JOYSTICK-CONTROLLED ROBOT

A
MINOR PROJECT REPORT

Submitted in partial fulfillment of the requirements

for the degree of
BACHELOR OF ENGINEERING
in
ELECTRONICS AND COMMUNICATION ENGINEERING
by
SANGRAM RAJPOOT (0105EC221096)
SANKET SAXENA (0105EC221098)
SHUBHI YADAV (0105EC221111)

JUNE 2025
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
ORIENTAL INSTITUTE OF SCIENCE AND TECHNOLOGY
BHOPAL (M.P)

An ISO 9001:2008 Certified Institution

Approved by AICTE, New Delhi
Affiliated to Rajiv Gandhi Technical University Bhopal (M.P.)

1
 JOYSTICK-CONTROLLED ROBOT
A
MINOR PROJECT REPORT

Submitted in partial fulfillment of the requirements

for the degree of

BACHELOR OF ENGINEERING

in
ELECTRONICS AND COMMUNICATION ENGINEERING
by
SANGRAM RAJPOOT (0105EC221096)
SANKET SAXENA (0105EC221098)
SHUBHI YADAV (0105EC221111)

MAY 2025
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
ORIENTAL INSTITUTE OF SCIENCE AND TECHNOLOGY
BHOPAL (M.P)

An ISO 9001:2008 Certified Institution

Approved by AICTE, New Delhi
Affiliated to Rajiv Gandhi Technical University Bhopal (M.P.)

2
 DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
ORIENTAL INSTITUTE OF SCIENCE AND TECHNOLOGY
BHOPAL (M.P)

MAY 2024

CERTIFICATE

I hereby certify that the work which is being presented in the B.Tech. Major / Minor
Project Report entitled “JOYSTICK-CONTROLLED ROBOT”, in partial fulfillment of the
requirements for the award of the degree of Bachelor of Technology in Electronics and
Communication Engineering and submitted to the Department of Electronics and
Communication Engineering , Oriental Institute of Science and Technology, Bhopal (M.P.) is an
authentic record of my own work carried out during the period from Jan 2025 to May 2025 under
the supervision of Prof. Shyamli Singh, EC Department.

The content presented in this project has not been submitted by me for the award of any
other degree elsewhere.
Signature of Candidate
SANGRAM RAJPOOT (0105EC221096)
SANKET SAXENA (0105EC221098)
SHUBHI YADAV (0105EC221111)

This is to certify that the above statement made by the candidate is correct to the best of
my knowledge.

Date: HOD
Project Supervisor Dr Prabhat Sharma
Prof. Shyamli Singh,ECE

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 ABSTRACT

The project titled "Joystick Controlled Robot" focuses on the design and implementation of a
wirelessly operated robotic vehicle that can be maneuvered using a handheld joystick controller.
The primary objective of this project is to develop an efficient and user-friendly control system
that enables smooth, real-time directional movement of the robot similar to driving a remote-
controlled car.

The system employs a wireless communication link between the joystick and the robot, using RF
(Radio Frequency) modules for data transmission. The joystick serves as the input device to
control the robot's forward, backward, left, and right movements. When the joystick is pushed in
a particular direction, corresponding signals are sent to the robot's microcontroller, which
processes these signals and drives the motors accordingly.

The hardware setup consists of a joystick module, RF transmitter and receiver, a microcontroller
(such as Arduino), DC motors, and a motor driver circuit. The software is developed using the
Arduino IDE, which interprets the joystick commands and controls the motion accurately.

The robot was successfully tested and demonstrated the ability to respond quickly to joystick
inputs, offering precise control over speed and direction. This project has potential applications
in wireless robotic systems, military operations, surveillance, and material handling where
remote control is advantageous

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 ACKNOWLEDGMENT

This project involved the collection and analysis of information from a wide
variety of sources and the efforts of many people beyond me. Thus it would not
have been possible to achieve the results reported in this document without their
help, support and encouragement.

I would like to express my gratitude to the following people for their help in
the work leading to this report:

Dr. Rajesh K Shukla, Director for providing us with an environment to

complete our project successfully.

Dr. Prabhat Sharma, Head, Department of EC, who modeled us both

technically and morally for achieving the greater success to complete the project
and for organizing and coordinating the B.Tech. Projects’ 2025.

We also thank all the staff members of our college and technicians for their
help in making this project a successful one.

Finally, we take this opportunity to extend our deep appreciation to our

family and friends, for all that they meant to us during the crucial times of the
completion of our project.

