Arduino Based Bluetooth Controlled Robot

Abstract —A robot is usually an electro-mechanical machine

that is guided by computer and electronic programming. Many
robots have been built for manufacturing purpose and can be
found in factories around the world. Designing of the latest
inverted ROBOT which can be controlling using an APP for
android mobile. And in which we use Bluetooth communication
to interface Arduino UNO and android. Arduino can be
interfaced to the Bluetooth module though UART protocol.
According to commands received from android the robot
motion can be controlled. The consistent output of a robotic
system along with quality and repeatability are unmatched. This
robots can be reprogrammable and can be interchanged to
provide multiple applications

Nowadays smart phones are becoming more powerful with reinforced

processors, larger storage capacities, richer entertainment function and
more communication methods. Bluetooth is mainly used for data
exchange; add new features to smart phones. Bluetooth technology,
created by telecom vendor Ericsson in 1994[1], shows its advantage by
integrating with smart phones. It has changed how people use digital
device at home or office, and has transferred traditional wired digital
devices into wireless devices. A host Bluetooth device is capable
of communicating with up to seven Bluetooth modules at same time
through one link [2]. Considering its normal working area of within
eight meters, it is especially useful in home environment. Thank for
Bluetooth technology and other similar techniques, with dramatic
increase in Smartphone users, smart phones have gradually turned into
an all-purpose portable device and provided people for their daily use
[3][4]. In recent years, an open-source platform [5].Android has been
widely used in smart phones. Android has complete software package
consisting of an operating system, middleware layer and core
pplications. Different from other existing platform like iOS (iPhone OS),
it comes with software development kit (SDK), which provides essential
tools and Application [6]. Using a Smartphone as the “brain” of a robot is already an active
research field with several open opportunities and promising possibilities. In this paper we present a review of
current robots controlled by mobile phone and discuss a closed loop control systems using audio channels of mobile
devices, such as phones and tablet computers. In our work, move the robot upward, backward, left and right side by
the android application such as Bluetooth Terminal

II. PROPOSED SYSTEM

The purpose of our research is to provide simpler robot’s hardware architecture but with powerful computational
platforms so that robot’s designer can focus on their research and tests instead of Bluetooth connection
infrastructure. This simple architecture is also useful for educational robotics, because students can build their own
robots with low cost and use them as platform for experiments in several courses. Common control architectures:
The following list shows typical robot control architecture:
A. Arduino
Arduino is an open-source computer hardware and software company, project and user community that designs and
manufactures microcontroller-based kits for building digital devices and interactive objects that can sense and
control objects in the physical world. Arduino had used the Atmel Atmega AVR series of chips, specifically the
ATmega8, ATmega168, ATmega328, ATmega1280, and ATmega2560.
Arduino is an open source computer hardware and software company, project, and user community
that designs and manufactures single-board microcontrollers and microcontroller kits for building
digital devices and interactive objects that can sense and control objects in the physical world. The
project's products are distributed as open-source hardware and software, which are licensed under
the GNU Lesser General Public License (LGPL) or the GNU General Public
License (GPL),[1] permitting the manufacture of Arduino boards and software distribution by anyone.
Arduino boards are available commercially in preassembled form, or as do-it-yourself (DIY) kits.
Arduino board designs use a variety of microprocessors and controllers. The boards are equipped
with sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion
boards (shields) and other circuits. The boards feature serial communications interfaces,
including Universal Serial Bus (USB) on some models, which are also used for loading programs
from personal computers. The microcontrollers are typically programmed using a dialect of features
from the programming languages C and C++. In addition to using traditional compiler toolchains, the
Arduino project provides an integrated development environment (IDE) based on
the Processing language project.
The Arduino project started in 2003 as a program for students at the Interaction Design Institute
Ivrea in Ivrea, Italy,[2] aiming to provide a low-cost and easy way for novices and professionals to
create devices that interact with their environment using sensors and actuators. Common examples
of such devices intended for beginner hobbyists include simple robots, thermostats, and motion
detectors.
The name Arduino comes from a bar in Ivrea, Italy, where some of the founders of the project used
to meet. The bar was named after Arduin of Ivrea, who was the margrave of the March of
Ivrea and King of Italy from 1002 to 1014

History[edit]
The Arduino project started at the Interaction Design Institute Ivrea (IDII) in Ivrea, Italy.[2] At that time,
the students used a BASIC Stamp microcontroller at a cost of $100, a considerable expense for
many students. In 2003 Hernando Barragán created the development platform Wiring as a Master's
thesis project at IDII, under the supervision of Massimo Banzi and Casey Reas, who are known for
work on the Processing language. The project goal was to create simple, low cost tools for creating
digital projects by non-engineers. The Wiring platform consisted of a printed circuit board (PCB) with
an ATmega168 microcontroller, an IDE based on Processing and library functions to easily program
the microcontroller.[4] In 2003, Massimo Banzi, with David Mellis, another IDII student, and David
Cuartielles, added support for the cheaper ATmega8 microcontroller to Wiring. But instead of
continuing the work on Wiring, they forked the project and renamed it Arduino.[4]
The initial Arduino core team consisted of Massimo Banzi, David Cuartielles, Tom Igoe, Gianluca
Martino, and David Mellis,[2] but Barragán was not invited to participate.[4]
Following the completion of the Wiring platform, lighter and less expensive versions were distributed
in the open-source community.[5]
Adafruit Industries, a New York City supplier of Arduino boards, parts, and assemblies, estimated in
mid-2011 that over 300,000 official Arduinos had been commercially produced,[6]and in 2013 that
700,000 official boards were in users' hands.[7]
In October 2016, Federico Musto, Arduino's former CEO, secured a 50% ownership of the company.
In April 2017, Wired reported that Musto had "fabricated his academic record.... On his company's
website, personal LinkedIn accounts, and even on Italian business documents, Musto was until
recently listed as holding a PhD from the Massachusetts Institute of Technology. In some cases, his
bios also claimed an MBA from New York University." Wired reported that neither University had any
record of Musto's attendance, and Musto later admitted in an interview with Wired that he had never
earned those degrees.[8]
Around that same time, Massimo Banzi announced that the Arduino Foundation would be "a new
beginning for Arduino."[9] But a year later, the Foundation still hasn't been established, and the state
of the project remains unclear.[10]
The controversy surrounding Musto continued when, in July 2017, he reportedly pulled many Open
source licenses, schematics, and code from the Arduino website, prompting scrutiny and outcry.[11]
In October 2017, Arduino announced its partnership with ARM Holdings (ARM). The announcement
said, in part, "ARM recognized independence as a core value of Arduino ... without any lock-in with
the ARM architecture.” Arduino intends to continue to work with all technology vendors and
architectures

