BLUETOOTH CONTROLLED

ARDUINO CAR

A PROJECT REPORT SUBMITTED

IN PARTIAL FULFILLMENT OF THE REQUIREMENT FOR THE

DEGREE OF BACHELOR OF TECHNOLOGY

IN

ELECTRONICS AND COMMUNICATIONS ENGINEERING

SUBMITTED BY

Vanita Mishra (1742331007)

Alok Pandey (1742331001)

SUBMITTED TO

Mrs. RITU SINGH

ASSISTANT PROFESSOR

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING

SCHOOL OF MANAGEMENT SCIENCES, LUCKNOW

Affiliated to
Dr. APJ Abdul Kalam Technical University, Lucknow

AUGUST, 2021
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 CERTIFICATION

This is to certify that this project, the entire design and construction of the home automation

system was carried out and submitted as true work of Vanita Mishra and

Alok Pandey of B-tech ECE final year under the supervision of our H.O.D sir and Ritu

Ma’am of Department of Electronics and Communications Engineering, School Of

Management Sciences, Lucknow in partial fulfilment of the requirements for the award of

Bachelor of Engineering in Electronics and Communications Engineering.

Ritu Singh Date

(Project Supervisor)

Amod Kumar Pandey Date

(Head of Department)

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 ACKNOWLEDGEMENT

I cannot but acknowledge the unquantifiable help God gave me throughout this project work,

always showing up whenever I got to the end of my line and felt like changing the project to

a simpler one. Most remarkable was the breakthrough He gave me when I was stuck at how

to manage steps for a month!

I am deeply indebted to my parents and siblings for their constant support especially

in circumstances where I find it hard to even convince myself that my request for help is fair

and reasonable. I am equally indebted my very understanding, fatherly and enviable project

supervisor, Ritu Ma’am who is always willing to go above and beyond in counselling and

supervising me.

I could not have been able to understand how to go about the vital aspect of the

project work if not for the supervisory assistance of my friend and colleague, (really, all

aspect of my project work was vital). I must also acknowledge my colleagues who over the

four years we have been together, in ways they themselves do not understand, have been the

vital components of my educational and personal growth which also greatly rubbed on my

successful completion of this project work.

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 ABSTRACT

There are several environmental conditions under which human beings do not find conducive to
work. In such circumstances, without a considerable amount of safety precautions like in the
disposal of hazardous wastes, radioactive substances, remote handling of explosive devices and
righting and hostage situations among others, work is impossible. So, there is a need for a
machine that will not be affected by these during the course of carrying out the human-like
tasks. A prototype of a robotic vehicle for pick and place have been designed and implemented
in this study. Our proposed system works by using a Bluetooth module for receiving the
Bluetooth command being sent by the operator. The method adopted in this study uses DC
motor to move the robotic vehicle to the appropriate direction using commands. The robotic
car will move in the appropriate direction sent to him by the operator through the Bluetooth
for execution. Our evaluation of the system shows that the robotic car for picking and placing
small objects within a limited distance performed according to specification. It thereby proves that
it will be useful in an environment that is hazardous to human being.

Fig. : A whole view of our Bluetooth Controlled Car

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 TABLE OF CONTENTS

CONTENTS Page no.

Cover Page i

Certificate ii

ACKNOWLEDGEMENT iii
ABSTRACT iv
TABLE OF CONTENTS v

Abbreviations 53

Chapter 1: Introduction 12
1.1 Basic Introduction 12
1.2 About the Project 13
1.3 Block Diagram 14
1.4 Components Used in Project 15
1.5 Literature Review 15
1.6 Motivation 16
1.7 Objective 17
1.8 Need of Project 17
1.9 Project Plan 17
1.10 System Overview 18
1.11 Controls 18

Chapter 2: Component Specifications 19

2.1 Arduino Uno 19

2.2 L293D Motor Driver 21

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 2.3 DC Motor 23
2.4 HC-05 Bluetooth Module 23
2.5 Power Supply 25

Chapter 3: Project Description 26

3.1 Principle of Operation 26
3.2 Working 26
3.3 Mechanism 29
3.4 Software Analysis 30
3.5 The Android Application 31
3.6 Disadvantages 34
3.7 Improvements 34

Chapter 4: Circuit and Source 36

4.1 Circuit Diagram 36
4.2 Bluetooth Controlled Application 37
4.3 Assembling the chassis 37
4.4 Source Code 38

Chapter 5: Project Overview 42

5.1 Applications 43
5.2 Formulation of Problem 44
5.3 Limitations 44
5.4 Modifications 45

5.5 Future Scope 45

Chapter 6: Implementation Details 46

6.1 Detailed analysis and description of project 47

Chapter 7: Result and Conclusion 48

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 7.1 Result Analysis 48
7.2 Conclusion 48

References 50

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 List of Tables

Sr.No Table Name Page No.

1.1 List of Components 14

2.2 Rotation of Motion 21

2.3 Source Code 38

viii
 List of Figures

Sr.No Figure Name Page

No.

