of Remote Controlled Vehicles during World War II [7]:

During World War II in the Europe an Theater the U.S. Air Force

experimented with three basic forms radio control guided weapons. In each case,

the weapon would be directed to its target by a crew member on a control plane.

The first weapon was essentially a standard bomb fitted with steering controls. The

next evolution involved the fitting of a bomb to a glider airframe, one version, the

GB-4 having a TV camera to assist the controller with targeting. The third class of

guided weapon was the remote controlled B-17. Its known that Germany deployed

a number of more advanced guided strike weapons that saw combat before either

the V-1 or V-2. They were the radio-controlled Herschel‘s Hs 293A and

Ruhrstahl!s SD1400X, known as ‘Fritz X,‘ both air-launched, primarily against

ships at sea.

The beginnings of model racing

Small, nitro methane-powered engines originally entered the market in the 1940s.

At the time with the ability for precise control in a similar manner as with a

sandbox

Early commercial products

Several early commercially viable RC cars were available by mid-1960, produced

by the Italian company El-Gi (Electronic Giocattoli) from Reggio Emilia. Their

first model, a 1:12 Ferrari 250LM was available in the UK in December 1966,

through importers Motor Books and Accessories, St. Martins, London, and early in

1967 through Atkinson's model shop in Swansea. This model was followed by El-

Gi's 1:10 Ferrari P4, first shown at the Milan Toy Fair in early 1968.

In the mid-late 60s a British company, Mardave, based in Leicester, began to

produce commercially viable RC Cars. Their first cars were nitro- or gas-powered

cars sold in the local area in the early 70s.

In the early 70s several commercial products were created by small firms in the

US. Most of these companies began as slot car companies and with the wane in

popularity of that genre moved into the R/C field. Among these were Associated

Electrics, Thorp, Dynamic, Taurus, Delta, and Scorpion. These early kits were 1/8

scale nitro-powered (then called gas) aluminum flat pan cars powered by a .21 or

6

smaller engine. The bodies for these cars were made of polycarbonate (the most

popular made of Lexan). The most popular engine was the K&B Veco McCoy.

The primary sanctioning body for races for these cars was Remotely Operated

Auto Racers (ROAR). In 1973-74, Jerobee, a company based in Washington State,

created their 1/12 nitro car using a Cox .049 engine. Several aftermarket

companies created parts for this car including clear Lexan bodies, heat sinks, and

larger fuel tanks. This scale evolved into 1/12 scale electric racing when

Associated Electrics created the RC12E in 1976-77. Jerobee became Jomac and

created their own electric kit.

By the late 1970s, interests in 1/12 scale electric racing began to grow as 1/8 scale

IC racers, the sole racing category at the time, needing to race throughout the

winter as an alternative to their impractical IC cars began to race 1/12 cars,

therefore a winter national series was developed. As a result, the series grew into

popularity as a large number of scratchbuilt cars started to appear in these

meetings.[1]

In 1976, the Japanese firm Tamiya, which was renowned for their

intricately detailed plastic model kits, released a series of elegant and highly

detailed, but mechanically simple electric on-road car models that were sold as

"suitable for radio control". Although rather expensive to purchase, the kits and

radio systems sold rapidly. Tamiya soon began to produce more purpose-built

remote-controlled model cars, and were the first to release off-road buggies

featuring real suspension systems. It was this progression toward the off-road class

that brought about much of the hobby's popularity, as it meant radio-controlled cars

were no longer restricted to bitumen and smooth surfaces, but could be driven

virtually anywhere. The first true Tamiya off road vehicles were the Sand Scorcher

and the Rough Rider, both released in 1979, and both based on realistic dune

buggy designs. Tamiya continued to produce off road vehicles in increasing

numbers, featuring working suspensions, more powerful motors, textured off-road

rubber tires and various stylized "dune buggy" bodies. They also produced trucks,

such as the Toyota HiLux Pickup, that featured realistic 3 speed gearboxes and

leaf-spring suspension systems. All of these models were realistic, durable, easy to

assemble, capable of being modified, and simple to repair. They were so popular

that they could be credited with launching a boom in radio-controlled model cars in

the early to mid 1980s, and provided the basis for today's radio-controlled car

market. Popular Tamiya models included the Grasshopper and the Hornet dune

buggies as well as the Blackfoot and Clod buster monster truck models. The

earliest Tamiya models, particularly the early off roaders, are now highly sought

after by vintage R/C collectors and can fetch prices of up to US$3000 on internet

auction sites if still in mint, unbuilt form. Acknowledging their continued

7

popularity, several of the early kits have even been re-released by Tamiya during

2005–2007, with a few alterations. Also they are fun to play with.

A British firm, Schumacher Racing, was the first to develop an adjustable ball

differential in 1980, which allowed nearly infinite tuning for various track

conditions. At the time the majority of on-road cars had a solid axle, while off-road

cars generally had a gear-type differential. Team Associated followed suit with the

introduction of the RC100 1/8 scale gas on-road car, RC12 1/12 scale on-road

electric car, and RC10 1/10 scale off-road electric racing buggy in 1984 (see

below). Team Losi followed with the introduction of the JRX2 in 1988.