Hardware[edit]
Arduino-compatible R3 UNO board made in China with no Arduino logo, but with identical markings, including
"Made in Italy" text

Arduino is open-source hardware. The hardware reference designs are distributed under a Creative
Commons Attribution Share-Alike 2.5 license and are available on the Arduino website. Layout and
production files for some versions of the hardware are also available. The source code for the IDE is
released under the GNU General Public License, version 2.[21] Nevertheless, an official Bill of
Materials of Arduino boards has never been released by Arduino staff.
Although the hardware and software designs are freely available under copyleft licenses, the
developers have requested the name Arduinoto be exclusive to the official product and not be used
for derived works without permission. The official policy document on use of the Arduino name
emphasizes that the project is open to incorporating work by others into the official
product.[22] Several Arduino-compatible products commercially released have avoided the project
name by using various names ending in -duino.[23]

An early Arduino board[24] with an RS-232 serial interface (upper left) and an Atmel ATmega8 microcontroller
chip (black, lower right); the 14 digital I/O pins are at the top, the 6 analog input pins at the lower right, and the
power connector at the lower left.

Most Arduino boards consist of an Atmel 8-bit AVR microcontroller (ATmega8[25],

ATmega168, ATmega328, ATmega1280, ATmega2560) with varying amounts of flash memory,
pins, and features.[26] The 32-bit Arduino Due, based on the Atmel SAM3X8E was introduced in
2012.[27] The boards use single or double-row pins or female headers that facilitate connections for
programming and incorporation into other circuits. These may connect with add-on modules
termed shields. Multiple and possibly stacked shields may be individually addressable via
an I²C serial bus. Most boards include a 5 V linear regulator and a 16 MHz crystal
oscillator or ceramic resonator. Some designs, such as the LilyPad, run at 8 MHz and dispense with
the onboard voltage regulator due to specific form-factor restrictions.
Arduino microcontrollers are pre-programmed with a boot loader that simplifies uploading of
programs to the on-chip flash memory. The default bootloader of the Arduino UNO is the optiboot
bootloader.[28] Boards are loaded with program code via a serial connection to another computer.
Some serial Arduino boards contain a level shifter circuit to convert between RS-232 logic levels
and transistor–transistor logic(TTL) level signals. Current Arduino boards are programmed
via Universal Serial Bus (USB), implemented using USB-to-serial adapter chips such as
the FTDI FT232. Some boards, such as later-model Uno boards, substitute the FTDI chip with a
separate AVR chip containing USB-to-serial firmware, which is reprogrammable via its
own ICSP header. Other variants, such as the Arduino Mini and the unofficial Boarduino, use a
detachable USB-to-serial adapter board or cable, Bluetooth or other methods. When used with
traditional microcontroller tools, instead of the Arduino IDE, standard AVR in-system
programming (ISP) programming is used.

An official Arduino Uno R2 with descriptions of the I/O locations

The Arduino board exposes most of the microcontroller's I/O pins for use by other circuits.
The Diecimila,[a] Duemilanove,[b] and current Uno[c] provide 14 digital I/O pins, six of which can
produce pulse-width modulated signals, and six analog inputs, which can also be used as six digital
I/O pins. These pins are on the top of the board, via female 0.1-inch (2.54 mm) headers. Several
plug-in application shields are also commercially available. The Arduino Nano, and Arduino-
compatible Bare Bones Board[29] and Boarduino[30] boards may provide male header pins on the
underside of the board that can plug into solderless breadboards.
Many Arduino-compatible and Arduino-derived boards exist. Some are functionally equivalent to an
Arduino and can be used interchangeably. Many enhance the basic Arduino by adding output
drivers, often for use in school-level education, to simplify making buggies and small robots. Others
are electrically equivalent but change the form factor, sometimes retaining compatibility with shields,
sometimes not. Some variants use different processors, of varying compatibility.

