Remote Vehicle Control Through Cell Phone Using DTMF

John Munyaka

Kabarak University

Research Project

Chapter 2
 Literature Review

The human mind is constantly in search of interesting data in order to operate the systems of his

or her choosing. It is critical to be able to control and obtain information from anywhere in the

computer age. Although various ways for remotely controlling systems have been developed,

they all have flaws, such as the necessity for specialized hardware and software to handle the

system. When a user presses keypad buttons on a mobile phone or connects to a remote mobile

system, a DTMF tone is produced. Remote control technology has been employed in industries

such as factory automation and space exploration, as well as in locations where human access is

impossible.

Dual Tone Multiple Frequency (DTMF) is a method of sending data over phone lines to and from a local

exchange. Touch-tone, Tone Dialing, VF Signaling, and MF Dialing are all terms for Dual Tone Multiple

Frequency (DTMF). Each DTMF tone is made up of two tones (one from the high group and one from

the low group) that are used to identify which number or symbol is pressed on the phone's keypad. When

the number 5 is touched on the phone's keypad, for example, the tones played simultaneously are 1336 Hz

and 770 Hz.

Voice communication control is based on Dual Tone Multiple Frequency (DTMF). DTMF is used in modern

telephone networks to dial numbers, setup telephone exchanges (switchboards) from afar, and program certain

equipment, among other things. DTMF can be generated by almost any mobile phone if a connection has already

been established. This is for use with DTMF-controlled applications such as phone banking, voicemail, and other

DTMF-controlled applications. DTMF was created so that acoustic transfer could be used. The DTMF tones can be

delivered and received using a conventional speaker and microphone (providing it is connected to a decoding

circuit of some type). A normal house phone/fax or cell phone plays two frequencies at the same time, which is

known as DTMF tones. Each key on your phone's keypad is allocated a specific frequency. When you press a key

on your phone's keypad, the circuit plays the DTMF tone associated with that key and sends it to your local

exchange for processing. A White Box or Tone Dialer can be used to simulate DTMF tones. You can also use a

tape recorder or a computer microphone to record DTMF tones, which can then be played into your mouthpiece.

Current forces having access to a lot of autonomous technologies. Mobile, cabling, and navigation system

are all options for controlling robot. There's a whole plethora of "fire & leave" guns, dumber armaments,
nor clever weapons on the markets, all of which could be activated by human control or program rules

this included target acquisition then shooting. But this is just the start, as future Car Security Networks

and Total Cars will also save millions of lives on America's streets.

Whenever there is background noise and they are always behind tones, and they cannot not work

properly, causing difficulty when dialing numbers. Phone banking, voicemail services, and other DTMF-

controlled apps are all examples of this. DTMF was created so that acoustic transfer could be used. The

DTMF tones can be delivered and received using a conventional speaker and microphone (providing it is

connected to a decoding circuit of some type). A normal house phone/fax or cell phone plays two

frequencies at the same time, which is known as DTMF tones. Each key on your phone's keypad is

allocated a specific frequency. When you press a key on your phone's keypad, the circuit plays the DTMF

tone associated with that key and sends it to your local exchange for processing. A White Box or Tone

Dialer can be used to simulate DTMF tones. You can also use a tape recorder or a computer microphone

to capture DTMF tones, which can subsequently be played into the mouthpiece of your phone to dial

numbers. However, if there is a lot of background noise behind the recorded DTMF tones, the tones may

not work properly, causing difficulty when dialing numbers.