SANGRAM RAJPOOT (0105EC221096)

SANKET SAXENA (0105EC221098)
SHUBHI YADAV (0105EC221111)

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 TABLE OF CONTENTS

TITLE PAGE NUMBER

CERTIFICATE I
ABSTRACT II
ACKNOWLEDGEMENT III
LIST OF TABLES IV
LIST OF FIGURES V
LIST OF SYMBOLS VI

CHAPTER 1: INTRODUCTION 10

CHAPTER 2: SOFTWARE AND HARDWARE REQUIREMENTS 13

CHAPTER 3: LITERATURE SURVEY/REVIEW OF LITERATURE 15

CHAPTER 4: HARDWARE/SOFTWARE REQUIREMENT ANALYSIS 17

CHAPTER 5: HARDWARE/SOFTWARE DESIGN – TRANSMITTER SECTION 21

CHAPTER 6: HARDWARE/SOFTWARE DESIGN – RECEIVER SECTION 27

CHAPTER 7: OUTPUT /RESULT 33

CHAPTER 8: CONCLUSIONS 35

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 LIST OF FIGURES

FIGURE TITLE PAGE

NO. NO.

2. a BLOCK DIAGRAM 20

2.3.a POWER SUPPLY CIRCUIT 24

2.3.b INTERFACE CIRCUIT 26

2.3.c CONTROL CIRCUIT 36

2.3.d TRANSMITTER SECTION 37

2.3.d RECEIVER SECTION 38

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 CHAPTER 1
INTRODUCTION

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 1.1 About the Project

The project titled "Joystick-Controlled Robot" aims to design and develop a wireless robotic
vehicle that can be controlled using a joystick. The robot is capable of moving forward,
backward, left, and right based on real-time commands transmitted wirelessly through radio
frequency (RF) communication.

This project was developed at the Idea Lab, Oriental Institute of Science and Technology,
Bhopal, under the mentorship of faculty members. The robot uses two NRF modules to enable
seamless wireless communication between the joystick transmitter and the robot receiver. An
Arduino Nano is used as the core processing unit, handling the input commands and controlling
the movement of the motors.

The drive system of the robot is powered by four DC motors, managed by an L293N motor
driver, ensuring smooth and stable motion. The entire hardware is assembled on a dual-side zero
PCB and powered by a reliable lithium battery. This system offers an efficient, responsive, and
user-friendly solution for remote robot control.

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 1.2 Project Objectives

The main objectives of the Joystick-Controlled Robot project are as follows:

• To design and build a robot that can be controlled wirelessly using a joystick.

• To implement NRF wireless communication for reliable and low-latency data

transfer between the transmitter and receiver.

• To use an Arduino Nano as the central controller for managing input signals and
motor operations.

• To integrate an L293N motor driver for precise control of DC motors and stepper
motors.

• To achieve smooth, multi-directional movement with a stable four-wheel drive

system.

• To develop a power-efficient design using a lithium battery.

• To enhance practical knowledge of hardware interfacing, wireless

communication, and robotic control systems.

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 CHAPTER 2:
SOFTWARE AND HARDWARE
REQUIREMENTS

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 2.1 Software Requirements

In the development of the Joystick-Controlled Robot, selecting appropriate software and

hardware components was essential to achieve accurate control, reliable wireless
communication, and stable mechanical movement. This chapter provides an in-depth overview
of the software platforms and hardware components used throughout the project. It also outlines
the key specifications and functionalities that each component contributes to the overall system.

The selection of tools and components was made to ensure seamless integration, power
efficiency, and smooth control over the robot using a joystick in real-time via RF
communication.

Software plays a critical role in programming, simulating, and controlling the microcontroller-
based robotic system. The following software tools were used in the project:

2.2.1 Arduino Integrated Development Environment (IDE)

The Arduino IDE is the primary software used to write, compile, and upload the code to the
Arduino Nano microcontroller. It provides a user-friendly interface and supports C/C++ based
programming.

Features:

• Open-source, cross-platform compatibility

• Easy-to-use interface for beginners and professionals

• Large support community with readily available libraries

• Serial Monitor for real-time data monitoring

The Arduino IDE was instrumental in programming the logic for wireless data reception, motor
control, and real-time signal processing.

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Arduino Nano (x2)

• Used as the microcontroller in both:

• The joystick controller unit (transmitter)

• The robot vehicle (receiver)

Functions:

• Reads analog joystick input.

• Controls motor drivers based on received commands.

• Manages NRF24L01 wireless communication.

NRF24L01 RF Modules (x2)

Used for wireless communication between the joystick and the robot.