1.1 View of Bluetooth Controlled Car 3

1.2 Block Diagram 14
1.3 Components Used 15
1.4 System Overview 18
1.5 Arduino Uno Board 20
1.6 L293D Pin Diagram 21
2.1 L293D Component 22
2.2 HC-05 Bluetooth Module 23
2.3 HC-05 Pin Diagram 24
2.4 Power Supply 25
2.5 Wired Diagram 27
2.6 Application Screenshot 31
2.7 Circuit Diagram 35
2.8 Chassis 37

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 Abbreviations

Tx Transmitter
Rx Receiver
V Voltage
Mhz Mega Hertz
USB Universal Serial Bus

x
 Chapter 1: Introduction

1.1 Basic Introduction

Smartphone has quite changed the traditional ways of human to machine interaction.
Smartphone is now a vital part of a person’s life. Android is a software platform for mobile
device that includes an operating system, middleware and key applications. Android is a safe
and secure operating system. All of its essential tools are combined in software called SDK
which stands for Software Development Kit. We know that all manual operations have been
replaced by automated mechanical operations. Our main objective of writing this paper is to
control the robot by sensing the temperature of the environment using Bluetooth app and
view the direction of the car using mobile camera and also find the location of the robot.
Bluetooth is used for its various advantages over other wireless technologies. Hardware
technology utilized in smart phones has also greatly improved. Hence, we can say that
Android smartphones will serve a great benefit for industrial, commercial and other general-
purpose applications.
The DC motors are widely used for providing variable speed drive system in industrial
applications resembling automation, electrical traction, military instrumentality, fixed disk
drives, thanks to their high potency, noise-free operation, compactness, dependability and
low maintenance and cost. Many connection technologies are used nowadays such as GSM,
GPRS, Wi-Fi, WLANs and Bluetooth. Every technique has its own distinctive
characteristics and applications. Among these wireless connections, Bluetooth and Wi-Fi
technology is usually enforced.
The system hardware consists of a controller equipped with Bluetooth communication
module. It’ll be connected to the motors and other alternative components of robotic car.
When the robot app is turned on and is connected with the current system via Bluetooth, one
will operate the car by giving wireless commands from the app using the functions already
programmed in the app. The vehicle will move all four told directions: left, right, front and
back.
For forward movement, movement of both the motors will be in the same direction and for
backward motion; movement of the motors will be in opposite direction. For left and right
movements, either of the motors will rotate and to stop both the motors will stop.
Instructions are given to the motors through the mobile app by the user.

1.2 About the Project

A remote controlled vehicle is any mobile machine controlled by means that is physically
not connected with origin external to the machine. There are many types in it, based on the
controls – radio control device, Wi-Fi controlled and even Bluetooth controlled. These
devices are always controlled by humans and take no action autonomously. The main target
in such vehicles would be to safely reach a designated point, maneuver the area and reach
back to the point of origin.

In this project we make use of the Bluetooth technology to control our machine car. We
don’t call this as a robot as this device doesn’t have any sensors. Thereby, sensor less robots
are machines. This machine can be controlled by any human using his android mobile
phone, by downloading an app and connecting it with the Bluetooth module present inside
our car. User can perform actions like moving forward, backward, moving left and right by
the means of command using his-her mobile phone app. The task of controlling our car is
taken car by the Arduino UNO with micro controller ATMEGA32, 16 mHz processor, 2 KB

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 SRAM (Static Random Accessible Memory) and 32 KB flash memory. Arduino play a
major role in the control section and had made it easier to convert digital signals and
analogue signals into physical movements. The major reason for using a Bluetooth based
tech is that we can change the remote anytime – mobiles phones, tablets and laptops and
physical barriers like wall or doors do not affect the car controls.

1.3 Block Diagram

Figure 1.2 Block Diagram

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1.4 Components Used

Model or Specifications
Materials Model Picture
( If any )

UNO with ATMEGA32

Arduino Board
micro controller

Bluetooth Modules HC - 05

Motor Drive Shield L293D Motor Driver

DC Gear Motor 12 V, 200rp m

Stainless Steel Nails and

Nylon Jumpers

Connecting Wires and

Jumper Cables

Table 1.1: Components

1.5 Literature review

Various researches have been made by different researchers for developing this project.
However, they serve a different application and have different technologies implemented.
Some of those papers are mentioned below stating their technology and application.
Jorge Kazacos Winter [2] has developed android controlled robot automation. Main aim of
his project was the transfer of information wirelessly between a smartphone and the robot
and developing the robot and its communication system underneath a low price and open
source philosophy. He used 3D design technique to style the structure of the robot with the

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 facilitation of parametrical modelling software. The style, when fed to the 3D printer can
print the parts of the robot in a layered manner one by one and can then use these parts to
assemble the robot simply. He has used Arduino micro-controller and Wi-Fi technology in
this robot. between robot and smartphone. Wireless night vision camera was used for
providing the remote surveillance. The video which is recorded by camera is then
transmitted to TV unit through Radio Frequency signal. He used 8051 micro controllers for
the robotic unit.