Chapter 3

Theory and Methodology

 Hardware

i. Semiconductors

1. MT8870 DTMF Decoder

2. ATmega16 AVR Microcontroller

3. L293D motor Driver

ii. Resistors(all ¼ watt, ±5%

carbon ) 1. R1,R2 100KΩ

2. R3 330KΩ

3. R4 R8 10KΩ

iii. Capacitors

1. C1-------------0.7 µF ceramic disk

 2. C2, C3, C5, C6--------22Pf ceramic disk

3. C4-----------------------0.1µF ceramic disk

iv. Miscellaneous

1. XTAL1-------------------------------3.57MHz crystal

2. XTAL2--------------------------------12MHz crystal

3. S1------------------------Push to ON switch

4. M1,M2----------------6V, 50-rpm geared DC motor

5. Battery-------------------6V, 4.5Ah battery

Software

1. Proteus 8 professional simulation software

2. WinAVR C compiler
MT8870 DTMF Decoder

An MT-8870 seems to be a Digital signal reader with a frequency split filtration and just a decoding in a

simple 18-pin Sid or Supply chain management chip. It is manufactured using the Pic technique. Low -

power (up of 35 mW) and precise data management characterize the MT-8870. Vsc tech is used to

construct the elevated / low band filtering, but also dialing noise avoidance. Its encoder provides

electronic counts methods to recognize and decoding every 16 DTMF noise combinations into a floating

point code. Only one additional resources needed are just a minimal 3.579545 Hz rainbow burst

crystalline, a timed diode, and just a scheduling capacitors.

The Micro controller voltage is connected to the output of sometimes it vsc band pass filters which bands

equal to the top and bottom grouping harmonics in the hepa filter, which separates the high - and low

noises. The filtration section has notches at 300 & 440 Hz for good dial noise attenuation. Every filtered

result is followed by a single phase soft switching section, which smooths the impulses preceding

capping. To avoid bad low-level impulses from being recognized, limiting is done using rising

comparators having repetition. The comparing outputs provide complete train logically swing at the

frequency of the receiving DTMF signals. After the filter, a decoding calculates the harmonics of input

sounds and confirms whether they meet the typical Digital signal frequency using electronic count

methods..
 ATmega 16 AVR Microcontroller futures

A mechatronic system's "brain" is frequently a microcontroller. It can be programmed to

communicate with both the system's hardware and the user, much like a small, self-contained

computer. Simple math operations, control of digital outputs, and monitoring of digital inputs

are all possible with even the most basic microcontroller. Microcontroller technology has

progressed in lockstep with the computer industry. Newer microcontrollers are more faster,

have more memory, and offer a slew of input and output options that older devices lack.

Analog-to-digital converters, high-speed clocks and counters, interrupt capabilities, pulse-

width modulated outputs, serial communication ports, and other features are found in most

current controllers.

The ATmega16 microcontroller utilized in this lab is a DIP (Dual In Line) packaging chip with a 40-

pin width. This chip was chosen because of its durability and the DIP package's compatibility with

prototyping.

High Performance, Low Power Atmel®AVR® 8-bit Microcontroller

– • RISC Infrastructure (Enhanced RISC Processor)

– – 131 Intuitive Code – Single Clock Speed Interpretation

– – 32 8 Functional Records for All Purposes

– - Activity that is completely static

– – Approximately 1 MIPS every Mb throughput

– — 2-cycle Multiplication on-chip

–
– • Semi computer storage & information

– – In-System Adjustable Program Storage (16/32/64K Bytes Flash)

– — At the Customizable Sram (512B/1K/2K Bytes)

– - Internal Random access memory: 1/2/4K Bytes

– - 10,000 Flash/ 100,000 Ram Try writing Cycles

– - Data Protection: 24 months at 85 degrees Celsius/ 100 years at 25 degrees Celsius (1)

– – Coding Lock for Firmware Programme and Sram Data Protection On Chip Debugging

Interface – Additional Boot Relevant Statute with Separate Lock Bits In-System Coding via

On-chip Boot Software True Publish Operation (debug WIRE)

– • 6 Communication Items in CAN 2.0A/B - Ohsas 16845 Accreditation

– • 8-Bit Lpc or LIN 2.1 and 1.3 Driver

– • Dual 12-bit PSC with Fast Speeds (Power Stage Controller)

– - No Crossing of Lines

– 10-bit DAC for Variable Voltage Reference (Comparators, ADC)

– Four Analog Comparators with Variable Threshold Detection

– 100μA ±2% Current Source (LIN Node Identification)