Software and programming tools[edit]

Arduino Software IDE
 Screenshot of the Arduino IDE showing the Blink simple

beginner program

Developer(s) Arduino Software

Stable release 1.8.5 / 29 September 2017; 4 months

ago[53]

 https://github.com/arduino/Arduino
Repository

Written in Java, C, C++

Operating system Windows, macOS, Linux

Platform IA-32, x86-64, ARM

Type Integrated development environment

License LGPL or GPL license

Website www.arduino.cc

A program for Arduino may be written in any programming language with compilers that produce
binary machine code for the target processor. Atmel provides a development environment for their
microcontrollers, AVR Studio and the newer Atmel Studio.[54][55][56]
The Arduino project provides the Arduino integrated development environment (IDE), which is
a cross-platform application written in the programming language Java. It originated from the IDE for
the languages Processing and Wiring. It includes a code editor with features such as text cutting and
pasting, searching and replacing text, automatic indenting, brace matching, and syntax highlighting,
and provides simple one-click mechanisms to compile and upload programs to an Arduino board. It
also contains a message area, a text console, a toolbar with buttons for common functions and a
hierarchy of operation menus.
A program written with the IDE for Arduino is called a sketch.[57] Sketches are saved on the
development computer as text files with the file extension .ino. Arduino Software (IDE) pre-1.0 saved
sketches with the extension .pde.
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. 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.
The open-source nature of the Arduino project has facilitated the publication of many free software
libraries that other developers use to augment their projects.

Battery
An electric battery is a device consisting of one or more electrochemical cells with
external connections provided to power electrical devices such
as flashlights, smartphones, and electric cars.[1] When a battery is
supplying electric power, its positive terminal is the cathode and its negative
terminal is the anode.[2] The terminal marked negative is the source of electrons
that when connected to an external circuit will flow and deliver energy to an
external device. When a battery is connected to an external circuit, electrolytes are
able to move as ions within, allowing the chemical reactions to be completed at the
separate terminals and so deliver energy to the external circuit. It is the movement
of those ions within the battery which allows current to flow out of the battery to
perform work.[3]Historically the term "battery" specifically referred to a device
composed of multiple cells, however the usage has evolved additionally to include
devices composed of a single cell.[4]
Primary (single-use or "disposable") batteries are used once and discarded;
the electrode materials are irreversibly changed during discharge. Common
examples are the alkaline battery used for flashlights and a multitude of portable
electronic devices. Secondary (rechargeable) batteries can be discharged and
recharged multiple times using an applied electric current; the original composition
of the electrodes can be restored by reverse current. Examples include the lead-acid
batteries used in vehicles and lithium-ion batteries used for portable electronics
such as laptops and smartphones.
Batteries come in many shapes and sizes, from miniature cells used to
power hearing aids and wristwatches to small, thin cells used in smartphones, to
large lead acid batteries used in cars and trucks, and at the largest extreme, huge
battery banks the size of rooms that provide standby or emergency power
for telephone exchanges and computer data centers.
According to a 2005 estimate, the worldwide battery industry generates
US$48 billion in sales each year,[5] with 6% annual growth.
Batteries have much lower specific energy (energy per unit mass) than
common fuels such as gasoline. In automobiles, this is somewhat offset by the
higher efficiency of electric motors in producing mechanical work, compared to
combustion engines.
The usage of "battery" to describe a group of electrical devices dates to Benjamin
Franklin, who in 1748 described multiple Leyden jars by analogy to a battery of
cannon[6] (Benjamin Franklin borrowed the term "battery" from the military, which
refers to weapons functioning together[7]).
Italian physicist Alessandro Volta built and described the first electrochemical
battery, the voltaic pile, in 1800.[8] This was a stack of copper and zinc plates,
separated by brine-soaked paper disks, that could produce a steady current for a
considerable length of time. Volta did not understand that the voltage was due to
chemical reactions. He thought that his cells were an inexhaustible source of
energy,[9] and that the associated corrosion effects at the electrodes were a mere
nuisance, rather than an unavoidable consequence of their operation, as Michael
Faraday showed in 1834.[10]
Although early batteries were of great value for experimental purposes, in practice
their voltages fluctuated and they could not provide a large current for a sustained
period. The Daniell cell, invented in 1836 by British chemist John Frederic
Daniell, was the first practical source of electricity, becoming an industry standard
and seeing widespread adoption as a power source for electrical
telegraph networks.[11] It consisted of a copper pot filled with a copper
sulfate solution, in which was immersed an unglazed earthenware container filled
with sulfuric acid and a zinc electrode.[12]
These wet cells used liquid electrolytes, which were prone to leakage and spillage
if not handled correctly. Many used glass jars to hold their components, which
made them fragile and potentially dangerous. These characteristics made wet cells
unsuitable for portable appliances. Near the end of the nineteenth century, the
invention of dry cell batteries, which replaced the liquid electrolyte with a paste,
made portable electrical devices practical.[13]
Batteries convert chemical energy directly to electrical energy. A battery consists
of some number of voltaic cells. Each cell consists of two half-cells connected in
series by a conductive electrolyte containing anions and cations. One half-cell
includes electrolyte and the negative electrode, the electrode to
which anions (negatively charged ions) migrate; the other half-cell includes
electrolyte and the positive electrode to which cations (positively charged ions)
migrate. Redox reactions power the battery. Cations are reduced (electrons are
added) at the cathode during charging, while anions are oxidized (electrons are
removed) at the anode during charging.[14] During discharge, the process is
reversed. The electrodes do not touch each other, but are electrically connected by
the electrolyte. Some cells use different electrolytes for each half-cell. A separator
allows ions to flow between half-cells, but prevents mixing of the electrolytes.
Each half-cell has an electromotive force (emf), determined by its ability to drive
electric current from the interior to the exterior of the cell. The net emf of the cell
is the difference between the emfs of its half-cells.[15] Thus, if the electrodes have
emfs and , then the net emf is ; in other words, the net emf is the
difference between the reduction potentials of the half-reactions.[16]