Vito M Guardi [1] has evolved the method of Bluetooth technology by developing an
android app for a robot which is driven by a microcontroller. The central idea of his work is
to show that one android app can be operated using totally different electronic devices. Vito
M Guardi has invented a communication protocol for android smartphone and robotic
platform over a Bluetooth.
Rajesh Kumar Goud and B.Santhosh Kumar [3] have invented a pick and drop robot. They
wanted it to be used for diffusing a bomb remotely with safety. For the robotic arm, they
used a pair of motors and another pair as the wheels of the robot for controlling the
movement. Connectivity is established using Bluetooth. The micro-controller used is
LPC2148. They had also attached a wireless camera for remote surveillance. They have
worked on this project mainly for industrial and military applications.
Xiao Lu, Wenjun Liu, Haixia Wang, Qia Sun [8] have published a paper based on a project
in which the smartphone is capable of IFLYTEK voice as well as handwritten input. The
design is therefore robust, suitable, and practical for use and it also ensures the reliability of
the full system. For connectivity between the smartphone and robot, Wi-Fi is used. Use of
Wi-Fi makes it easy and absolutely convenient for controlling the robot so that it can act
according to the commands.
Arpit Sharma, Reetesh Verma, Saurabh Gupta, Sukhdeep Kaur Bhatia [9] have configured
an android smartphone which can control a robot via Bluetooth technology. The phone uses
motion sensors and records the gestures sent via an android mobile phone. It also has an
inbuilt accelerometer and Bluetooth module for controlling the movements of a robot.
M. Selvam [4] in his paper has design to develop a robotic system which has a wireless
camera attached to the surveillance. Bluetooth was implemented in his project for providing
connection

1.6 Motivation

It should be noted whenever customers want to buy any product through online from any e-
commerce website he/she does visit the many e-commerce websites for getting the desire
product. Like this customer surf lots of time in visiting of e-commerce websites for getting
the desire product. The customer not only surfs lots of time in visiting of e-commerce sites,
and quality of products, but also he/she suffers from limited option to choose the product.
The proposed architecture, by making use of location-based service, offers a solution to
those problems. That is, for customers there is no need to visits many e-commerce websites
for buying the desire the product. A user can buy desired product without visiting many e-
commerce website as well as without wasting of time in visiting of e-commerce website.
Location-Based Smart Shopping using Android provides a stage to the customer where the
user can get information of a particular product available in stores nearby. Moreover, a user
is also provided navigation facility which will direct him to the shop he wants to buy the
product from.

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 1.7 Objective
The main objectives of the project are:
1. Operating the Robot wirelessly through mobile phone.
2. Usage of Android touchscreen smart phone in performing the task.
3. Bluetooth wireless transmission.
4. Indicating Robot directions using LED indicators.

1.8 Need of Project

Before they are using the remote device to be control by the robotic car. Remote controller
car is a separate device to handle the car using the wired and wireless connection. Camera
device are used to Fixing in the car and viewing in the system. It can use the various
monitoring system in the car. It can be used also the various alerting system. Robot can used
to create different kinds of purpose.

1.9 Project Plan

The project plan was divided into five major milestones each spaced approximately Ten days
apart.
1) Project Description and Plan of Work
2) System Model
3) Components Purchasing
4) Implementation / Hardware / Software
5) Project Demonstrations
The sequence that we met these milestones was out of sequence with the required
milestones. Experience told us to get the hardware done as soon as possible as this is often
requires a lot of time. By doing so, and because of unforeseen difficulties, we fell behind
slightly with the System Modeling and flight Controller. After working closely we were able
to complete the milestones only slightly behind schedule.

1.10 SYSTEM OVERVIEW

The Block Diagram of our system consists of a Bluetooth module, an Arduino kit, a couple
of motors for driving the car and temperature sensor.

Figure 1.3 Block Setup

1.11 Controls
5
Forward
Reverse
Left
Right
Stop

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 Chapter 2: Component Specifications

RC module is the main working unit of this system. This unit consists of the Arduino chip,
the motor drivers, and a Bluetooth module connected to the circuit. L298N Motor driver are
used to control the dc motors. The Arduino Uno, which is a small android chip, resides at the
center of the unit. It is responsible for communicating with android smartphone, using the
Bluetooth module and controls the motors using the motor driver. The RC unit is powered
using 6V battery connected to this Arduino chip. It is used another Arduino chip,
temperature sensor for sensing the temperature and humidity of the atmosphere. The Paper
on Android Controlled Arduino based Robotic Car for controlling the module is received
using Bluetooth module HC-06.

2.1. Arduino UNO Board

The Arduino Uno is an open-source microcontroller board based on the Microchip
ATmega328P microcontroller and developed by Arduino.cc. The board is 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 board has 14 digital I/O pins (six capable of PWM
output), 6 analog I/O pins, and is programmable with the Arduino IDE (Integrated
Development
Environment), via a type B USB cable. It can be powered by the USB cable or by an
external 9-volt battery, though it accepts voltages between 7 and 20 volts. It is similar to the
Arduino Nano and Leonardo. The hardware reference design is distributed under a Creative
Commons Attribution Share-Alike 2.5 license and is available on the Arduino website.
Layout and production files for some versions of the hardware are also available. The word
"uno" means "one" in Italian and was chosen to mark the initial release of Arduino Software.
The Uno board is the first in a series of USB-based Arduino boards; it and version 1.0 of the
Arduino IDE were the reference versions of Arduino, which have now evolved to newer
releases. The ATmega328 on the board comes preprogrammed with a bootloader that allows
uploading new code to it without the use of an external hardware programmer. While the
UNO communicates using the original STK500 protocol, it differs from all preceding boards
in that it does not use the FTDI USB-to-serial driver chip. Instead, it uses the Atmega16U2
(Atmega8U2 up to version R2) programmed as a USB-to-serial converter.