– Interrupt and Wake-up on Pin Change

– Programmable Watchdog Timer with Separate On-Chip Oscillator

– On-chip Temperature Sensor

• Special Microcontroller Features

– Low Power Idle, Noise Reduction, and Power Down Modes

– Power On Reset and Programmable Brown Out Detection

– In-System Programmable via SPI Port

– High Precision Crystal Oscillator for CAN Operations (16MHz)

– Internal Calibrated RC Oscillator ( 8MHz)

– On-chip PLL for fast PWM ( 32MHz, 64MHz) and CPU (16MHz)

• Operating Voltage: 2.7V - 5.5V

• Extended Operating Temperature:

– -40°C to +85°C

• Core Speed Grade:

 – 0 - 8MHz @ 2.7 - 4.5V

– 0 - 16MHz @ 4.5 - 5.5V

L293D motor Driver

Some form of drivers are needed because the MUCs PORT isn't powerful enough to operate DC motors

directly. Using common L@(#D chips is a simple and safe option. It's a chip with 16 pins. The pin

arrangement is as follows.

16 8 U2
2 VSS VS 3
IN1 OUT1
7 6

1 IN2 OUT2
EN1

9
10 EN2
11
15 IN3 14
OUT3
IN4 GND GND OUT4

L293D

Figure 1: L293D motor driver.

The L293 and L293D are quadruple half-H drivers with high current. At voltages ranging

from 4.5 V to 36 V, the L293 is designed to give bidirectional drive currents of up to 1 A.

At voltages ranging from 4.5 V to 36 V, the L293D is designed to give bidirectional driving

currents of up to 600 mA. In positive-supply applications, both devices are designed to drive

inductive loads like as relays, solenoids, dc and bipolar stepping motors, as well as other

high-current/high-voltage loads.
TTL compatibility is present on all inputs. Each output has a Darlington transistor sink and a

pseudo-Darlington source, making it a complete totem-pole drive circuit. Drivers are enabled in

pairs, with 1,2EN enabling drivers 1 and 2 and 3,4EN enabling drivers 3 and 4.

When the enable input is set to high, all related drivers are enabled, and their outputs are active and in

phase with their inputs. When the enable input is low, those drivers are turned off and their outputs are in

a high-impedance state. Each pair of drivers forms with the correct data inputs.

For inductive transient suppression on the L293, external high-speed output clamp diodes should be

employed.

To reduce device power consumption, a VCC1 connector distinct from VCC2 is supplied for the logic

inputs.

The L293 and L293D are designed to operate at temperatures ranging from 0 to 70 degrees Celsius.

This chip is designed to control two DC motors. Each motor has two input and output pins. The two input

pins will go to the Atmega16 MUC's output port, and the two output pins will go to the two DC motors.

The device is a four-channel monolithic integrated high-voltage, high-current driver that accepts normal DTL or

TTL logic levels and drives inductive loads (such as relays, solenoids, DC and stepping motors) as well as

switching power transistors. Each pair of channels has an enable input to make using them as two bridges easier.

The logic has its own supply input, allowing it to operate at a lower voltage, and internal clamp diodes are

included. At frequencies up to 5 kHz, this device is ideal for switching applications. The L293D is packaged in a

16-lead plastic packaging with four center pins that are linked and utilized as heat sinks. The L293DD is packaged

in a 20-lead surface mount package with eight heat sinking pins coupled together.
 Table 1: L293D configuration

D0 D1 D2 D3 DISCRIPTION
Both motors come to a standstill.
Both motors spin in the same direction.
Both motors spin in the opposite direction.
The right motor spins in a clockwise direction.
The left motor spins in a clockwise direction.

Methodology

The DTMF technology is linked to digital telephony and offers two different o/p frequencies (One high

band and one low band). On the phone, the DTMF technology uses 16 common alphanumeric characters

(0-9, A-D, *, #). Selecting one of the four low band frequencies associated with the matrix rows, as well

as one of the four high band frequencies associated with the matrix columns, creates a unique reference

for each character.