The electrical driving force or across the terminals of a cell is known as

the terminal voltage (difference) and is measured in volts.[17]The terminal voltage
of a cell that is neither charging nor discharging is called the open-circuit
voltage and equals the emf of the cell. Because of internal resistance,[18] the
terminal voltage of a cell that is discharging is smaller in magnitude than the open-
circuit voltage and the terminal voltage of a cell that is charging exceeds the open-
circuit voltage.[19] An ideal cell has negligible internal resistance, so it would
maintain a constant terminal voltage of until exhausted, then dropping to zero.
If such a cell maintained 1.5 volts and stored a charge of one coulomb then on
complete discharge it would perform 1.5 joules of work.[17] In actual cells, the
internal resistance increases under discharge[18] and the open circuit voltage also
decreases under discharge. If the voltage and resistance are plotted against time,
the resulting graphs typically are a curve; the shape of the curve varies according
to the chemistry and internal arrangement employed.
The voltage developed across a cell's terminals depends on the energy release of
the chemical reactions of its electrodes and electrolyte. Alkaline and zinc–
carbon cells have different chemistries, but approximately the same emf of 1.5
volts; likewise NiCd and NiMH cells have different chemistries, but approximately
the same emf of 1.2 volts.[20] The high electrochemical potential changes in the
reactions of lithium compounds give lithium cells emfs of 3 volts or more.[21]
Categories and types of batteries

Batteries are classified into primary and secondary forms:

 Primary batteries are designed to be used until exhausted of energy then

discarded. Their chemical reactions are generally not reversible, so they cannot
be recharged. When the supply of reactants in the battery is exhausted, the
battery stops producing current and is useless.[22]
 Secondary batteries can be recharged; that is, they can have their chemical
reactions reversed by applying electric current to the cell. This regenerates the
original chemical reactants, so they can be used, recharged, and used again
multiple times.[23]
Some types of primary batteries used, for example, for telegraph circuits, were
restored to operation by replacing the electrodes.[24] Secondary batteries are not
indefinitely rechargeable due to dissipation of the active materials, loss of
electrolyte and internal corrosion.
Primary
Main article: Primary cell

Primary batteries, or primary cells, can produce current immediately on assembly.

These are most commonly used in portable devices that have low current drain, are
used only intermittently, or are used well away from an alternative power source,
such as in alarm and communication circuits where other electric power is only
intermittently available. Disposable primary cells cannot be reliably recharged,
since the chemical reactions are not easily reversible and active materials may not
return to their original forms. Battery manufacturers recommend against
attempting to recharge primary cells.[25] In general, these have higher energy
densities than rechargeable batteries,[26] but disposable batteries do not fare well
under high-drain applications with loads under 75 ohms (75 Ω). Common types of
disposable batteries include zinc–carbon batteries and alkaline batteries.
Secondary
Main article: Rechargeable battery

Secondary batteries, also known as secondary cells, or rechargeable batteries,

must be charged before first use; they are usually assembled with active materials
in the discharged state. Rechargeable batteries are (re)charged by applying electric
current, which reverses the chemical reactions that occur during discharge/use.
Devices to supply the appropriate current are called chargers.
The oldest form of rechargeable battery is the lead–acid battery, which are widely
used in automotive and boating applications. This technology contains liquid
electrolyte in an unsealed container, requiring that the battery be kept upright and
the area be well ventilated to ensure safe dispersal of the hydrogen gas it produces
during overcharging. The lead–acid battery is relatively heavy for the amount of
electrical energy it can supply. Its low manufacturing cost and its high surge
current levels make it common where its capacity (over approximately 10 Ah) is
more important than weight and handling issues. A common application is the
modern car battery, which can, in general, deliver a peak current of 450 amperes.
The sealed valve regulated lead–acid battery (VRLA battery) is popular in the
automotive industry as a replacement for the lead–acid wet cell. The VRLA battery
uses an immobilized sulfuric acid electrolyte, reducing the chance of leakage and
extending shelf life.[27] VRLA batteries immobilize the electrolyte. The two types
are:

 Gel batteries (or "gel cell") use a semi-solid electrolyte.

 Absorbed Glass Mat (AGM) batteries absorb the electrolyte in a special
fiberglass matting.
Other portable rechargeable batteries include several sealed "dry cell" types, that
are useful in applications such as mobile phones and laptop computers. Cells of
this type (in order of increasing power density and cost) include nickel–
cadmium (NiCd), nickel–zinc (NiZn), nickel metal hydride(NiMH), and lithium-
ion (Li-ion) cells. Li-ion has by far the highest share of the dry cell rechargeable
market. NiMH has replaced NiCd in most applications due to its higher capacity,
but NiCd remains in use in power tools, two-way radios, and medical equipment.
In the 2000s, developments include batteries with embedded electronics such
as USBCELL, which allows charging an AA battery through
a USB connector,[28] nanoball batteriesthat allow for a discharge rate about 100x
greater than current batteries, and smart battery packs with state-of-charge
monitors and battery protection circuits that prevent damage on over-
discharge. Low self-discharge (LSD) allows secondary cells to be charged prior to
shipping.
Cell types
Many types of electrochemical cells have been produced, with varying chemical
processes and designs, including galvanic cells, electrolytic cells, fuel cells, flow
cells and voltaic piles.[29]
Wet cell
A wet cell battery has a liquid electrolyte. Other names are flooded cell, since the
liquid covers all internal parts, or vented cell, since gases produced during
operation can escape to the air. Wet cells were a precursor to dry cells and are
commonly used as a learning tool for electrochemistry. They can be built with
common laboratory supplies, such as beakers, for demonstrations of how
electrochemical cells work. A particular type of wet cell known as a concentration
cell is important in understanding corrosion. Wet cells may be primary cells (non-
rechargeable) or secondary cells (rechargeable). Originally, all practical primary
batteries such as the Daniell cell were built as open-top glass jar wet cells. Other
primary wet cells are the Leclanche cell, Grove cell, Bunsen cell, Chromic acid
cell, Clark cell, and Weston cell. The Leclanche cell chemistry was adapted to the
first dry cells. Wet cells are still used in automobile batteries and in industry for
standby power for switchgear, telecommunication or large uninterruptible power
supplies, but in many places batteries with gel cells have been used instead. These
applications commonly use lead–acid or nickel–cadmium cells.
Dry cell
Further information: Dry cell