The successful RC Racing car, 'Schumacher S.S.T.2000' The image shows the car

without body kit or battery pack installed to allow for a clearer view.

Modified 1/8 scale buggy with upper body removed

In 1984, Associated Electrics, Inc. of Costa Mesa, California introduced the RC10

off-road electric racer; this model was a departure from Associated Electrics'

regular line of nitro methane-powered on-road race cars. Designed as a high-grade

radio controlled car, the chassis of the RC10 buggy was manufactured from

anodized, aircraft-grade aluminum alloy. The shock absorbers were machined, oil-

filled and completely tunable; they were also produced from the same aluminum

alloy. Suspension control arms were manufactured from high-impact nylon, as

were the three-piece wheels.

Optional metal shielded ball bearings were sometimes incorporated in RC10

wheels and transmissions. The RC10 transmission contained an innovative

differential featuring hardened steel rings pressed against balls - which made it

8

almost infinitely adjustable for any track condition. The RC10 quickly became the

dominant model in electric off-road racing.

In 1986, Schumacher Racing Products released their CAT (Competition All

Terrain) vehicle, widely considered the best four wheel drive off-road "buggy"

racer of the time. The CAT went on to win the 1987 off-road world championship.

This car is credited for sparking an interest in four-wheel-drive electric off-road

racing.

Gil Losi Jr., whose family ran the "Ranch Pit Shop R/C" racetrack in Pomona,

California, turned his college studies toward engineering, primarily in the field of

injection molded plastics, leading to his foundation of Team Losi. When the JRX-

2, the first Team Losi buggy, was released, it initiated a rivalry with Team

Associated that continues to this day. Team Losi went on to secure a number of

achievements, which included the industry's first all-natural rubber tires, the first

American-made four-wheel-drive racing buggy, and an entirely new class of cars,

the 1/18-scale Mini-T off-road electrics.

Although Losi and Associated seemed to dominate much of the American market,

Traxxas, (another American company, famous for the T-MAXX and the REVO

3.3), and Kyosho (from Japan), were also making competitive two-wheel-drive off-

road racing models. Although Losi and Associated were close rivals in the USA,

Schumacher off-road models continued to be popular amongst European hobbyists.

Electric and nitro cars have come a long way in terms of power. Electric cars have

gone from non-rebuildable brushed motors and ni-cad batteries to brushless motors

and LiPo. Nitro cars have gone from small engines to huge .36-.80 engines that are

used in big monster trucks.

9

PROBLEM

DEFINITION

10

PROBLEM DEFINITION

The objective of our project, is to control the robot by a mobile phone (as

transmitter) that makes call to the mobile phone (as receiver) attached to the robot.

Now after answering the call, and 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 16F72 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 pre-programmed 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 signalling is used for telephone signalling over the line in the voice

frequency band to the call switching centre. The version of DTMF used for

telephone dialling 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 1336 Hz and

770 Hz to the other end of the mobile. Conventionally Wireless-controlled Robots

use RF circuits, which have limited working range, limited frequency range and

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 area of the service provider, no interference with other controllers.

Although the appearance and capabilities of robot vary vastly, all robots

share 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 performed using motors

or with some other actuators.

11

ANALYSIS

12

A) Block Diagram

ULTRASONIC

SENSOR

Buzzer

13

TRANSMITTER SECTION DTMF stands for Dual Tone Multiple Frequency. This DTMF [tone is basically

generated by mobile equipment which is providing control information to the

Automobile unit. This DTMF tone is transmitted by GSM network.

RECEIVER SECTION GSM [1] UNIT

This GSM unit is used to receive the DTMF tone via GSM network. This DTMF

tone is obtained at the audio output of the GSM unit.

DTMF TO BINARY CONVERTER This section converts the DTMF signal into specific binary number. The IC used as

DTMF to BINARY CONVERTER is IC CM8870.This binary number is the input

for the Microcontroller [2,4].

MICROCONTROLLER Microcontroller accepts the data in the binary form and it process on this. It sends

its command to the motor driver [5] section. The IC used is p89v51rd2.

MOTOR DRIVER This takes information from microcontroller and drives the motor. Since

microcontroller is a low current device, motor driver is used to drive the motor

using its inbuilt H-bridge. It is used to drive to motors. IC L293D is used as motor

drivers L293D have two H-bridges. It means that it can drive two motors

MOTOR We use four DC motors to indicate the motion of the automobile unit. These

motors are DC geared motors with 150 rpm and 0.5 kg/cm torque. Tires are

attached to the shaft of the motors

ULTRASONIC SENSOR An ultrasonic sensor is employed in order to detect the obstacle in the automobile‘s

path. When the obstacle is detected the automobile will be halted immediately

along with the buzzer beeping. This helps driver to take appropriate action

14

B) Kiel C v.3 and Flash magic [4]

Step 1: Interfaces Offered by Keil IDE

After clicking on the above shown shortcut the following steps should be carried

out. The first blank window will appear as shown in Figure 2.1. You will be

working with three windows presented by the Keil IDE.

The first is target toward the extreme left of the screen which is blank at the

moment, but will be updated as you go on working with the project. The source

file, register header file, and the target microcontroller chosen are displayed here.