 Figure 2: Dual Tone Multi Frequency (DTMF) map.

This is not, however, a conventional keypad. The number of keys on this keypad is four greater

than on a regular keypad (3X4-matrix). On a conventional home phone/fax, office phone, or

payphone, the keys A, B, C, and D are rarely utilized. The keys A, B, C, and D are all system

tones/codes that are primarily used to configure telephone exchanges or conduct other special

operations. On some networks, for example, the tone/code associated to the A key is used to

traverse among several carriers (this function is prohibited by most carriers).

Although the original DTMF keypad included an additional column for four menu selecting buttons, the

modern mobile keypad is laid out in a 3x4 grid. When a single key is pressed to dial a phone number, a

pitch consisting of two simultaneous pure tone sinusoidal frequencies is produced. The frequency is

determined by the row in which the key appears, and the high frequency is determined by the column.

Pressing the key, for example, will produce a sound that has both 697 Hz and 1209 Hz tones [8, 15].

Because the earliest keypads contained levers, each button triggered two contacts. The technology is

referred to as multi frequency because of the numerous tones. The switching center decodes these tones to

determine which key was pressed.

Table 2: DTMF Keypad Frequencies (With Sound Clips).

1209 Hz 1336 Hz 1477 Hz 1633 Hz

 697 Hz 1 2 3 A

770 Hz 4 5 6 B

852 Hz 7 8 9 C

941 Hz * 0 # D

Programming Software

The program is written in the 'C' programming language and compiled with the WIN AVR 'C'

compiler. The compiler converts the source software into hex code. This hex code was burned

into an ATmega16 AVR microcontroller. Now we'll go over the code structure's algorithm, then

draw a control flow diagram and finally implement the method in C code.

Algorithm

The working algorithm that we utilized in the creation of the unmanned vehicle will be discussed in this

section:

Step 1->declare the variable and provide the register name that is particular to the ATmega16.

Set port D as the input and port B as the output in step 2.

Step 3->Using the 'while' loop, the application will execute indefinitely.

Step 4->Read port D and test the received input with the'switch' expression while in the 'while' loop.

1. When the number 2 is pressed on the keypad, both the left and right motors advance.

2. When the number 8 is pressed on the keypad, both the left and right motors reverse direction.
3. When the number 4 is pressed on the keypad, the left motor comes to a halt and the right motor

accelerates.

4. When the number 6 is pressed on the keypad, the right motor comes to a halt and the left motor

accelerates.

5. When the number 5 is pressed on the keypad, both the motors and the car come to a complete stop.

Step 5-> After evaluating and conditioning the received data, the matching data will be output at port B.

Circuit Design and Working

The DTMF controlled robotic car is made up of many circuits that collect input signals from a

remote mobile phone and transfer them to the microcontroller, as well as a circuit that uses the

L293D motor driver to regulate motor operation in various directions.

The DTMF decoder, microprocessor, and motor driver are all crucial parts of this car. Here, a

DTMF decoder from the MT8870 series is employed. To detect and decode all 16 DTMF tone

pairs into a 4-bit code output, all kinds of the MT8870 series use digital counting algorithms.

Pre-filtering is not required because of the built-in dial tone rejection circuit. The accurate 4-bit

decode signal of the DTMF tone is transferred to enhanced RISC architecture when the input

signal delivered at pin 2(IN-) in single-ended input configuration is identified as effective. It has

the following characteristics: 32 (I/O) lines, 16 kb of in-system programmable flash program

memory with read-while-write capabilities, 512 bytes of EEPROM, 1 kb SRAM, and 16 kb

SRAM To drive two geared dc motors, outputs from the microcontroller's port pins PD0

through PD3 and PD7 are supplied to the inputsIN1 through IN4 and enable pins (EN1 and