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2.2. L293D Motor Drive H-Shield

The Motor Driver is a module for motors that allows you to control the working speed and
direction of two motors simultaneously. This Motor Driver is designed and developed based
on L293D IC.

L293D is a 16 Pin Motor Driver IC. This is designed to provide bidirectional drive currents
at voltages from 5 V to 36 V.

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Rotation of motor depends on Enable Pins. When Enable 1/2 is HIGH , motor connected to
left part of IC will rotate according to following manner:

Input 1 Input 2 Result

0 0 Stop

0 1 Anti-Clockwise

1 0 Clockwise

The L298N Motor Driver Module is responsible for providing the necessary drive current to
the motors of the robotic car. I have provided information about L298N Module in an earlier
project called Arduino DC Motor Control using L298N.

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2.3. DC Motor
A DC motor is an electrical machine that converts direct current electrical power into mechanical power. The
most common types rely on the forces produced by magnetic fields. Nearly all types of DC motors have
some internal mechanism, either electromagnetic or electronic to periodically change, the direction of
current flow in part of the motor. Most types produce rotary motion; a linear motor directly produces
force and motion in a straight line. 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 the 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 the 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. Here in this study, the DC motor will be connected to pin 9 on the microcontroller, when data
is acquired, it will move the vehicle in an appropriate direction.

DC Motor Control using H-Bridge

An H-Bridge is a simple electronic circuit consisting of four switching elements like

transistors (BJT or MOSFET) that can drive a motor in both the directions without switching
the leads.

The name “H-Bridge” refers to the look of the connection consisting of four transistors and a
motor in the center forming the letter “H”.

A simple H-Bridge connection using four transistors and a motor is shown below. By
activating two particular transistors at the same time, we can control the flow of current
through the motor and hence the direction of rotation.

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2.4. HC-05 Bluetooth Module

The HC-05 Bluetooth Module is responsible for enabling Bluetooth Communication

between Arduino and Android Phone.

This module is based on BC417 Single Chip Bluetooth IC that is compliant with Bluetooth
v2.0 standard and with support for both UART and USB interfaces.

Generally, the HC-05 Bluetooth Module, or the HC-05 Sub Module, to be precise, comes
with the BC417 IC along with a flash memory. Such Modules come as surface mount board
and several third-party manufacturers use these board to build a more complete system with
necessary pins and components.

Image below shows the pins and other components on a typical HC-05 Bluetooth Module.

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 An important point to remember is the HC-05 Bluetooth Module works on a logic level of
3.3V.

Hence, a 3.3V Regulator is used on the board.

Pin Description

 EN: It is the enable pin. When this pin is floating or connected to 3.3V, the module is
enabled. If this pin is connected to GND, the module is disabled.
 +5V: This is the supply pin for connecting +5V. As the Module has on-board 3.3V
regulator, you can provide +5V supply.
 GND: It is the ground pin.
 TX: It is the Transmitter pin of the UART Communication.
 RX: It is the Receive Pin of UART.
 STATE: This is a status indicator pin. This pin goes LOW when the module is not
connected to any device. When the module is paired with any device, this pin goes HIGH.

2.5. Power Supply

Almost all electronic components used in electronic circuit need a DC source of power to operate. Some
portable low- power system batteries may be used, but their operating period is limited. Thus, for long time
operation, frequent recharging or replacement of batteries become much costlier and complicated. The
ATMEGA328P has already been designed to operate without the use of a transformer, the system can be
powered via the USB connection from the computer or with an external power supply of 7 to 12V. The
external (non – USB) power can come either from an AC – to – DC adapter or battery. The adapter can be
connected by plugging a 2.1mm center-positive plug into the board's power jack. Leads from a battery can
be inserted in the GND and VIN pin headers of the power connector. The board can operate on an
external supply of 6 to 20 volts. If supplied with less than 7v, the 5v pin may supply less than 5volts and
the board may be unstable. If using more than 12V, the voltage regulator may overheat and damage the
board. The recommended range is 7 to 12 volts.

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13
 Chapter 3: Project Description

3.1 Principle of Operation

Chassis is the structure that holds all the components together. The Chassis should be rigid,
and be able to minimize the vibrations coming from the motors.

