Robo India Presents DTMF based wireless robot on Arduino Platform
Buying Links- You may buy this kit from our store. It is available with original Arduino Board and R-Board
1. http://roboindia.com/store/dtmf-robot-rb
2. http://roboindia.com/store/dtmf-robot-uno
1. Introduction:
A step by step guide for to make DTMF Based Wireless Robot using Robo India’s Motor Shield and Phantom Chassis.
1.2 The motor shield
Robo India offers Arduino compatible Motor shield that can run 2 servo and 2 stepper or 4 DC motor. This shield uses shift register IC. Data is given in serial mode that is converted to parallel by this shift register IC. Connection are as follows.
Board to Shift Register-
- Digital Pin 8 – Data Pin
- Digital Pin 12 – Latch Pin
- Digital Pin 4 – Clock Pin
- Digital Pin 7 – Enable Pin
Shift Register to Motors-
- Q0 – M3 A
- Q1 – M2 A
- Q2 – M1 A
- Q3 – M1 B
- Q4 – M2 B
- Q5 – M4 A
- Q6 – M3 B
- Q7 – M4 B
2. Assembly and Connections
After assembling the robot make the connection as given in the following diagram. The Power Jumper on the motor shield works as Switch to motor it will be useful while debugging.
2.1 Assembly
After assembling the robot will look like –
2.2 Testing motor Connection
It is difficult to find GND and positive supply terminal of motor. Transfer the following code to the Arduino Board. The robot should move in forward direction, if it not doing so, interchange the of the wire of motor. e.g. suppose left motor is rotating in back ward direction and right motor is rotating in forward direction then you have to interchange the wires of M3 terminal.
You may download this sketch from here.
//Robo India Line follower Tutorial
// This codes runs robo int the forward direction.
// Shield Pins Declaration
int dataPin = 8;
int latchPin = 12;
int clockPin = 4;
int en = 7;
void setup()
{
pinMode(dataPin, OUTPUT); // Setting up the motor shield.
pinMode(latchPin, OUTPUT);
pinMode(clockPin, OUTPUT);
pinMode(en, OUTPUT);
digitalWrite(en, LOW);
forward(); // This funtion for forward robot motion
}
void loop()
{
}
void forward(void){
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 3);
digitalWrite(latchPin, HIGH);
}
void backward(void){
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 164);
digitalWrite(latchPin, HIGH);
}
void turn_left(void){
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 161);
digitalWrite(latchPin, HIGH);
}
void turn_right(void){
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 38);
digitalWrite(latchPin, HIGH);
}
void halt(void){
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 32);
digitalWrite(latchPin, HIGH);
}
2.3 Programming DTMF Robot
Till the above step you have made all of the connection and your motors are connected to the correct terminals. The following programme is the wireless DTMF robot Control programme.
It has following predefined function for robot motion-
1. forward() : forward movement of robot.
2. backward() : backward movement of robot.
3. turn_left() : for turning left.
4. turn_right(): for turning right.
5. halt() : for stopping robot.
You may download this sketch from here.
// Robo India DTMF Robot Tutorial
// www.roboindia.com
// declaring Motor Shield
int dataPin = 8;
int latchPin = 12;
int clockPin = 4;
int en = 7;
const int Q1 = A0; // Defining Digital Input Pins from DTMF Module
const int Q2 = A1;
const int Q3 = A2;
const int Q4 = A3;
int SoQ1 = 0; // Defining variable to store the status(HIGH/LOW) of above inputs.
int SoQ2 = 0;
int SoQ3 = 0;
int SoQ4 = 0;
int oldCon = 0; // Variable to know what was the last button pressed.
void setup(){
pinMode(Q1, INPUT); // Defining pins as input.
pinMode(Q2, INPUT);
pinMode(Q3, INPUT);
pinMode(Q4, INPUT);
pinMode(dataPin, OUTPUT); // Setting up Motor Shield
pinMode(latchPin, OUTPUT);
pinMode(clockPin, OUTPUT);
pinMode(en, OUTPUT);
digitalWrite(en, LOW);
}
void loop(){
SoQ1 = digitalRead(Q1); // Reading status of Input Pins. It can be LOW or HIGH
SoQ2 = digitalRead(Q2);
SoQ3 = digitalRead(Q3);
SoQ4 = digitalRead(Q4);
if(SoQ4==LOW && SoQ3==LOW && SoQ2==HIGH && SoQ1==LOW ) // Condition for Button 2. It is equal to Binary - 0010
{
if (oldCon!=2){
forward();
}
oldCon=2;
}
else if(SoQ4==LOW && SoQ3==HIGH && SoQ2==LOW && SoQ1==LOW ) // Condition for Button 4. It is equal to Binary - 0100
{
if (oldCon!=4){
turn_left();
}
oldCon=4;
}
else if(SoQ4==LOW && SoQ3==HIGH && SoQ2==LOW && SoQ1==HIGH ) // Condition for Button 5. It is equal to Binary - 0101
{
if (oldCon!=5){
halt();
}
oldCon=5;
}
else if(SoQ4==LOW && SoQ3==HIGH && SoQ2==HIGH && SoQ1==LOW ) // Condition for Button 6. It is equal to Binary - 0110
{
if (oldCon!=6){
turn_right();
}
oldCon=6;
}
else if(SoQ4==HIGH && SoQ3==LOW && SoQ2==LOW && SoQ1==LOW ) // Condition for Button 8. It is equal to Binary - 1000
{
if (oldCon!=8){
backward();
}
oldCon=8;
}
delay(50); // Debounce Delay.
}
// Motor Shield Funtions.
void forward(void){ // function for forward movement.
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 3);
digitalWrite(latchPin, HIGH);
}
void backward(void){ // function for forward movement.
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 164);
digitalWrite(latchPin, HIGH);
}
void turn_left(void){ // function for left turn.
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 161);
digitalWrite(latchPin, HIGH);
}
void turn_right(void){ // function for Right turn.
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 38);
digitalWrite(latchPin, HIGH);
}
void halt(void){ // function for stopping robot.
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, LSBFIRST, 32);
digitalWrite(latchPin, HIGH);
}
Once you have transferred this code to the the Arduino board. Your robot is ready to follow wireless instruction through DTMF. Connect a phone to the DTMF board using 3.5 mm Aux. audio cable.
This robot will perform following function-
1. If you press 2 it will move forward.
2. If you press 4 it will turn left.
4. If you press 5 it will stop.
5. If you press 6 it will turn right.
6. If you press 8 it will move backward.
3. Resources:
This motor shield is based on Adafruit Motor Shield. Resources can be found here.
Buying Links- You may buy this kit from our store. It is available with original Arduino Board and R-Board
1. http://roboindia.com/store/dtmf-robot-rb
2. http://roboindia.com/store/dtmf-robot-uno
If you have any query please write us at support@roboindia.com
our whatsapp helpline: +91 9694011188
Thanks and Regards
Content Development Team
Robo India
http://roboindia.com