EN2) of the motor driver L293D IC, respectively. S1 is the manual reset switch. Current drivers

are necessary for motor rotation since the microcontroller output is insufficient to drive the dc

motors. The L293D is a quad, high-current half-h driver that can deliver bidirectional drive

currents of up to 600mA at 4.5V to 36V. It makes driving dc motors a lot easier. The L293D is

made up of four different drives. The input and output pins of drivers 1 through 4 are IN1

through IN4 and OUT1 through OUT4 correspondingly. Enable pin 1 (EN1) and pin 9 (EN2),

respectively, enable drivers 1 and 2, driver 3 and 4, and driver 5 and 6. Drivers 1 and 2 are
enabled and the outputs corresponding to their inputs are active when enable input EN1 (pin1)

is high. Enable input EN2 (pin9), on the other hand, enables drivers 3 (pin11) through (pin14)

outputs. Pins 11 to 14 of the DTMF decoder are connected to the microcontroller pins (pa0 to

pa3). The ATmega16 is an AVR-based low-power 8-bit CMOS microcontroller.

Block Diagram

The block diagram below depicts the overall system's basic functioning concept and

describes the connections between various project components.

Figure 3: block diagram.

Input circuit

This input circuit uses RC circuits to convey the received tone from the receiver mobile

phone to the DTMF decoder via the cell phone headset line. The circuit that connects the

DTMF decoder to the receiving phone it sends the decoder IC DTMF tone frequency.

Figure 4: input circut.

C2 R1
100k
10uf R2
100k

Crystal oscillator

Different methods, such as an external RC circuit, an external clock source, or a clock crystal,

can be used to control the PIC clock frequency. Figure 22 shows how a clock crystal can be

used to give a precise and consistent clock frequency at a reasonable cost. The clock

frequency is set by grounding the 22 pF capacitors and attaching a 4-MHz crystal across the

OSC1 and OSC2 pins.

Figure 5: crystal oscillator

C
5 XTA
L1
30p
1

F
X2
12MH
z
C
2

4 XTA
L2
30p
F
Motor Driving IC

The L293D IC (Motor Driver) Device is a four-channel monolithic integrated high voltage,

high current driver that accepts normal DTL or TTL logic levels and drives inductive loads

(such as relays, solenoids, DC and stepping motors) as well as switching power transistors

[14]. Each pair of channels has an enable input to make using them as two bridges easier. The

logic has its own supply input, allowing it to operate at a lower voltage, and internal clamp

diodes are included. This device can switch at frequencies up to 5 kHz and is suited for use in

switching applications. The L293D is packaged in a 16-lead plastic package with four center

pins that are linked and utilized as heat sinks. The L293DD is packaged in a 20-lead surface

mount package with eight heat sinking pins coupled together.

Figure 6: L293D motor driver.

+5V +8V

16 8 U2
Bp0 M11
2 3
IN1 VSS VS OUT1
7 6
Bp1 IN2 OUT2
1
EN1 M12
+5V

9
EN2 M21
10 OUT311
Bp2 IN3
15
IN4 GND GND OUT414
Bp3 M22
L293D
Control Buttons

Since the Proteus simulation software lacks a DTMF Decoder IC, we

were compelled to utilize push battens to substitute the binary digital

value created by the decoder after receiving tone from the receiving side

mobile phone via microphone for modeling and demonstration purposes

only.

Figure 7: control and switching circuit.

+5
+5V

V
FORWAR
RESE D
pD1
T 4
C3
10u
F BACKWA
R7
220 pD1
RD
5
R5
RIGH
10k
pD1
T
6

LEF
reset

pD1
T
7

Construction of the Circuit

The number of motors utilized in the construction of every robot is a key mechanical

constraint. You can choose between two-wheel and four-wheel drive. Four-wheel drive is

more complicated than two-wheel drive, but it offers more torque and better control. Two-

wheel drive, on the other hand, is rather simple to build. The motors are attached to the

bottom of the sheet, and the circuit is firmly attached to the top. The sheet also has a cell
phone attached to it. The two motors on each side of the four-wheel drive system are

regulated in parallel. As a result, the Robotic Car can be driven by a single L293D driver IC.

To control the robot, dial a call from any phone to the cell phone attached to the robot

(through headphone), which sends DTMF tunes when the numeric buttons are pressed. The

robot's cellphone is set to 'auto answer' mode.