The bookmarks for the user such as data sheet, user guides, library functions, etc.

forms a ready reckoner for the developer. The program window which occupies

most of the size of your screen displays the source code in C. At the lowermost end

of the screen, an output window is presented which gives information regarding the

errors and other output messages during the program compilation. Open a new text

file for writing your source code. This file has to be

Saved with .c extension. This source code file will be ultimately added

into your project to be opened as per step 2. The addition should be done as per the

instructions given in step 5.

15

Step 2: Opening a New Project

Here you can give a meaningful name for your project. After saving it will create a

folder which will store your device information and source code, register contents,

etc. Figure 2.2 shows a project opened with a name trial.

Step 3: Selecting a Device for the Target

After completing step 2, Keil will give an alert to select the device. The μVision 2

supports 45 manufacturers and their derivatives. In the exercise given in this book

we have selected Atmel‘s 89S52 microcontroller as a target.

Step 4: Copying Startup Code to Your Project

The ―startup.a51‖ will be added automatically to your project from the Keil library

―c:\keil\c51\lib‖ to [c:\keil\c51\EXAMPLES\HELLO\

C trial\STARTUP.A51].

Figure 2.2 Opening a new project

16

24 Development Flow for the Keil IDE

Step 5: Adding Your Program Source Code

To accomplish this, follow the steps: Right click ―source group 1‖ followed by

Choose ―Add Files to Group ‗Source Group 1‘ ‖

17

Set ―Files of type‖ to ―All files (∗.∗)‖

Select ―Startup.a51‖

Observe the files getting updated in the target window. You will have to double-

click on the C source file name displayed in the target window to view it.

Step 6: Configuring and Building the Target

Right click on target 1 in the target window, select the option for target 1, a

window to choose the options for the target will be displayed. Here you can choose

the microcontroller frequency, listing of files, output in hex, debug information,

etc.

The important point here is choosing the appropriate memory model.

Integrated Development Environment 25

As per the on-line Keil IDE manual [28] C51 currently supports the following

memory configurations:

ROM: currently the largest single object file that can be produced is 64 K, although

up to 1MB can be supported with the BANKED model described below.

All compiler output to be directed to EPROM/ROM, constants, look-up tables,

etc., should be declared as ―code‖.

RAM: There are three memory models, SMALL, COMPACT, and LARGE

18

SMALL: all variables and parameter-passing segments will be placed in the 8051‘s

internal memory.

COMPACT: variables are stored in paged memory addressed by ports 0 and 2.

Indirect addressing opcodes are used. On-chip registers are still used for locals and

parameters.

LARGE: variables etc. are placed in external memory addressed by @DPTR. On-

chip registers are still used for locals and parameters.

26 Development Flow for the Keil IDE

Table 2.1 Choosing the best memory model for your C51 program

19

BANKED: Code can occupy up to 1 MB by using either CPU port pins or

memory-mapped latches to page memory above 0×FFFF. Within each 64 KB

memory block a COMMON area must be set aside for C library code. Inter-bank

function calls are possible.

20

Step 7: Compile Your Program by Pressing F7

Either press F7 or click on build target in the target window to compile your

program. The output window will show the errors or warnings if any. You can also

see the size of data, code, and external data, which is of immense importance since

your on-chip memory is limited.

Step 8: Working in Simulated Mode

Once the program is successfully compiled, you can verify its functionality in the

simulated mode by activating the debug window. For this press CTRL + F5 or go

to the menu option ―Debug‖ and select

―Start and Stop Debug Section‖. Press F11 for single stepping or F5 for execution

in one go. Go to the menu item ―Peripheral‖ and select the appropriate peripherals

to view the changes as the program starts executing. Terminating the debug session

is equally important. Click on ―stop running‖ or ESC key to halt the program

execution. You can make the changes to the program after coming out from the

debug session

by pressing start/stop debug session. Little iteration through the above-mentioned

process will make your program completely bug-free and save your time and other

resources on the actual hardware.

Step 9: Actual Dumping of the Code in Microcontroller‘s On-chip Memory There

are different mechanisms for this. Some programmers use readymade programmers

to program the microcontroller. If you are interested in purchasing one for your

project, the list is enclosed. Design of various programmers has also been given at

Wichita Spirochete‘s webpage at http://www.kmitl.ac.th/∼kswichit%20/.

21

Flash Magic [4]

Introduction

NXP Semiconductors produce a range of Microcontrollers that feature both on-

chip Flash memory and the ability to be reprogrammed using In-System

Programming technology. Flash Magic is Windows software from the Embedded

Systems Academy that allows easy access to all the ISP features provided by the

devices. These features include:

· Erasing the Flash memory (individual blocks or the whole device)

· Programming the Flash memory

· Modifying the Boot Vector and Status Byte

· Reading Flash memory

· Performing a blank check on a section of Flash memory

· Reading the signature bytes

· Reading and writing the security bits

· Direct load of a new baud rate (high speed communications)

· Sending commands to place device in Boot loader mode

Flash Magic provides a clear and simple user interface to these features and more

as described in the following sections.

Under Windows, only one application may have access the COM Port at any one

time, preventing other applications from using the COM Port. Flash Magic only

obtains access to the selected COM Port when ISP operations are being performed.