3.2 Working
Take a closer look on the Wiring Diagram given below. We could notice the power source,
four 1.5 volt batteries connected to the 12V power pin of L298 Motor Drive and ground of
Motor Drive and Arduino UNO. This supplies essential power to the circuit. A total of 6
volts is being supplied to this system, where the maximum permissible amount is 12 volts.
Digital wires of Arduino are connected with the input1, input2, input3 and input4 of the
motor drive. Motors are connected to the either sides of Motor Drive which are the outputs
terminals. To complete the power source circuit, 5V of Motor Drive is connected to V in
power pin of Arduino UNO. Followed by this, HC05 Bluetooth Module’s Vcc is connected to
5V pin of Arduino UNO, which supplies power to Bluetooth Module. Ground to
Ground connections are also made. Transistor Transistor logic pins, Transmitter
(TX) and Receiver (RX) of Arduino UNO are connected to RXD and TXD of HC05
respectively. The program is uploaded to Arduino before connecting the Bluetooth module.

After all successful connections, switch on the power source. Lights at Motor Drive,
Arduino UNO and HC05 would indicate the correct connection. Upon successful connection
of your Bluetooth module with any android device, we could control this device. By passing
the command, for example, to move forward we pass ‘F’. This command is transmitted by
our device to Bluetooth module, which in turn transmits to Arduino UNO. Arduino receives
is and passes the same to Motor Drive through its digital pins. Motor Drive will get this
through their input pins and exercise them through their output pins were motor is
connected.

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15
3.3 Mechanism
Assemble the robot, make the necessary connections and upload the code to Arduino. If you
understood the HC-05 Bluetooth Module tutorial, then understanding the Bluetooth
Controlled Robot project is very easy.

First, in the Android App, I have used 5 keys as Forward, Reverse, Left, Right and Stop. The
corresponding data associated with each key is as follows:

 Forward – 1
 Reverse – 2
 Left – 3
 Right – 4
 Stop – 5

When a key is pressed, the corresponding data is transmitted to the Bluetooth Module from
the Phone over Bluetooth Communication.

In the Arduino code, the Arduino UNO receives any of this data from the Bluetooth Module
(as per the key pressed) and performs a simple switch case operation, where each case
associated with appropriate instructions to the Motor Driver Input Pins.

For example, if ‘Forward’ key is pressed in the Android Phone, then ‘1’ is transmitted.
Arduino will then make IN1 and IN3 as HIGH and IN2 and IN4 as LOW to achieve a
forward motion.

Similarly, other keys correspond to appropriate setting of IN1 – IN4 pins.

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3.4 Limitations

 As the range of the Bluetooth Communication is limited (a maximum of 10 meters for class
2 devices for example) the control range of Bluetooth Controlled Robot is also limited.
 Make sure that sufficient power is provided to all the modules especially the Bluetooth
Module. If the power is not sufficient, even though the Bluetooth Module powers on, it
cannot transmit data or cannot be paired with other Bluetooth devices.

3.4 Software Analysis

Software Used..

 Arduino IDE
 Eclipse Android SDK(Software Development Kit)

Programming Languages Used...

 Embedded C/C++

ANDROID SMARTPHONE
Android is a very popular open source operating system (OS), used in mobile devices such
as tablets and smartphones. Android has a very user-friendly interface which relies on direct
interaction between the user and the device i.e. by using touch gestures. These gestures are
like real-world actions, which include swiping, tapping, scrolling and pinching, to control
the onscreen objects, together with a virtual keyboard for taking input in text form. In this
project, android smartphone has an installed app which is used for controlling the robot unit.
The smartphones already come with inbuilt technology to establish connection. The
technology we have used is Bluetooth and wifi.
USER INTERFACE
The user interface, of the overall system, is provided using the custom-made android app
using Graphical User Interface (GUI). The GUI provides user, the various control modes, to
Control dynamically the robot unit. When the app is started, we first establish the connection
between the app and RC unit using Bluetooth. The Bluetooth and app are paired is easy to
control the robotic car, which is also used to send the data to get the current temperature of

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 the environment. The GUI of android provides a user-friendly real-time experience to the
user, to control the robot.

3.5 THE ANDROID APPLICATION

An application was developed in the software Android Studio. App can be installed on an
Android smartphone to control the RC unit. The app shows buttons for movement of the car
in different directions. These commands are as follows: Left, right, forward and backward.
The sensor app shows the temperature and humidity value of the current atmosphere which
is used to send by the data. The code for the app is written in java.