As a result, the cell phone takes the call after a ring. You may now do actions by pressing any

button on your phone. The robot's cell phone receives the DTMF tones created in this way.

The cell phone's headset feeds these tones into the circuit. The MT8870 decodes the received

tone and delivers the microcontroller the binary equivalent. The robot begins to move in

accordance with the microcontroller's software. The microcontroller outputs for forward

motion when the phone's key '2' is hit. The microcontroller outputs for Reverse motion when

you press the key '8' on your phone. The microcontroller outputs for Left direction motion

when you hit key '4' on your phone. The microcontroller outputs Right direction motion when

you press key '6' on your phone. The robotic car's motion is controlled by four keys on the

keypad. The rest, depending on the vehicle's intended use, can be customized to fulfill a

variety of additional purposes.

This model's operation is fairly straightforward. The robot must initially be turned on by

using a 10v battery as a power source. Now dial a phone number that is linked to a robot at a

distant place. After contacting the remote mobile phone connected to the robot, it will

instantly connect via the Auto Answer feature in the phone, much as an internet connection

between two systems. It is necessary to guarantee that both mobiles have the ability to send

DTMF tones. After the connection has been established, the robot car must be operated in a

specific direction using the keyboard. The flow chart of the entire circuit is quite helpful in

fully knowing the model's functioning concept.

 Chapter 4

Results and discussion

The result of the project we've been working on is seen below, with the two dc motors

running in four directions. Instead of using a DTMF Decoder and a remote cell phone, the

two motors, left and right, are controlled by a switching circuit. The four switches depicted in

the schematic image acquired from the simulation software are designed to regulate the

vehicle's movement in four directions: left, right, forward, and backward.

If one of the four switches is pressed at the same time, a binary signal is sent to the

microcontroller, which is processed in accordance with the source code written inside the

microcontroller. The processed data is then sent to the L293D motor driver, which takes

action based on the program's decision on the motor. Finally, after one action, the switching

circuit must be reset to take another action on the motor. The schematic depicted below

depicts the vehicle moving forward in a forward direction.

Figure 8: Running of the motors in forward direction

+5V

+5V

FORWARD
RESET
pD14
C3
10uF
BACKWARD
R7
220 pD15

C5 R5
RIGHT
XTAL1 10k
1

pD16
reset

30pF

X2 LEFT
reset
2

12MHz
C4 pD17
LEFT MOTOR
XTAL2
30pF 9 22
RESET PC0/SCL
23
XTAL1 PC1/SDA
13 XTAL1 24
PC2/TCK
M12
M11

12 XTAL2 25
PC3/TMS 12V
XTAL2 26
40 PC4/TDO
PA0/ADC0 27
39 PC5/TDI
PA1/ADC1 28
38 PC6/TOSC1
PA2/ADC2 29
37 PC7/TOSC2
PA3/ADC3
36 PD0/RXD 14 pD14
PA4/ADC4
35 PD1/TXD 15 pD15
PA5/ADC5
34 PD2/INT0 16 pD16
PA6/ADC6
33 PD3/INT1 17 pD17
PA7/ADC7 18
1 PD4/OC1B 19
Bp0 PB0/T0/XCK PB1/T1 PD5/OC1A
2 20
Bp1 PB2/AIN0/INT2 PD6/ICP1
+5V +8V 3 21
Bp2 PB3/AIN1/OC0 PD7/OC2
4
Bp3 PB4/SS PB5/MOSI
5
PB6/MISO PB7/SCK
6
16 8 U2 7 ATMEGA16 AREF 32 C1
8 30 10uf
AVCC
Bp0 M11
2
IN1 VSS IN2 VS OUT1 3
7
Bp1 EN1 OUT2 6
1 M12

12V
9 +5V
EN2 M21
10 11
OUT3
Bp2
15
IN3
IN4 GND GND OUT4 14 RIGHT MOTOR
Bp3 M22
L293D
 Chapter 5

Conclusion and the scope of future work

This study demonstrated how to use a mobile phone and a DTMF decoder to drive a cutting

machine. The DTMF tone is created by hitting the keypad buttons on a mobile phone that is

connected to the internet via a mobile network. Because of the widespread use and availability

of mobile phones and mobile networks, this type of control is extremely helpful and strong. The

suggested system's key advantages are its dependability, low cost, and vast area coverage.