Line art drawing of a dry cell:

1. brass cap, 2. plastic seal, 3. expansion space, 4. porous cardboard, 5. zinc can, 6.
carbon rod, 7. chemical mixture
A dry cell uses a paste electrolyte, with only enough moisture to allow current to
flow. Unlike a wet cell, a dry cell can operate in any orientation without spilling, as
it contains no free liquid, making it suitable for portable equipment. By
comparison, the first wet cells were typically fragile glass containers with lead rods
hanging from the open top and needed careful handling to avoid spillage. Lead–
acid batteries did not achieve the safety and portability of the dry cell until the
development of the gel battery.
A common dry cell is the zinc–carbon battery, sometimes called the dry Leclanché
cell, with a nominal voltage of 1.5 volts, the same as the alkaline battery (since
both use the same zinc–manganese dioxide combination). A standard dry cell
comprises a zinc anode, usually in the form of a cylindrical pot, with
L29d Driver
An H bridge is an electronic circuit that enables a voltage to be applied across a load in opposite
direction. These circuits are often used in robotics and other applications to allow DC motors to run
forwards or backwards.[1]
Most DC-to-AC converters (power inverters), most AC/AC converters, the DC-to-DC push–pull
converter, most motor controllers, and many other kinds of power electronics use H bridges. In
particular, a bipolar stepper motor is almost invariably driven by a motor controller containing two H
bridges.

General[edit]

Structure of an H bridge (highlighted in red)

H bridges are available as integrated circuits, or can be built from discrete components.[1]
The term H bridge is derived from the typical graphical representation of such a circuit. An H bridge
is built with four switches (solid-state or mechanical). When the switches S1 and S4 (according to
the first figure) are closed (and S2 and S3 are open) a positive voltage will be applied across the
motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is reversed,
allowing reverse operation of the motor.
Using the nomenclature above, the switches S1 and S2 should never be closed at the same time, as
this would cause a short circuit on the input voltage source. The same applies to the switches S3
and S4. This condition is known as shoot-through.

Operation[edit]
The two basic states of an H bridge

The H-bridge arrangement is generally used to reverse the polarity/direction of the motor, but can
also be used to 'brake' the motor, where the motor comes to a sudden stop, as the motor's terminals
are shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the
circuit. The following table summarises operation, with S1-S4 corresponding to the diagram above.

S1 S2 S3 S4 Result

1 0 0 1 Motor moves right

0 1 1 0 Motor moves left

0 0 0 0 Motor coasts

1 0 0 0 Motor coasts

0 1 0 0 Motor coasts

0 0 1 0 Motor coasts

0 0 0 1 Motor coasts

0 1 0 1 Motor brakes

1 0 1 0 Motor brakes

1 1 0 0 Short circuit
0 0 1 1 Short circuit

0 1 1 1 Short circuit

1 0 1 1 Short circuit

1 1 0 1 Short circuit

1 1 1 0 Short circuit

1 1 1 1 Short circuit

Operation as an inverter[edit]
A common use of the H bridge is an inverter. The arrangement is sometimes known as a single-
phase bridge inverter.
The H bridge with a DC supply will generate a square wave voltage waveform across the load. For a
purely inductive load, the current waveform would be a triangle wave, with its peak depending on the
inductance, switching frequency, and input voltage.

See also[edit]
 Active rectification
 Commutator (electric)

References[edit]
1. ^ Jump up to:a b Al Williams (2002). Microcontroller projects using the Basic Stamp (2nd ed.). Focal
Press. p. 344. ISBN 978-1-57820-101-3.
2. Jump up^ wordpress.com
3. Jump up^ "The Half-bridge Circuit Revealed (2012)
4. Jump up^ wordpress.com

External links[edit]
 Video tutorial on H-bridges and example bidirectional motor speed controller circuit
 H-Bridge Theory and Practice
 Brief H-Bridge Theory of Operation
 H-bridge tutorial discussing various driving modes and using back-EMF
 PWM DC Motor Controller Using MOSFETs and IR2110 H-Bridge Driver
 H-Bridges on the BEAM Robotics Wiki
 Derivation of formulas to estimate H-bridge controller current (Vex, JAGUAR,Victor). Discusses
why some H-bridges used in robotics have non-linear current and speed responses.