F IGURE 3.5: SCREENSHOT OF THE APPLICATION

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 The smart microcontroller unit named as Arduino Uno can be programmed with the Arduino
software there in no any requirement for installing other software rather than Arduino.
Firstly, Select "Arduino Uno from the Tools , Board menu (according to the microcontroller
on your board).The IC used named as ATmega328 on the Arduino Uno comes pre burned
with a boot loader that allows you to upload new code to it without the use of an external
hardware programmer. Communication is using the original STK500 protocol (reference, C
header files). We can also bypass the boot loader and programs the microcontroller through
the ICSP (In Circuit Serial Programming) header. The ATmega16U2 (or 8U2 in the rev1 and
rev2 boards) firmware source code is available. The ATmega16U2/8U2 is loaded with a
DFU boot loader, which can be activated by: On Rev1 boards: connecting the solder jumper
on the back of the board (near the map of Italy) and then resetting the 8U2. On Rev2 or later
boards: there is a resistor that pulling the 8U2/16U2 HWB line to ground, making it easier to
put into DFU mode.
The Arduino Uno is one of the latest smart microcontroller unit and has a number of
facilities for communicating with a computer, another Arduino, or other microcontrollers.
The ATmega328 provides UART TTL at (5V) with serial communication, which is
available on digital pins 0 - -(RX) for receive the data and pin no.1 (TX) for transmit the
data. An ATmega16U2 on the board channels this serial communication over USB and
appears as a virtual com port to software on the computer. The '16U2 firmware uses the
standard.
USB COM drivers, and no external driver is needed. However, on Windows, an .inf file is
required. The Arduino software includes a serial monitor which allows simple textual data to
be sent to and from the Arduino board. The RX and TX LEDs on the board will flash when
data is being transmitted via the USB-to-serial chip and USB connection to the computer
(but not for serial communication on pins 0 and 1). A Software Serial library allows for
serial communication on any of the Uno's digital pins. The ATmega328 also supports I2C
(TWI) and SPI communication. The Arduino software includes a Wire library to simplify
use of the I2C bus. Arduino programs are written in C or C++ and the program code written
for Arduino is called sketch. The Arduino IDE uses the GNU tool chain and AVR Libc to
compile programs, and for uploading the programs it uses avrdude. As the Arduino platform
uses Atmel microcontrollers, Atmel's development environment, AVR Studio or the newer
Atmel Studio, may also be used to develop software for the Arduino.

Application Instructions:

1. Pair the HC-05 Bluetooth module with the mobile and enter the password.
2. Select the device
3. Upon clicking the "FORWARD ARROW", the data "Forward" is sent to car moves
FORWARD.
4. Upon clicking the "BACKWARD ARROW", the data "Backward" is sent to the connected
Bluetooth Module and the car moves BACKWARD.
5. Upon clicking the "LEFT ARROW", the data "Left" is sent to the connected Bluetooth
Module and the car turns LEFT.
6. Upon clicking the "RIGHT ARROW", the data "Right" is sent to the connected Bluetooth
Module and the car moves RIGHT.
7. Click on “OFF” icon to disconnect the paired Bluetooth module

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3.6 Disadvantages

 As the range of the Bluetooth Communication is limited (a maximum of 10 meters for class
2 devices for example) the control range of Bluetooth Controlled Robot is also limited.
 Make sure that sufficient power is provided to all the modules especially the Bluetooth
Module. If the power is not sufficient, even though the Bluetooth Module powers on, it
cannot transmit data or cannot be paired with other Bluetooth devices.

3.7 Improvements

1) Wi-Fi Shield can be used instead of Bluetooth inorder to extend the operation range of
the car.

2) Further refining and improvement in the app and code can make the functions of car
much more realistic.

3) A high power battery can be used and its safety circuit too, in order to fulfill the power
requirements of car, as the car needs so much power to run.

20
CHAPTER 4: Circuit and Source

4.1 Circuit Diagram

21
 Bluetooth controlled Robot car is shown in above figure. A Motor driver is connected to
Arduino to run the car. Motor driver’s input pins 2, 7, 10 and 15 are connected to Arduino's
digital pin number 12, 11, 10 and 9 respectively. Here we have used two DC motors to
driver car in which one motor is connected at output pin of motor driver 3 and 6 and another
motor is connected at 11 and 14. A 9-volt Battery is also used to power the motor driver for
driving motors. Bluetooth module’s RX and TX pins are directly connected at TX and RX of
Arduino. And vcc and ground pin of Bluetooth module is connected at +5 volt and Ground
of Arduino. And a 9-volt battery is used for power the circuit at Arduino’s VIN pin.

4.2 BLUETOOTH CONTROLLER APPLICATION

In this project we will control the robot using Android Phone by using a Bluetooth
Controller application which we will get from Android Play store. By installing the
application, we can move the robot in four directions. When we touch forward button in
Bluetooth controller app then car start moving in forward direction and moving continues
forward until next command comes. When we touch backward button in Bluetooth
controller app then car start moving in reverse direction and moving continues reverse until
next command comes. When we touch left button in Bluetooth controller app then car start
moving in left direction and moving continues left until next command comes. In this
condition front side motor turns front side wheels in left direction and rear motor runs in
forward direction. When we touch right button in Bluetooth controller app then car start
moving in right direction and moving continues right until next command comes. In this
condition front side motor turns front side wheels in right direction and rear motor runs in
forward direction.

4.3 Assembling the Chassis

The chassis used for this thesis is known as Magician Chassis, which is widely used for
robotics project. It is a very simple robot platform which consists of two gear motors and
wheels and many constructing elements like screws, chassis plates and tools. The chassis is
available on many online stores. sparkfun.com is one renowned website which sells the
product. The full description of the chassis can be found on their webpage.

22
 4.4 Source Code
The Arduino code for Bluetooth Controlled Robot project is given below.