We have solved the disadvantages of widely utilized RF circuits by constructing a cell phone-controlled robotic

car. Robust control, minimum interference, and a long operating range are just a few of the benefits of this RCV.

For motion control, the automobile requires four orders. The remaining twelve controls can be used for a variety of

reasons depending on the RCV's intended use.

The major goal of the DTMF decoder-equipped mobile phone-operated land rover is to obtain information in areas

where we are unable to move. With the help of the phone packed in the robot, the robot detects the DTMF tone. It

offers reliable control and a working range as vast as the service provider's coverage area.

If the robot passes outside line of sight, IR sensors can be utilized to automatically detect and

avoid obstructions. If we are maneuvering the vehicle from afar, this prevents harm to the

vehicle. The project can also be changed so that the robot is password protected and can only be

operated if the correct password is input.

The toy automobile is controlled in this project by a mobile phone that makes a call to the car's mobile

phone. If any button is pressed during a call, the opposite end of the line hears a tone that corresponds to

the button pressed. Because this is a wireless controller toy car, the wiring limitations are totally bypassed

by utilizing the latest mobile phone technology. However, there are numerous opportunities to increase

the system's stability and capability. The phone that makes the call to the phone that is stacked in the car

serves as a remote. As a result, no receiver or transmitter equipment are required for this project. It is

undeniably true that this model can be a very useful gadget for obtaining information from remote
locations where direct human influence is impossible, hence it would be a very important topic to pursue

additional research on.

References

[1] Malik Sikandar, Hayat Khiyal, Aihab Khan, and Erum Shehzadi. SMS Based Wireless

Home Appliance Control System (HACS) for Automation Appliances and Security.

Journal of Informing Science and Information Technology, Volume 6 ,2009.

[2] T. M. Ladwa, S. M. Ladwa, and R. S. Kaarthik, A. R. Dhara, and N. Dalei, “Control of

Remote Domestic System Using DTMF,” presented at ICICI-BME 2009 Bandung,

Indonesia, 2009.

[3] T. Nguyen and L. G. Bushnell, “Feasibility Study of DTMF Communications for

Robots,” Dept of EE, University of Washington Seattle WA, 98195-2500, April 6,

2004.

[4] Tuljappa M Ladwa, Sanjay M Ladwa, R Sudharshan Kaarthik, Alok Ranjan Dhara

and Nayan Dalei, Control of Remote Domestic System Using DTMF, ICICI-BME 2009

Bandung, Indonesia.

[5] www.dz863.com/datasheet-82174063-ULN2803A_Darlington-Transistor-Array/

[6] http://www.smerobot.org/08_scientific_papers/papers/Calcagno_et-al_ISR-

Robotik06.pdf

[7] http://www.datasheetdir.com/NATIONAL-DM74LS373+Latches
Appendices

The programming codes for this model are done in the programming language C and are

given below.

C programming code

#include <avr/io.h>

int main()

unsigned int key;// variable key declaration

DDRD=0x00; // port D declerd as input

DDRB=0X0F; // port B declerd as output

while (1) //start of infinity loop

key=PIND;

switch (key)

case 0x01: //if I/P is 0x01

{
 PORTB=0x0A; //move

Forward break;

case 0x02: //if I/P is 0x02

PORTB=0X05; //move

Backward break;

case 0x04: //if I/P is 0x04

PORTB=0X02; // turn

Right break;

case 0x08: //if I/P is 0x08

PORTB=0X08; //turn

Left break;

}
case 0x00: //if I/P is 0x00

PORTB=0x00; //Robot will Stop

break;

return 0;

}
Financial

Table 2: financial and support.