This means that other applications that need to use the COM Port, such as

debugging tools, may be used while Flash Magic is loaded.

Minimum Requirements

· Windows NT/2000/XP/Vista

· Mouse

· COM Port or Ethernet interface

· 16Mb RAM

· 10Mb Disk Space

22

User Interface Tour

Main Window The following is a screenshot of the main Flash Magic window. The appearance

may differ slightly depending on the device selected.

The window is divided up into five sections. Work your way from section 1 to

section 5 to program a device using the most common functions. Each section is

described in detail in the following sections.

At the very bottom left of the window is an area where progress messages will be

displayed and at the very bottom right is where the progress bar is displayed. In

between the messages and the progress bar is a count of the number of times the

currently selected hex file has been programmed since it was last modified or

selected.

Menus

Section 1

11

Embedded Hints

Progress information Programmed count Progress bar

Section 2

23

Menus There are five menus, File, ISP, Options, Tools and Help. The File menu provides

access to loading and saving Hex Files, loading and saving settings files and

exiting the application. The ISP menu provides access to the less commonly used

ISP features.

The Options menu allows access to the advanced options and includes an item to

reset all options. The Tools menu provides features that support the operation and

use of Flash Magic. The Help menu contains items that link directly to useful web

pages and also open the Help

About window showing the version number.

The Loading and Saving of Hex Files and the other ISP features are described in

the following sections.

Tooltips Throughout the Flash Magic user interface extensive use has been made of tooltips.

These are small text boxes that appear when you place the pointer over something

and keep it still for a second or two.

Saving Options The options in the main window and the Advanced Options window are

automatically saved to the registry whenever Flash Magic is closed. This removes

the need for an explicit save operation. When Flash Magic is restarted the main

window and the Advanced Options window will appear as you left it, so you do

not have to repeatedly make the same selections every time you start the

application. If you wish to reset the options to the original defaults then choose

Reset from the Options

Five Step Programming For each step there is a corresponding section in the main window as described in

the User Interface Tour.

Step 1 – Connection Settings Before the device can be used the settings required to make a connection must be

specified.

24

COM Port Settings Select the desired COM port from the drop down list or type the desired COM port

directly into the box. If you enter the COM port yourself then you must enter it in

one of the following formats:

· COM n

· n

Any other format will generate an error. So if you want to use COM 5 (which is

not present on the drop down list) you can directly type in either ―COM 5‖ or ―5‖.

Select the baud rate to connect at. Try a low speed first. The maximum speed that

can be used depends on the crystal frequency on your hardware. You can try

connecting at higher and higher speeds until connections fail. Then you have found

the highest baud rate to connect at.

Alternatively, some devices support high speed communications. Please refer to

the High

Speed Communications section for information.

Select the device being used from the drop down list. Ensure you select the correct

one as different devices have different feature sets and different methods of setting

up the serial communications.

Select the interface being used, if any. An interface is a device that connects

between your PC and the target hardware. If you simply have a serial cable or USB

to serial cable connecting your COM port to the target hardware, then chooses

"None (ISP)". Correct interface will automatically configure Flash Magic for that

interface, along with enabling and disabling the relevant features.

Enter the oscillator frequency used on the hardware. Do not round the frequency,

instead enter it as precisely as possible. Some devices do not require the oscillator

frequency to be entered, so this field will not be displayed.

Once the options are set ensure the device is running the on-chip Bootloader if you

are using a manual ISP entry method.

Note that the connection settings affect all ISP features provided by Flash Magic.

25

Step 2 – Erasing This step is optional, however if you attempt to program the device without first

erasing at least one Flash block, then Flash Magic will warn you and ask you if you

are sure you want to program the device.

Select each Flash block that you wish to erase by clicking on its name. If you wish

to erase all the Flash then check that option. If you check to erase a Flash block

and all the Flash then the Flash block will not be individually erased. If you wish to

erase only the Flash blocks used by the hex file you are going to select, then check

that option.

For most devices erasing all the Flash also results in the Boot Vector and Status

Byte being set to default values, which ensure that the Boot loader will be executed

on reset, regardless of the state of the PSEN pin or other hardware requirements.

Only when programming a Hex File has been completed will the Status Byte be set

to 00H to allow the code to execute.

This is a safeguard against accidentally attempting to execute when the Flash is

erased.

On some devices erasing all the Flash will also erase the security bits. This will be

indicated by the text next to the Erase all Flash option. On some devices erasing all

the Flash will also erase the speed setting of the device (the number of clocks per

cycle) setting it back to the default. This will be indicated by the text next to the

Erase all Flash option.

Step 3 – Selecting the Hex File This step is optional. If you do not wish to program a Hex File then do not select

one.

26

You can either enter a path name in the text box or click on the Browse button to

select a Hex File by browsing to it.

Also you can choose Open… from the File menu.

Note that the Hex file is not loaded or cached in any way. This means that if the

Hex File is modified, you do not have to reselect it in Flash Magic. Every time the

Hex File is programmed it is first re-read from the location specified in the main

window.

The date the Hex file was last modified is shown in this section. This information

is updated whenever the hex file is modified. The hex file does not need to be

reselected.