#include<SoftwareSerial.h>

#define IN1 12
#define IN2 11
#define IN3 10
#define IN4 9
//#define EN1 6
//#define EN2 5

SoftwareSerial mySerial(2, 3); // RX, TX

String data;
int btVal;

void setup()
{
23
 //Serial.begin(115200);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
//pinMode(EN1, OUTPUT);
//pinMode(EN2, OUTPUT);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
//analogWrite(EN1,63);
//analogWrite(EN2,63);
mySerial.begin(9600);
}

void loop()
{
while (mySerial.available())
{
{
data = mySerial.readStringUntil('\n');
//Serial.print(str);
}

btVal = (data.toInt());
//Serial.print("BlueTooth Value ");
//Serial.println(btVal);

switch (btVal)
{
case 1:
//Serial.println("Forward");
forward();
break;
24
 case 2:
//Serial.println("Reverse");
reverse();
break;

case 3:
//Serial.println("Left");
left();
break;

case 4:
//Serial.println("Right");
right();
break;

case 5:
//Serial.println("Stop");
stoprobot();
break;

if (mySerial.available() < 0)
{
//Serial.println("No Bluetooth Data ");
}

void forward()
{
digitalWrite(IN1, HIGH);
25
 digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

void reverse()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

void left()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

void right()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

void stoprobot()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

26
 CHAPTER 6: Project Overview

The advent of new high-speed technology and the growing computer Capacity provided
realistic opportunity for new robot controls and realization of new methods of control theory.
This technical improvement together with the need for high performance robots created
faster, more accurate and more intelligent robots using new robots control devices, new
drivers and advanced control algorithms. This project describes a new economical solution
of robot control systems .In general; the robots are controlled through wired network.

The programming of the robot takes time if there is any change in the project the
reprogramming has to be done. Thus they are not user friendly and worked along with the
user preferences. To make a robot user-friendly and to get the multimedia tone in the control
of the robot, they are designed to make user commanded work. The modern technology has
to be implemented to do this. For implementing the modern technology it should be known
by all the users to make use of it. To reach and to full-fill all these needs we are using
android mobile as a multimedia, user friendly device to control the robot. This idea is the
motivation for this project and the main theme of the project.
In this modern environment everybody uses smart phones which are a part of their day-to-
day life. They use all their daily uses like newspaper reading, daily updates, social
networking, and all the apps like home automation control, vehicle security, human body
anatomy, health maintenance, etc has been designed in the form of applications which can be
easily installed in their hand held smart phones.

6.1 Applications
6.1.1 Commercial applications
 Assistive devices (like wheelchairs)
 Can be used in remote area applications
 Helpful for mobility impaired persons
 As a toy
 For Pick and Place applications.

6.1.2 MilitaryApplications
• Car with the help of gps can track particular person or vehicle movement.
• Identifying enemy movements
• In search and rescue operations
• Many military operations uses drones for live coverage of the mission. Rescuing hostages and
civilians is the main objectives of these operations. Cars can be used to check the condition of
the hostages

• Video surveillance

27
 6.1.3 Industrial Applications
 It can be used in various industries where human intervention is not desired.

 With tremendous smart phone in markets, it is bound to have many more industrial applications.

6.1.4 Home Automation

 Considering the number of appliances, the average household owns; this could save a substantial
amount of money over time.

6.2 Formulation of Problem With using Technology

Why Arduino?

There are many other microcontrollers and microcontroller platforms available for physical
computing. Parallax Basic Stamp, Netmedia’s BX-24, Phidgets, MIT’s Handyboard, and
many others offer similar functionality. All of these tools take the messy details of
microcontroller programming and wrap it up in an easy-to-use package. Arduino also
simplifies the process of working with microcontrollers, but it offers some advantage for
teachers, students, and interested amateurs over other systems. Inexpensive - Arduino boards
are relatively inexpensive compared to other microcontroller platforms. The least expensive
version of the Arduino module can be assembled by hand, and even the pre-assembled
Arduino modules cost less than Cross-platform - The Arduino software runs on Windows,
Macintosh OSX, and Linux operating systems. Most microcontroller systems are limited to
Windows. Simple, clear programming environment - The Arduino programming
environment is easy-touse for beginners, yet flexible enough for advanced users to take
advantage of as well. For teachers, it’s conveniently based on the Processing programming
environment, so students learning to program in that environment will be familiar with the
look and feel of Arduino. 4 Chapter 1. Project Overview Open source and extensible
software- The Arduino software is published as open source tools, available for extension by
experienced programmers. The language can be expanded through C++ libraries, and people
wanting to understand the technical details can make the leap from Arduino to the AVR C
programming language on which it’s based. Similarly, you can add AVR-C code directly
into your Arduino programs if you want to. Open source and extensible hardware - The
Arduino is based on Atmel’s ATMEGA8 and ATMEGA168 microcontrollers. The plans for
the modules are published under a Creative Commons license, so experienced circuit
designers can make their own version of the module, extending it and improving it. Even
relatively inexperienced users can build the breadboard version of the module in order to
understand how it works and save money

28
6.3 Limitations

1. Limited Frequency Range: The frequency range used for typical RF communication is
near about 3KHz-3GHz. The use of channel separator increases the reliability but
decreases the actual usable working frequency range.

2. Limited Functions: The limited number of channels causes less number of combinations
and thus there are less numbers of available functions.