• One module is installed in the joystick (transmitter).

• One module is installed in the robot (receiver).

Features:

• Reliable long-range communication.

• Operates on the 2.4 GHz ISM band.

• Low power consumption.

Joystick Module

Installed on a custom-built controller box.

• Functions:

• Provides two-axis analog input to control the robot’s direction.

• Push-button can be used for additional control if required.

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L293D Motor Driver

• Mounted on the robot to control the four DC motors.

Functions:

• Provides forward and reverse movement.

• Enables precise motor control with sufficient current supply

DC Motors with Wheels (x4)

Four high-traction wheels were mounted on the robot’s chassis.

Features:

• Provides stable four-wheel drive.

• Capable of forward, backward, and turning motion.

• Suitable for smooth indoor surfaces.

Dual-Side Zero PCB

• Used for the circuit assembly of both:

• Joystick controller unit.

• Robot control and power system.

Benefits:

• Compact circuit integration.

• Easy for prototyping and soldering.

Power Supply

• The robot is powered by a lithium-ion battery.

• The joystick controller appears to be powered by a battery pack.

Features:

• Portable power source.

• Provides sufficient run-time for testing and demonstrations.

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 CHAPTER 3:
LITERATURE
SURVEY/REVIEW OF
LITERATURE

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 3.1 Review of Wireless Robot Control Technologies

Radio Frequency (RF)-Controlled Robots

RF-controlled robots have become more popular due to their improved communication range and
reliability. Patel et al. (2018) demonstrated the design of an RF-based robotic vehicle using 433
MHz RF modules, enabling movement over longer distances without line-of-sight limitations.
However, the project noted occasional signal interference and limited control options

Project Justification
This project addresses the gaps identified in the literature by:
• Using NRF24L01 RF modules for reliable, long-range, low-latency wireless
communication.
• Implementing a joystick-controlled interface for smooth and intuitive movement.
• Incorporating a four-wheel drive system for stable, balanced, and precise control.
Review of Joystick-Controlled Robots

Research by Sahu et al. (2019) highlighted that joystick-controlled robots offer intuitive and
responsive user interaction. Joysticks are superior to button-controlled systems in providing
multi-directional control, enabling smooth and gradual movements. Their analog nature allows
for the implementation of speed variations based on the extent of joystick displacement.

A project by Singh et al. (2020) successfully utilized a joystick to control a Bluetooth-enabled

robot but noted that Bluetooth range limited the robot's operational area.

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 •

CHAPTER 4:
HARDWARE/SOFTWARE
REQUIREMENT ANALYSIS

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 4.1 Define the problem

The field of robotics has seen significant advancements in wireless control systems, particularly
in the development of joystick-controlled and remote-operated vehicles. Joystick-controlled
robots are widely used in industrial automation, military applications, remote exploration, and
assistive technologies. This chapter provides a literature review of past studies, existing robotic
control methods, and relevant technologies that form the foundation of this project.

Joystick as a Control Interface

The joystick is a widely accepted input device for intuitive control in robotic systems. Joystick
modules provide analog signals corresponding to user input in two axes (X and Y directions),
making them ideal for multi-directional control. According to recent developments, joysticks
offer faster human response times and are preferred in applications requiring precision, such as
robotic arms, mobile robots, and unmanned vehicles.

Studies have demonstrated that using a joystick in combination with wireless modules provides
real-time, smooth, and user-friendly control, especially in remote vehicle navigation.

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 4.2 Feasibility Study

The feasibility study for the Joystick-Controlled Robot evaluates the practicality, cost-
effectiveness, and operational efficiency of implementing the proposed system. This analysis
helps ensure that the project is achievable within the available resources and constraints.

The feasibility study includes the following evaluations:

4.2.1 Technical Feasibility

• The proposed system is technically feasible because:

• The hardware components selected (Arduino Nano, NRF24L01, L293D motor

driver, DC motors) are readily available and compatible with each other.

• The wireless joystick control system is based on proven RF communication

methods that are reliable, low-power, and support real-time operation.

• The robot’s four-wheel drive structure offers stability and effective

maneuverability.

4.2.2 Economic Feasibility

• The system is economically feasible due to:

• Low-cost components such as Arduino Nano, NRF24L01 modules, and L293D

motor drivers.

• Simple power supply requirements using lithium batteries, which are affordable
and rechargeable.

• No need for expensive sensors or advanced microcontrollers.

• Software tools like Arduino IDE and Fritzing are free and open-source.