Projects[edit]

 Tutorial: Build a 5A H-Bridge motor controller

 Building an H-bridge-controlled motor with photocells to track light
 H-bridge motor control with 4017 (in Turkish)
 Using the HIP4081A for H-bridge control
 Using the L293D H bridge for DC motor control
 A simple circuit designed around L293D motor driver IC

Power supply
A power supply is an electrical device that supplies electric power to an electrical load. The primary
function of a power supply is to convert electric current from a source to the correct voltage, current,
and frequency to power the load. As a result, power supplies are sometimes referred to as electric
power converters. Some power supplies are separate standalone pieces of equipment, while others
are built into the load appliances that they power. Examples of the latter include power supplies
found in desktop computers and consumer electronicsdevices. Other functions that power supplies
may perform include limiting the current drawn by the load to safe levels, shutting off the current in
the event of an electrical fault, power conditioning to prevent electronic noise or voltage surges on
the input from reaching the load, power-factor correction, and storing energy so it can continue to
power the load in the event of a temporary interruption in the source power (uninterruptible power
supply).
All power supplies have a power input connection, which receives energy in the form of electric
current from a source, and one or more power output connections that deliver current to the load.
The source power may come from the electric power grid, such as an electrical outlet, energy
storage devices such as batteries or fuel cells, generators or alternators, solar power converters, or
another power supply. The input and output are usually hardwired circuit connections, though some
power supplies employ wireless energy transfer to power their loads without wired connections.
Some power supplies have other types of inputs and outputs as well, for functions such as external
monitoring and control.

General classification[edit]
A rackmount, adjustable regulated DC power supply

Functional[edit]
Power supplies are categorized in various ways, including by functional features. For example,
a regulated power supply is one that maintains constant output voltage or current despite variations
in load current or input voltage. Conversely, the output of an unregulatedpower supply can change
significantly when its input voltage or load current changes. Adjustable power supplies allow the
output voltage or current to be programmed by mechanical controls (e.g., knobs on the power supply
front panel), or by means of a control input, or both. An adjustable regulated power supply is one
that is both adjustable and regulated. An isolated power supply has a power output that is electrically
independent of its power input; this is in contrast to other power supplies that share a common
connection between power input and output.

Packaging[edit]
Power supplies are packaged in different ways and classified accordingly. A bench power supply is a
stand-alone desktop unit used in applications such as circuit test and development. Open
frame power supplies have only a partial mechanical enclosure, sometimes consisting of only a
mounting base; these are typically built into machinery or other equipment. Rack mount power
supplies are designed to be secured into standard electronic equipment racks. An integrated power
supply is one that shares a common printed circuit board with its load. An external power supply, AC
adapter or power brick, is a power supply located in the load's AC power cord that plugs into a wall
outlet; a wall wart is an external supply integrated with the outlet plug itself. These are popular in
consumer electronics because of their safety; the hazardous 120 or 240 volt mains current is
transformed down to a safer voltage before it enters the appliance body.

Power conversion method[edit]

Power supplies can be broadly divided into linear and switching types. Linear power converters
process the input power directly, with all active power conversion components operating in their
linear operating regions. In switching power converters, the input power is converted to AC or to DC
pulses before processing, by components that operate predominantly in non-linear modes (e.g.,
transistors that spend most of their time in cutoff or saturation). Power is "lost" (converted to heat)
when components operate in their linear regions and, consequently, switching converters are usually
more efficient than linear converters because their components spend less time in linear operating
regions.

Types[edit]
DC power supply[edit]
A DC power supply is one that supplies a constant DC voltage to its load. Depending on its design, a
DC power supply may be powered from a DC source or from an AC source such as the power
mains.
AC-to-DC supply[edit]

Schematic of basic AC-to-DC power supply, showing (from L-R) transformer, full-wave bridge rectifier, filter
capacitor and resistor load

DC power supplies use AC mains electricity as an energy source. Such power supplies will employ
a transformer to convert the input voltage to a higher or lower AC voltage. A rectifier is used to
convert the transformer output voltage to a varying DC voltage, which in turn is passed through
an electronic filter to convert it to an unregulated DC voltage.
The filter removes most, but not all of the AC voltage variations; the remaining AC voltage is known
as ripple. The electric load's tolerance of ripple dictates the minimum amount of filtering that must be
provided by a power supply. In some applications, high ripple is tolerated and therefore no filtering is
required. For example, in some battery charging applications it is possible to implement a mains-
powered DC power supply with nothing more than a transformer and a single rectifier diode, with a
resistor in series with the output to limit charging current.

Programmable power supply

A programmable power supply is one that allows remote control of its operation through an analog
input or digital interface such as RS232or GPIB. Controlled properties may include voltage, current,
and in the case of AC output power supplies, frequency. They are used in a wide variety of
applications, including automated equipment testing, crystal growth monitoring, semiconductor
fabrication, and x-ray generators.
Programmable power supplies typically employ an integral microcomputer to control and monitor
power supply operation. Power supplies equipped with a computer interface may use proprietary
communication protocols or standard protocols and device control languages such as SCPI.

DC motor
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 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.