Clicking on more info or choosing Information… from the File menu will display

additional information about the Hex file. The information includes the range of

Flash memory used by the Hex file, the number of bytes of Flash memory used and

the percentage of the currently selected device that will be filled by programming

the Hex file. If the device supports programming and execution from RAM, for

example the ARM devices, then the hex file may contain records for the RAM.

First the flash will be programmed followed by the RAM. Programs loaded into

RAM via a hex file may be executed using such features as the Go option. See

chapter 6 for more details.

Step 4 – Options Flash Magic provides various options that may be used after the Hex File has been

programmed.

This section is optional, however Verify After Programming, Fill Unused Flash

and Gen Block

Checksums may only be used if a Hex File is selected (and therefore being

programmed), as they all need to know either the Hex File contents or memory

locations used by the Hex File.

Checking the Verify after Programming option will result in the data contained in

the Hex File being read back from Flash and compared with the Hex File after

programming. This helps to ensure that the Hex File was correctly programmed. If

the device does not support verifying then this item will be disabled.

27

Checking the Fill Unused Flash option will result in every memory location not

used by the Hex File being programmed with the value that sets all the bits to a

programmed state.

Once a location has been programmed with this feature it cannot be reprogrammed

with any other value, preventing someone from programming the device with a

small program to read out the contents of Flash or altering the application‘s

operation.

Checking the Gen Block Checksums option will instruct Flash Magic to program

the highest location in every Flash block used by the Hex File with a special

―checksum adjuster value‖.

This value ensures that when a checksum is calculated for the whole Flash Block it

will equal 55H, providing the contents of the Flash block have not be altered or

corrupted.

Checking the Execute option will cause the downloaded firmware to be executed

automatically after the programming is complete. Note that this will not work if

using the Hardware Reset option or a device that does not support this feature.

Step 5 – Performing the Operations

Step 5 contains a Start button.

Clicking the Start button will result in all the selected operations in the main

window taking place. They will be in order:

· Erasing Flash

· Programming the Hex File

· Verifying the Hex File

· Filling Unused Flash

· Generating Checksums

· Programming the clocks bit

28

· Programming the Security Bits

· Executing the firmware

Once started progress information and a progress bar will be displayed at the

bottom of the main window. In addition the Start button will change to a cancel

button. Click on the cancel button to cancel the operation.

Note that if you cancel during erasing all the Flash, it may take a few seconds

before the operation is cancelled.

Once the operations have finished the progress information will briefly show the

message ―Finished…‖. The Programmed Count shown next to the progress bar

will increment. This shows the total number of times the hex file has been

programmed. Modifying the hex file or selecting another hex file will reset the

count. Alternatively, right-clicking over the count provides a menu with the option

to immediately reset the count.

29

C) Component List

PRODUCT SPECIFICATION PRICE QUANTITY TOTAL

IC 7805

VOLTAGE

REGULATOR 7 2 14

IC CM8870 DTMF ENCODER 25 1 25

IC L293D MOTOR DRIVER 60 1 60

IC P89V51RD2 MICROCONTROLLER 125 1 125

RESISTOR

RES 270 CFR 2 7 14

RES 51K MFR 2 1 2

RES 104K MFR 2 3 6

RES 100K MFR 2 1 2

CAPACITOR

CAP 104 CERAMIC 1 4 4

CAP 10MF/63v ELECTROLYTIC 2 4 8

CAP 1000MF/16v ELECTROLYTIC 5 1 5

CRYSTAL

CRYS 11.0592MHz MICRO 5 1 6

CRYS 3.5795MHz ENCODER 5 1 6

LEDS

RED

2 4 8

GREEN

2 1 2

BLUE

2 1 2

WHITE

2 1 2

MISCELLANEOUS

DC BATTERY 6V 150 1 150

DC GEARED MOTOR 150rpm 125 2 250

BREADBOARD

55 2 110

30

CLAMPS L 10 2 20

BODY

50 1 50

WHEELS

30 4 120

CONNECTING

WIRES 22 AWG 100 4 400

RED,BLUE GREEN

BLACK

IC BASE 40 PIN 4 1 4

IC PROGRAMMER PHILIPS 2500 1 2500

BUS STRIP

3 3 9

IC ZIFSOCKET 40 PIN 45 1 45

BATTERY PACK 6V 200 2 400

TRACK WHEELS 4 N0 25 2 100

TOTAL

4449

31

D) Data sheets

DATASHEETS [3, 6]

P89V51RD2

8-bit 80C51 5 V low power 64 kB Flash microcontroller [2, 4]

With 1 kB RAM

Rev. 01 — 01 March 2004 Product data

1. General description

The P89V51RD2 is an 80C51 microcontroller [2, 4] with 64 kB Flash and 1024

bytes of

Data RAM.

A key feature of the P89V51RD2 is its X2 mode option. The design engineer can

choose to run the application with the conventional 80C51 clock rate (12 clocks

per machine cycle) or select the X2 mode (6 clocks per machine cycle) to achieve

twice the throughput at the same clock frequency. Another way to benefit from this

feature is to keep the same performance by reducing the clock frequency by half,

thus dramatically reducing the EMI.

The Flash program memory supports both parallel programming and in serial In-

System Programming (ISP). Parallel programming mode offers gang-programming

at high speed, reducing programming costs and time to market. ISP allows a device

to be reprogrammed in the end product under software control. The capability to

field/update the application firmware makes a wide range of applications possible.