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Operational Feasibility

• The system is operationally feasible because:

• The joystick interface is user-friendly and easy to control without prior training.

• Wireless control eliminates the need for physical connections, offering flexible
and mobile operation.

• Real-time responsiveness ensures smooth robot movement.

• The robot can be used in multiple environments (indoor labs, controlled outdoor
spaces) without additional setup.

4.2.4 Schedule Feasibility

• The project is schedule feasible since:

• The estimated development time, including hardware assembly, programming,

and testing, is well-suited to the minor project timeline..

4.2.5 Environmental Feasibility

• The project has minimal environmental impact:

• Low power consumption using compact lithium batteries.

• No harmful emissions or electronic waste beyond normal circuit prototyping.

• Lightweight materials and reusable components can be recycled in future projects.

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 CHAPTER 5:
HARDWARE/SOFTWARE
DESIGN – TRANSMITTER
SECTION

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 5.1 DESIGN ITEMS

The transmitter section of the Joystick-Controlled Robot is designed to capture user input from a
joystick and transmit control signals wirelessly to the robot’s receiver using the NRF24L01 RF
module. This section explains the block diagram, circuit diagram, design details, working
principle, algorithm, and simulation environment for the transmitter.

CIRCUIT DIAGRAM – TRANSMITTER SECTION

Key Connections:

Joystick Module:

X-axis → Arduino A0

Y-axis → Arduino A1

VCC → Arduino 5V

GND → Arduino GND

NRF24L01 Module:

VCC → Arduino 3.3V

GND → Arduino GND

CE → Arduino D9

CSN → Arduino D10

SCK → Arduino D13

MOSI → Arduino D11

MISO → Arduino D12

Power Supply:

9V Battery or equivalent regulated supply for Arduino.

3.3V regulated output required for NRF24L01.

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 5.4 Design Details for the Circuit

• Joystick Module:
Provides two-axis analog input (X and Y directions). Neutral position is
approximately 2.5V, which changes when the joystick is moved.

• Arduino Nano:
Reads joystick analog values, processes the input to determine the robot's
direction (Forward, Backward, Left, Right), and sends corresponding control
commands to the NRF24L01 module.

• NRF24L01 Module:
Handles wireless data transmission using the 2.4 GHz frequency. Communicates
with the Arduino Nano via SPI protocol.

• Power Source:
Portable battery powers the transmitter circuit. NRF24L01 must be supplied with
a stable 3.3V.

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 5.5 Description of the Working of the Circuit

• The user manipulates the joystick, changing the voltage on the X and Y output
pins.

• The Arduino Nano reads these voltages through its analog input pins (A0 and
A1).

• Based on the joystick position, the Arduino determines whether the user wants the
robot to move forward, backward, left, right, or stop.

• The Arduino encodes the movement direction into a command signal.

• The NRF24L01 module transmits this signal wirelessly to the receiver section on
the robot.

• The process repeats continuously to enable real-time control.

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 Algorithm / Flowchart

Algorithm:

Start the system.

Initialize the NRF24L01 module.

Read the joystick’s X-axis and Y-axis analog values.

Compare the analog values with threshold levels to detect joystick movement direction:

If Y-axis > Threshold → Move Forward

If Y-axis < Threshold → Move Backward

If X-axis > Threshold → Move Right

If X-axis < Threshold → Move Left

Otherwise → Stop

Send the movement command wirelessly via NRF24L01.

Repeat the process continuously.

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 Simulation Environment

• Software Used: Arduino IDE

Simulation and testing were carried out using:
• Serial Monitor to verify the correct joystick readings.
• NRF24L01 libraries to test successful transmission.
• On-Board Testing:
The joystick and transmitter system were directly tested with the robot to validate
real-time wireless control.
• Optional: Proteus software can be used to virtually test the joystick-to-Arduino
input logic.

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 CHAPTER 6:
HARDWARE/SOFTWARE
DESIGN – RECEIVER
SECTION

27
 6.1 Circuit Diagram – Receiver Section

The Receiver Section of the Joystick-Controlled Robot is responsible for receiving wireless
signals from the joystick transmitter, decoding these signals, and controlling the robot’s motors
based on the received commands. The receiver includes an NRF24L01 module, Arduino Nano,
L293D motor driver, and four DC motors for movement.14
Key Connections:
• NRF24L01:
• VCC → Arduino 3.3V
• GND → Arduino GND
• CE → Arduino D9
• CSN → Arduino D10
• SCK → Arduino D13
• MOSI → Arduino D11
• MISO → Arduino D12
• L293D Motor Driver:
• Input Pins (IN1, IN2, IN3, IN4) → Arduino D4, D5, D6, D7
• Motor outputs connected to four DC motors.
• Power supply to motor driver (external battery for higher current if
needed).
• DC Motors:
• Two motors for left wheels.
• Two motors for right wheels.
• Power Supply:
• Battery pack for Arduino and motor driver (ensure sufficient voltage for
all motors).