Electromagnetic motors[edit]
A coil of wire with a current running through it generates an electromagnetic field aligned with the
center of the coil. The direction and magnitude of the magnetic field produced by the coil can be
changed with the direction and magnitude of the current flowing through it.
A simple DC motor has a stationary set of magnets in the stator and an armature with one or more
windings of insulated wire wrapped around a soft iron core that concentrates the magnetic field. The
windings usually have multiple turns around the core, and in large motors there can be several
parallel current paths. The ends of the wire winding are connected to a commutator. The
commutator allows each armature coil to be energized in turn and connects the rotating coils with
the external power supply through brushes. (Brushless DC motors have electronics that switch the
DC current to each coil on and off and have no brushes.)
The total amount of current sent to the coil, the coil's size and what it's wrapped around dictate the
strength of the electromagnetic field created.
The sequence of turning a particular coil on or off dictates what direction the effective
electromagnetic fields are pointed. By turning on and off coils in sequence a rotating magnetic field
can be created. These rotating magnetic fields interact with the magnetic fields of the magnets
(permanent or electromagnets) in the stationary part of the motor (stator) to create a force on the
armature which causes it to rotate. In some DC motor designs the stator fields use electromagnets
to create their magnetic fields which allow greater control over the motor.
At high power levels, DC motors are almost always cooled using forced air.
Different number of stator and armature fields as well as how they are connected provide different
inherent speed/torque regulation characteristics. The speed of a DC motor can be controlled by
changing the voltage applied to the armature. The introduction of variable resistance in the armature
circuit or field circuit allowed speed control. Modern DC motors are often controlled by power
electronics systems which adjust the voltage by "chopping" the DC current into on and off cycles
which have an effective lower voltage.
Since the series-wound DC motor develops its highest torque at low speed, it is often used in
traction applications such as electric locomotives, and trams. The DC motor was the mainstay of
electric traction drives on both electric and diesel-electric locomotives, street-cars/trams and diesel
electric drilling rigs for many years. The introduction of DC motors and an electrical grid system to
run machinery starting in the 1870s started a new second Industrial Revolution. DC motors can
operate directly from rechargeable batteries, providing the motive power for the first electric vehicles
and today's hybrid cars and electric cars as well as driving a host of cordless tools. Today DC
motors are still found in applications as small as toys and disk drives, or in large sizes to operate
steel rolling mills and paper machines. Large DC motors with separately excited fields were
generally used with winder drives for mine hoists, for high torque as well as smooth speed control
using thyristor drives. These are now replaced with large AC motors with variable frequency drives.
If external mechanical power is applied to a DC motor it acts as a DC generator, a dynamo. This
feature is used to slow down and recharge batteries on hybrid car and electric cars or to return
electricity back to the electric grid used on a street car or electric powered train line when they slow
down. This process is called regenerative braking on hybrid and electric cars. In diesel electric
locomotives they also use their DC motors as generators to slow down but dissipate the energy in
resistor stacks. Newer designs are adding large battery packs to recapture some of this energy.

Brushed[edit]
Main article: Brushed DC electric motor

A brushed DC electric motor generating torque from DC power supply by using an internal mechanical
commutation. Stationary permanent magnets form the stator field. Torque is produced by the principle that any
current-carrying conductor placed within an external magnetic field experiences a force, known as Lorentz
force. In a motor, the magnitude of this Lorentz force (a vector represented by the green arrow), and thus the
output torque,is a function for rotor angle, leading to a phenomenon known as torque ripple) Since this is a two-
pole motor, the commutator consists of a split ring, so that the current reverses each half turn ( 180 degrees).

The brushed DC electric motor generates torque directly from DC power supplied to the motor by
using internal commutation, stationary magnets (permanent or electromagnets), and rotating
electromagnets.
Advantages of a brushed DC motor include low initial cost, high reliability, and simple control of
motor speed. Disadvantages are high maintenance and low life-span for high intensity uses.
Maintenance involves regularly replacing the carbon brushes and springs which carry the electric
current, as well as cleaning or replacing the commutator. These components are necessary for
transferring electrical power from outside the motor to the spinning wire windings of the rotor inside
the motor.
Brushes are usually made of graphite or carbon, sometimes with added dispersed copper to improve
conductivity. In use, the soft brush material wears to fit the diameter of the commutator, and
continues to wear. A brush holder has a spring to maintain pressure on the brush as it shortens. For
brushes intended to carry more than an ampere or two, a flying lead will be molded into the brush
and connected to the motor terminals. Very small brushes may rely on sliding contact with a metal
brush holder to carry current into the brush, or may rely on a contact spring pressing on the end of
the brush. Very small short-lived motors, such as are used in toys, may be made of a folded strip of
metal that contacts the commutator.

Brushless[edit]
Main articles: Brushless DC electric motor and Switched reluctance motor

Typical brushless DC motors use one or more permanent magnets in the rotor
and electromagnets on the motor housing for the stator. A motor controller converts DC to AC. This
design is mechanically simpler than that of brushed motors because it eliminates the complication of
transferring power from outside the motor to the spinning rotor. The motor controller can sense the
rotor's position via Hall effect sensors or similar devices and can precisely control the timing, phase,
etc., of the current in the rotor coils to optimize torque, conserve power, regulate speed, and even
apply some braking. Advantages of brushless motors include long life span, little or no maintenance,
and high efficiency. Disadvantages include high initial cost, and more complicated motor speed
controllers. Some such brushless motors are sometimes referred to as "synchronous motors"
although they have no external power supply to be synchronized with, as would be the case with
normal AC synchronous motors.

Uncommutated[edit]
Other types of DC motors require no commutation.
 Homopolar motor – A homopolar motor has a magnetic field along the axis of rotation and an
electric current that at some point is not parallel to the magnetic field. The name homopolar
refers to the absence of polarity change. Homopolar motors necessarily have a single-turn coil,
which limits them to very low voltages. This has restricted the practical application of this type of
motor.
 Ball bearing motor – A ball bearing motor is an unusual electric motor that consists of two ball
bearing-type bearings, with the inner races mounted on a common conductive shaft, and the
outer races connected to a high current, low voltage power supply. An alternative construction
fits the outer races inside a metal tube, while the inner races are mounted on a shaft with a non-
conductive section (e.g. two sleeves on an insulating rod). This method has the advantage that
the tube will act as a flywheel. The direction of rotation is determined by the initial spin which is
usually required to get it going.