The P89V51RD2 is also In-Application Programmable (IAP), allowing the Flash

program memory to be reconfigured even while the application is running.

2. Features

80C51 Central Processing Unit

5 V Operating voltage from 0 to 40 MHz

64 kB of on-chip Flash program memory with ISP (In-System

Programming) and

IAP (In-Application Programming)

Supports 12-clock (default) or 6-clock mode selection via software or ISP

SPI (Serial Peripheral Interface) and enhanced UART

PCA (Programmable Counter Array) with PWM and Capture/Compare

functions

Four 8-bit I/O ports with three high-current Port 1 pins (16 mA each)

Three 16-bit timers/counters

Programmable Watchdog timer (WDT)

Eight interrupt sources with four priority levels

32

Second DPTR register

Low EMI mode (ALE inhibit)

TTL- and CMOS-compatible logic levels

Brown-out detection

Low power modes

Power-down mode with external interrupt wake-up

Idle mode

BLOCK DIAGRAM OF MICROCONTROLLER

HIGH PERFORMANCE

80C51 CPU

64 kB

CODE FLASH

1 kB

DATA RAM

PORT 3

OSCILLATOR

INTERNAL

BUS

CRYSTAL

OR

RESONATOR

002aaa506

UART

SPI

TIMER 2

PCA

PROGRAMMABLE

COUNTER ARRAY

TIMER 0

TIMER 1

WATCHDOG TIMER

PORT 2

PORT 1

PORT 0

33

PINNING INFORMATION

Power-on Reset

At initial power up, the port pins will be in a random state until the oscillator has

started and the internal reset algorithm has weakly pulled all pins HIGH. Powering

up the device without a valid reset could cause the MCU to start executing

instructions from an indeterminate location. Such undefined states may

inadvertently corrupt the code in the flash.

34

When power is applied to the device, the RST pin must be held HIGH long

enough for the oscillator to start up (usually several milliseconds for a low

frequency crystal), in addition to two machine cycles for a valid power-on reset.

An example of a method to extend the RST signal is to implement a RC circuit by

connecting the RST pin to VDD through a 10 mF capacitor and to VSS through an

8.2 kW resistor as shown in figure no 26

Note that if an RC circuit is being used, provisions should be made to ensure

the VDD rise time does not exceed 1 millisecond and the oscillator start-up time

does not exceed 10 milliseconds. For a low frequency oscillator with slow start-up

time the reset signal must be extended in order to account for the slow start-up

time. This method maintains the necessary relationship between VDD and RST to

avoid programming at an indeterminate location, which may cause corruption in

the code of the flash. The power-on detection is designed to work as power-up

initially, before the voltage reaches the brown-out detection level. The POF flag in

the PCON register is set to indicate an initial power-up condition. The POF flag

will remain active until cleared by software. Please refer to the PCON register

definition for detail information.

Following reset, the P89V51RD2 will either enter the Soft ICE mode (if

previously enabled via ISP command) or attempt to auto baud to the ISP boot

loader. If this auto baud is not successful within about 400 ms, the device will

begin execution of the user code 0

35

CALIFORNIA MICRO DEVICES CM8870/70C

215 Topaz Street, Milpitas, California 95035 Tel: (408) 263-3214 Fax: (408) 263-

7846 www.calmicro.com

CMOS Integrated DTMF Receiver

Features

• Full DTMF [3] receiver

• Less than 35mW power consumption

• Industrial temperature range

• Uses quartz crystal or ceramic resonators

• Adjustable acquisition and release times

• 18-pin DIP, 18-pin DIP EIAJ, 18-pin SOIC, 20-pinPLCC

• CM8870C

— Power down mode

— inhibit mode

— Buffered OSC3 output (PLCC package only)

• CM8870C is fully compatible with CM8870 for 18-pindevices by grounding pins

5 and 6

Product Description

The CAMD CM8870/70C provides full DTMF [3] receiver capability by

integrating both the band split filter and digital decoder functions into a single 18-

pin DIP, SOIC, or 20-pin PLCC package. The CM8870/70C is manufactured using

state-of-the-art CMOS process technology for low power consumption (35mW,

max.) and precise data handling. The filter section uses a switched capacitor

technique for both high and low group filters and dial tone rejection.

TheCM8870/70C decoder uses digital counting techniques for the detection and

decoding of all 16 DTMF [3] tone pairs into a4-bit code. This DTMF [3] receiver

minimizes external component count by providing an on-chip differential input

amplifier, clock generator, and a latched three-state interface bus. The on-chip

clock generator requires only a low cost TV crystal or ceramic resonator as an

external component.

36

PINNING INFORMATION

37

38

39

L293D

PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES

600mA OUTPUT CURRENT CAPABILITY

PER CHANNEL

1.2A PEAK OUTPUT CURRENT (non repetitive)

PER CHANNEL

ENABLE FACILITY

OVERTEMPERATUREPROTECTION

LOGICAL‖0‖ INPUT VOLTAGE UP TO 1.5 V

(HIGH NOISE IMMUNITY)

INTERNAL CLAMP DIODES

DESCRIPTION

The Device is a monolithic integrated high voltage, high current four channel

driver designed to

Accept standard DTL or TTL logic levels and drive inductive loads (such as relays

solenoides, DC and stepping motors) and switching power transistors. To simplify

use as two bridges each pair of channels is equipped with an enable input. A

separate supply input is provided for the logic, allowing operation at a lower

voltage and internal clamp diodes are included.