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 6.2 Design Details for the Circuit

• NRF24L01 Module:
Receives wireless control commands from the joystick transmitter. Communicates
with Arduino via SPI protocol.
• Arduino Nano:
Processes the received command and translates it into motor control signals. The
Arduino controls the direction of the motors using the L293D motor driver.
• L293D Motor Driver:
Capable of controlling the direction and speed of two motors simultaneously (can
be used for four motors in parallel). It uses the Arduino signals to drive the motors
forward, backward, or stop.
• DC Motors:
Connected to the motor driver. Provide actual robot movement based on the
control signals.
• Power Supply:
Provides sufficient power to both the logic circuit and the motors. A lithium
battery is used for portability and long battery life.

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 Description of the Working of the Circuit

• The NRF24L01 wireless receiver continuously listens for incoming joystick

control signals.
• When a command is received, the Arduino Nano decodes the command to
determine the required movement:
• Forward
• Backward
• Left
• Right
• Stop
• The Arduino sends motor control signals to the L293D motor driver based on the
command.
• The L293D motor driver controls the DC motors to perform the required
movement.
• The system continuously updates as the joystick sends new commands in real
time.

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 Algorithm / Flowchart – Receiver Section

Algorithm:
• Start the system.
• Initialize the NRF24L01 module.
• Continuously check for incoming data.
• If a valid command is received:
• Forward Command → Move Forward
• Backward Command → Move Backward
• Left Command → Turn Left
• Right Command → Turn Right
• Stop Command → Stop Motors
• Send the motor control signals via the L293D driver.
• Repeat the process continuously.

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 Simulation Environment

Software Used: Arduino IDE

Testing Method:
Serial Monitor was used to confirm that the receiver correctly interpreted the joystick commands.
Motor rotation was verified in all directions.
Optional Simulation: Proteus can be used to virtually simulate the RF communication and motor
driver responses.
On-Board Testing: Real-world testing was performed to verify the receiver’s ability to execute
the joystick commands instantly.

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 CHAPTER 7:
OUTPUT/RESULT

33
 7.1 System Output

• 7.1.1 Wireless Control Response

• The robot responds instantly to joystick movement.
• Commands such as Forward, Backward, Left, Right, and Stop were successfully
transmitted and executed without noticeable delay.
• 7.1.2 Directional Movement
• The robot could:
• Move forward when the joystick was pushed up.
• Move backward when the joystick was pulled down.
• Turn left when the joystick was pushed left.
• Turn right when the joystick was pushed right.
• Stop when the joystick returned to the neutral position.
• 7.1.3 Wireless Range Performance
• The NRF24L01 module provided an effective wireless control range of
approximately 30 to 50 meters indoors and up to 100 meters in open space.
• 7.1.4 Stability and Drive Control
• The four-wheel drive provided stable, smooth, and balanced movement.
• The robot moved efficiently on flat indoor surfaces.

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 CHAPTER 8:
CONCLUSION

35
 8.1 Conclusion

• The Joystick-Controlled Robot was successfully designed, implemented, and

tested. The robot achieved real-time wireless movement control using the
NRF24L01 RF modules and a joystick as the input device. The system was
capable of executing directional movements accurately and efficiently.
• The project demonstrated:
• Seamless wireless communication
• Reliable four-wheel drive system
• Immediate joystick response
• Stable hardware integration using Arduino Nano and L293D motor driver

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 8.2 Further Enhancements

• To improve the functionality and expand the project’s future potential, the
following enhancements are recommended:
• Obstacle Detection:
• Integration of ultrasonic sensors to automatically avoid collisions.
• Speed Control:
• Use of PWM to implement variable speed control based on joystick
displacement.
• Camera Module:
• Adding live video transmission for surveillance applications.
• Bluetooth / Wi-Fi Control:
• Incorporating mobile app control for longer-range and smart operation.
• Voice Command Integration:
• Using voice recognition modules for hands-free robot control.
• Solar-Powered Battery Charging:
• Implementing renewable energy for extended operation time.
• GPS Tracking:
• Adding location tracking and automated navigation capability.

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