Permanent magnet stators[edit]

Main article: Permanent-magnet electric motor

A PM motor does not have a field winding on the stator frame, instead relying on PMs to provide the
magnetic field against which the rotor field interacts to produce torque. Compensating windings in
series with the armature may be used on large motors to improve commutation under load. Because
this field is fixed, it cannot be adjusted for speed control. PM fields (stators) are convenient in
miniature motors to eliminate the power consumption of the field winding. Most larger DC motors are
of the "dynamo" type, which have stator windings. Historically, PMs could not be made to retain high
flux if they were disassembled; field windings were more practical to obtain the needed amount of
flux. However, large PMs are costly, as well as dangerous and difficult to assemble; this favors
wound fields for large machines.
To minimize overall weight and size, miniature PM motors may use high energy magnets made
with neodymium or other strategic elements; most such are neodymium-iron-boron alloy. With their
higher flux density, electric machines with high-energy PMs are at least competitive with all optimally
designed singly fed synchronous and induction electric machines. Miniature motors resemble the
structure in the illustration, except that they have at least three rotor poles (to ensure starting,
regardless of rotor position) and their outer housing is a steel tube that magnetically links the
exteriors of the curved field magnets.

Bluetooth Module HC-05

Bluetooth HC-05 Module

 Buy Now

Introduction

HC-05 Bluetooth Module

HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,designed for
transparent wireless serial connection setup.The HC-05 Bluetooth Module can be used in a
Master or Slave configuration, making it a great solution for wireless communication.This
serial port bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data
Rate)3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR
Bluecore 04‐External single chip Rluetooth system with CMOS technology and with AFH
(Adaptive Frequency Hopping Feature).

Bluetooth Module HC-05

The Bluetooth module HC-05 is a MASTER/SLAVE module.By default the factory setting is
SLAVE.The Role of the module (Master or Slave) can be configured only by AT
COMMANDS.The slave modules cannot initiate a connection to another Bluetooth device,
but can accept connections.Master module can initiate a connection to other devices.The
user can use it simply for a serial port replacement to establish connection between MCU
and GPS, PC to your embedded project, etc.Just go through the datasheet for more
details File:Datasheet.pdf

Hardware Features

 Typical ‐80dBm sensitivity.

 Up to +4dBm RF transmit power.
 3.3 to 5 V I/O.
 PIO(Programmable Input/Output) control.
 UART interface with programmable baud rate.
 With integrated antenna.
 With edge connector.

Software Features

 Slave default Baud rate: 9600, Data bits:8, Stop bit:1,Parity:No parity.
 Auto‐connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto‐pairing PINCODE:”1234” as default.

Pin Description
The HC-05 Bluetooth Module has 6pins. They are as follows:

ENABLE:

When enable is pulled LOW, the module is disabled which means the module will not
turn on and it fails to communicate.When enable is left open or connected to 3.3V,
the module is enabled i.e the module remains onand communication also takes
place.

Vcc:

Supply Voltage 3.3V to 5V

GND:

Ground pin

TXD & RXD:

These two pins acts as an UART interface for communication

STATE:

It acts as a status indicator.When the module is not connected to / paired with any
other bluetooth device,signal goes Low.At this low state,the led flashes
continuously which denotes that the module is not paired with other device.When
 this module is connected to/paired with any other bluetooth device,the signal
goes High.At this high state,the led blinks with a constant delay say for example 2s
delay which indicates that the module is paired.

BUTTON SWITCH:

This is used to switch the module into AT command mode.To enable AT command
mode,press the button switch for a second.With the help of AT commands,the user
can change the parameters of this module but only when the module is not paired
with any other BT device.If the module is connected to any other bluetooth device, it
starts to communicate with that device and fails to work in AT command mode.

How to connect HC05 bluetooth

module with Arduino Uno?
Hardware and Software Required

 HC-05 Bluetooth Module

 Arduino Uno
 Arduino IDE(1.0.6V)

Hardware Connections
As we know that Vcc and Gnd of the module goes to Vcc and Gnd of Arduino.The TXD pin
goes to RXD pin of Arduino and RXD pin goes to TXD pin of Arduino i.e(digital pin 0 and
1).The user can use the on board Led.But here,Led is connected to digital pin 12 externally
for betterment of the process.
Program for HC-05 Bluetooth Module
The program given below is the HC-05 bluetooth module program.This process is quite
different from others since we are going to use android mobile to control and communicate
with arduino.Here the bluetooth module acts as an interface between our mobile and
Arduino board.Before getting into the execution process,follow the given procedure:

 First of all,the user should install an application called Bluetooth SPP PRO from the
playstore which is a free application.
 After installation,pair the bluetooth module to your mobile as like connecting one device
to other using bluetooth.The default pairing code is 1234.
 Upload the given program to the Arduino Uno board.After uploading the code,unplug
the USB from the arduino.
 Now use external power adapter to power the Uno board.
 The Bluetooth SPP PRO has three types of communication mode.Here Byte stream mode
is used to communicate.So select that mode and give the input as 1,as soon as the input
has given the led will turn on and for 0 led will turn off.

Bluetooth code
  #include <SoftwareSerial.h>
 SoftwareSerial mySerial(0, 1);
 int ledpin=12;
 int Data;
 void setup()
 {
 mySerial.begin(9600);
 pinMode(ledpin,OUTPUT);
 }
 void loop()
 {
 if (mySerial.available())
 {
 Data=mySerial.read();
 if(Data=='1')
 {
 digitalWrite(ledpin,HIGH);
 mySerial.println("LED On! ");
 }
 else if (Data=='0')
 {
 digitalWrite(ledpin,LOW);
 mySerial.println("LED Off! ");
 }
 }
 }

References
 HC-05 and HC-06 zs-040 Bluetooth modules. First Look

 Remote Controlled LED using HC-05 Bluetooth and Arduino

 BlueTooth-HC05 Module

 Configuring The HC-05 Bluetooth Module