This device is suitable for use in switching applications at frequencies up to 5 kHz.

The L293D is assembled in a 16 lead plastic package which has 4 center pins

connected together and used for heat sinking

The L293DD is assembled in a 20 lead surface mount which has 8 center pins

connected together

And used for heat sinking.

June 1996

40

BLOCK DIAGRAM

ULTRASONIC SENSOR

GH-311Ultrasound Motion Sensor

The GH-311 ultrasonic Motion sensor provides precise, non-contact distance

measurements from about 2 cm (0.8 inches) to 3 meters (3.3 yards). It is very easy

41

to connect to microcontrollers such as the BASIC Stamp®, SX or Propeller chip,

requiring only one I/O pin.

The GH-311 sensor works by transmitting an ultrasonic (well above human

hearing range) burst and providing an output pulse that corresponds to the time

required for the burst echo to return to the sensor. By measuring the echo pulse

width, the distance to target can easily be calculated.

Module’s External Connection schematic

Pin Definitions:

• GND Ground (Vss),

• 5 V 5 VDC (Vdd)

• SIG Signal (I/O pin)

•

The GH-311 sensor has a male 3-pin header used to supply ground, power (+5

VDC) and signal. The header may be plugged into a directly into solder less

breadboard, or into a standard 3- wire extension cable

Communication Protocol

The GH-311 sensor detects objects by emitting a short ultrasonic burst and then

listening" for the echo. Under control of a host microcontroller (trigger pulse), the

sensor emits a short 40 kHz (ultrasonic) burst. This burst travels through the air,

hits an object and then bounces back to the sensor. The GH-311 sensor provides an

output pulse to the host that will terminate when the echo is detected, hence the

width of this pulse corresponds to the distance to the target.

Practical Considerations for Use, (Object Positioning)

The GH-311 sensor cannot accurately measure the distance to an object that: a) is

more than 3 meters away, b) that has its reflective surface at a shallow angle so that

sound will not be reflected back towards the sensor, or c) is too small to reflect

42

enough sound back to the sensor. In addition, if your GH-311 is mounted low on

your device, you may detect sound reflecting off of the floor.

Target Object Material

In addition, objects that absorb sound or have a soft or irregular surface, such as a

stuffed animal, may not reflect enough sound to be detected accurately. The GH-

311 sensor will detect the surface of water, however it is not rated for outdoor use

or continual use in a wet environment. Condensation on itstransducers may affect

performance and lifespan of the device.

Range of Application:

Used to detect the move of human or object. Suitable for indoor and outdoor

burglar-proof application, vehicle burglar-proof application, ATM surveillance

camera, warehouse surveillance camera, and safety warning applications in

dangerous site where high voltage and high temperature exist.

Product Features:

1 High Sensitivity, Reliability and Stability

2 Extreme-Temp resistant, moisture proof, shock & vibration-proof, etc.

Main Technical Specifications

1 Power Voltage: DC 6-12V

2 Quiescent current: Less than ２ｍＡ

3 output Level: High 5V

4 output Level: Low 0V

5 Sensing Angle: no greater than 15°

6 Sensing distance: 2mm-3m

43

IMPLEMENTATION

AND RESULTS

44

A) Circuit Diagram

45

NO

NO

NO

YES

YES

START

ENTER PASSWORD

IS

PASSWOR

D

CORRECT?

GET INPUT

ENTER PASSWORD

PERFORM TASK

IS

OBSTACLE

DETECTED?

STOP

ENTER PASSWORD

GET INPUT

ENTER PASSWORD

PERFORM TASK

ENTER PASSWORD

IS

PASSWOR

D

CORRECT?

STOP

YES

B) Flow chart

46

GUIDELINES TO REMEMBER:

1. In order to control the automobile, you have to make a call to the cell phone

attached to the automobile from any phone.

2. Turn on the loud speaker.

3. Now the phone is picked by the phone on the automobile through auto

answer mode (which is in the phone, just enable it).

4. Enter the password.

5. If the password is confirmed then follow next steps.

6. now when you press 2 the robot will move forward

7. when you press 4 the robot will move left

8. when you press 8 the robot will move backwards

9. when you press 6 the robot will move right

10. When you press 5 the robot will stop.

47

MORPHOLOGY

TOP VIEW

FRONT VIEW

48

SIDE VIEW

REAR VIEW

49

C) Technology Used (DTMF Signaling)

Dual-Tone Multi-Frequency (DTMF) Dual-tone multi-frequency (DTMF)

signaling is used for telecommunication signaling over analog telephone lines in

the voice frequency band between telephone handsets and other communications

Devices and the switching center. The version of DTMF used for telephone tone

dialing is known by the trademarked term Touch-Tone (canceled March 13, 1984),

and is standardized by ITU-T Recommendation Q.23. It is also known in the UK

as MF4. Other multi-frequency systems are used for signaling internal to the

telephone network. As a method of in-band signaling, DTMF tones were also used

My cable television broadcasters to indicate the start and stop times of local

commercial insertion points during station breaks for the benefit of cable

companies. Until better out-of -band signaling equipment was developed in the

1990s, fast, unacknowledged, and loud DTMF tone sequences could be heard

during the commercial breaks of cable channels in the United States and elsewhere.