3. Limited Working Range: The working range of RF circuits with transmitters and
receiver is very small. It starts from a few meters to a few kilometers. The working
varies from circuits to circuits, but mainly depends on the values of physical
components used in the circuit. Mainly Wi-Fi and Wi-Max wireless services are used in
RF transmitter and receiver circuits. The following table shows the actual working range
of different wireless standards that can be used in wireless communication.

4. Reliability of Operation: The RF circuits are very prone to errors due to external
conditions such as EMI (Electro-Magnetic Interference), medium saturation, absorption
due to repetitive reflections from surface. Hence the output recovered is not always what
is expected. This might be a serious problem when working with scientific experimental
components.

5. Security reasons: This is the main disadvantage of using a RF circuit and the main
reason why RF circuits are not preferred today. The RF frequency band is available for
almost all the users for data communication. So there might be a scenario where more
than one user is trying to accommodate channel for its own communication. In such
case the frequency band may get interference from another user. Or worst case would
be, some user intentionally trying to jam our communication network. The RF jammer
circuits are very easy to design; hence the question of security arises when RF circuit is
used in the circuit. This security loop hole can be very dangerous when the robot is
being used for very confidential purposes. In areas of military these security threats can
produce disastrous outcomes.

6.2 Modifications
How we overcome Those problem in Project

1. Wi-Fi connection is used for the operation of robot.

2. This gives the high security.

3. It also provides much more reliability of operation working range it also includes Wi-Fi.

4. N type Wi-Fi is used for higher security purpose as well as for better range.

29
 6.3 Future Scope

Surveillance is needed in almost every field. It could be a great solution to various problems
or situation where wireless Surveillance is needed our project has tremendous scope as it
uses the latest technology in the market. Our application uses the android OS which is
currently the most used OS and also has a great future scope. The Surveillance robot can be
controlled remotely using the android application; this gives it a huge scope for future
application.

30
CHAPTER 6: Implementation Details

The project is designed to control a robotic vehicle using an android application. Bluetooth
device is interfaced to the control unit on the robot for sensing the signals transmitted by the
android application. This data is conveyed to the control unit which moves the robot as
desired.

Remote operation is achieved by any smart-phone/Tablet etc., with Android OS, upon a GUI
(Graphical User Interface) based touch screen operation. Transmitting end uses an android
application device remote through which commands are transmitted. At the receiver end, these
commands are used for controlling the robot in all directions such as forward, backward and
left or right and captures the video and transmits to TV through RF signal At the receiving end
the movement is achieved by two motors that are interfaced to the microcontroller. Serial
communication data sent from the android application is received by a Bluetooth receiver
interfaced to the microcontroller. The program on the microcontroller refers to the serial data
to generate respective output based on the input data to operate the motors through a motor
driver IC. The motors are interfaced to the control unit through motor driver IC

6.1 Detailed Analysis and Description of Project

The android application will be used to search for products and view stores at which those
products are available. The android application will need to communicate to a GPS
application within the mobile phone, which in turn communicates with a physical GPS
device to find the location of the user. The GPS will provide the mobile application with
locations of both the user and the stores and the distance between them, but it will also
provide maps and the functionality to display the application TMs data on the map. The
functionality provided by the GPS will be embedded into the application in order for the user
to be able to use the functions in the application in a seamlessly manner. Since this is a data-
centric product it will need somewhere to store the data. For that, a database will be used.
The android application will communicate with the database. The user will use the
application to get data from the database while the vendor will also add and modify data,
which will be monitored by the admin. All of the database communication will go over the
Internet. The mobile application has some restrictions about the resource allocation.

31
 CHAPTER 7: Result and conclusion
7.1 Result Analysis
.
We have two results i.e. the hardware and the software result. The hardware includes the robot
which runs on DC motors. The input to the motors is provided by the L293D motor driver
shield. The input to the driver shield is provided by the Arduino board. The navigational inputs
are given by the user to the Arduino board using the android application via Bluetooth. The
Arduino board, on receiving the signal, processes it and produces the appropriate output. The
communication between the android application and the Arduino board takes place using the
Bluetooth module which is interfaced with the Arduino board. It provides serial
communication between the application and the Arduino.

After completing the project, we come to know that there are many uses of the Arduino UNO
R3. Arduino can easily take the input from the real world and produce the output according to
it and it can control almost anything and the knowledge is ever expanding and so are the
problems which the mankind strives to solve. In this spirit, it is hoped that the current activity
will lead to further enhancements. For example; work on future for military purpose by the
robot

7.2 Conclusion
The final product we obtained is just the skeleton of those Remote Control Cars we see in
the market. The mechanical design of this product is also proposed, which could be
practically made to give a much better looking commercial product. For future plans, this
product could be added with sensors like, accelerometer and humidity sensor, thereby
widening their field of use.

The present product however could show some latency. The reason is, due to many
connections and least power source of 6V, which result in loss of energy. So in future, we
could use rechargeable batteries like Ni-Cd Battery or Li-ion battery that could avoid the
present disadvantage.

Also, we could make use of this RC Motor Car as a surveillance system or rovers by adding
a few more sensors and updating the code. This would make them into robots. These robots
could self-monitor under any human supervision, thereby reducing man power. These are
just the alternatives, on which this project could be improvised and updated.

32
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