Telephone e Keypad The contemnor aryl keypad is laid out in a 3x4 grid, although

the original DTMF keypad had an additional column for four now defunct menu

selector keys. When used to dial a telephone number, pressing a single key will

produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies.

The row in which the key appears deter mines the low frequency and the column

deter mines the high frequency. For example, pressing the!1! Key will result in a

sound composed of both a 697 and a 1209 hertz (Hz) tone. The original keypads

had levers inside, so each button activated two contacts. The multiple tones are the

reason for calling the system multifrequency. These tones are then decoded by the

switching center to determine ne which key was pressed.

50

Connection of the hands free with the automobile unit:

There are two connections coming out of the phone mounted on the rover, these

are namely (1) the tip and (2) the ring. The jack used here is the straight one

similar to that used for iPods, but thinner one.

The tip of the jack is called the ―tip‖ and the rest after a black strip is called the

―ring‖. So connect these two connections with the circuit and we are done

Thus the required connection which is to be made with the ear piece that is the

connections with the tip and the ring is to be taken care of, because it is this which

will make the circuit to work as desired. If the wire is not connected properly the

robot will not function.

The ring of the hands free is shown with number 1 while the tip is with number 2.

Just cut the head phones remove the wire

51

D) Advantages and Disadvantages

ADVANTAGES

Remote access

Wireless Control

World wide range due to GSM

Security from unauthorized person

Driverless operation

DISADVANTAGES

Limited network coverage area

Requires Line Of Sight (LOS) controls

Small delay in operation

Precision turnings are difficult

52

E) Applications

Scientific:

Remote control vehicles have various scientific uses including hazardous

environments, working in the deep ocean, and space exploration. The majority of

the probes to the other planets in our solar system have been remote control

vehicles, although some of the more recent ones were partially autonomous. The

sophistication of these devices has fuelled greater debate on the need for manned

spaceflight and exploration. The Voyager I spacecraft is the first craft of any kind

to leave the solar system. The martian explorers Spirit and Opportunity have

provided continuous data about the surface of Mars since January 3, 2004 .

Military and Law Enforcement:

Military usage of remotely controlled military vehicles dates back to the first half

of 20th century. Soviet Red Army used remotely controlled Teletanks during

1930s in the Winter War and early stage of World War II. There were also

remotely controlled cutters and experimental remotely

Controlled planes in the Red Army

Search and Rescue:

UAVs will likely play an increased role in search and rescue in the United States.

This was demonstrated by the successful use of UAVs during the 2008 hurricanes

that struck Louisiana and Texas.

Recreation and Hobby:

See Radio-controlled model. Small scale remote control vehicles have long been

popular among hobbyists. These remote controlled vehicles span a wide range in

terms of price and sophistication. There are many types of radio controlled

vehicles. These include on-road cars, off-road trucks, boats, airplanes, and even

helicopters. The ‘robots‘ now popular in television shows such as Robot Wars, are

a recent extension of this hobby (these vehicles do not meet the classical definition

of a robot; they are remotely controlled by a human). Radio-controlled submarine

also exist.

53

F) Future Development

1. Alarm Phone Dialler

2. Line follower

3. Dead Reckoning

4. Live feed back and control from any part of world by interfacing camera

54

CONCLUSION

55

CONCLUSION

In this project we tried to collaborate two technologies which are used frequently

in our day to day life, they are GSM and DTMF. When they are brought together

to work hand in hand with the microcontroller can create wonders. Such a wonder

is this project. It may have some disadvantages in the initial stages due to network

problems but can be reduced to a great extent with its further developments

It was not at all easy to construct such a robot which actually runs with the help of

a CELL PHONE. Initially it was near to infeasible as we never knew about the

DTMF working as to how and where the wires-input is to be connected, the

connection of the head phone and many more. We had many such problems, but

with the help of our faculty members and of course with the related information

that we managed to collect from the internet, we came to the last and final day

when our- yes our ―GSM BASED AUTOMOBILE CONTROL‖ can actually

run…and that too just with a cell phone…..isn‘t it really amazing. We thank all

those who helped us with all they could, to make our project a success….

56

BIBLIOGRAPHY:

57

BIBLIOGRAPHY:

Books:

[1] Rappaport, ―Wireless Communication‖, Prentice Hall publications, 2nd

edition

[2] Mazidi, Ayala Kenneth, ―Microcontroller Architecture, Programming

and Application‖, TATA McGraw-HILL publications, 2nd

edition.

Links:

[3] http://www.datasheetcatalog.org/datasheet/calmicro/CM8870.pdf

[4] http://www.keil.com/dd/docs/datashts/philips/p89v51rd2.pdf

[6] http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.pdf

[7] http://en.wikipedia.org/wiki/Radio-controlled_car#History

58

PROJECT IN FINAL STAGES:

59

60