MOBILE OPERATED LAND ROVER

PREPARED BY :
BHARGAV
2009
SHANKHALPARA
INDEX
1. BLOCK DIAGRAM

2. PROJECT OVERVIEW

3. CIRCUIT DIAGRAM

4. CIRCUIT DISCRIPTION

5. WORKING

6. SOFTWARE

7. PART LIST

8. IC DISCRIPTION
1. 8870 DTMF DECODER IC
2. ATMEGA16 MICROCONTROLLER
3. L 293D IC

9. ADVANTAGE & DISADVANTAGE

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10. APPLICATION

11. FEATURE EXPENSION

12. CONCLUSION

13. BIBLIOGRAPHY

BLOCK DIAGRAM

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PROJECT OVERVIEW

In this project, the robot is controlled by a mobile phone that makes a call to the
mobile phone attached to the robot. In the course of a call, if any button is
pressed , a tone corresponding to the button pressed is heard at the other end
of the call. This tone is called DTMF (dual-tone-multiple-frequency).The robot
perceives this DTMF tone with the help of the phone stacked in the robot. The
received tone is processed by the (ATmega16) microcontroller with then help of
DTMF decoderMT887o. The decoder decodes the DTMF tone into its equivalent
binary digit and this binary number is sent to the microcontroller. The
microcontroller is programmed to take a decision for any given input and outputs
its decision to motor drivers in order to drive the motors in forward direction or
backward direction or turn. The mobile phone that makes a call to mobile phone
stacked in the robot act as a remote.so this robotic project es not require the
construction of receiver and transmitter units.

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CIRCUIT DIAGRAM

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CIRCUIT DISCRIPTION

The important components of this robot are a DTMF decoder, microcontroller and
motor driver.An MT8870 series DTMF decoder is used here. All types of the

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MT8870 series use digitalcounting techniques to detect and decode all the 16
DTMF tone pairs into a 4-bit code output.The built-in dial tone rejection circuit
eleminates the need of pre-filtering. when the input signalgiven at pin 2(IN-) in
single-ended input configuration is recognised to be effective, the correct4-bit
decode signal of the DTMF tone is transferred to (pin11) through (pin14)
outputs.The pin11 to pin14 of DTMF decoder are connected to the pins of
microcontroller (pa0 to pa3).The ATmega16 is a low power, 8-bit CMOS
microcontroller based on the AVR enhanced RISCarchitecture. it provides the
following features: 16kb of in-system programmable flash programmemory with
read-while-write capabilities, 512 bytes of eeprom, 1kb SRAM, 32(I\O)
lines.outputs from port pins PD0 through PD3 and PD7 of the microcontroller are
fed to the inputsIN1 through IN4 and enable pins (EN1 and EN2) of motor driver
L293D IC, respectivily to drivetwo geared dc motors. Switch S1 is used for manual
reset. The microcontroller output is not sufficientto drive the dc motors, so
Current drivers are required for motor rotation.The L293D is a quad, high-current,
half-h driver designed to provide bidirectional drive currents of upto600mA at
voltages from 4.5V to 36V. It makes it easier to drive the dc motors. The L293D
consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are the
input and output pins respectively, of driver 1 through driver 4. Drivers 1 and 2,
and driver 3 and 4 are enabled by enable pin 1(EN1) and pin 9 (EN2),
respectively. When enable input EN1 (pin1) is high, drivers 1 and 2 are enabled
and the outputscorresponding to their inputs are active. Similarly, enable input
EN2 (pin9) enables drivers 3

WORKING
In order to control the robot, you need to make a call to the cell phone attached
to the robot (through headphone) from any phone, which sends DTMF tunes on
pressing the numeric buttons. The cell phone in the robotis kept in 'auto answer'
mode.( if the mobile does not have the auto answering facility ,receive the call by
'OK'key on the rover connected mobile and then made it in hands-free mode.) so
after a ring, the cellphone accepts the call.Now you may press any button on your
mobile to perform actions as listed in the table . The DTMF tones thusproduced
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are received by the cellphone in the robot. These tones are fed to the circuit by
headset of the cellphone.
The MT8870 decodes the received tone and sends the equivalent binary number
to the microcontroller. Accordingto the program in the microcontroller, the robot
starts moving.When you press key '2' (binary equivalent 00000010) on your
mobile phone, the microcontroller outputs '10001001'binary equivalent. port pins
PD0, PD3 and PD7 are high. The high output at PD7 of the microcontroller drives
themotor driver (L293D). port pins PD0 and PD3 drive motors M1 and M2 in
forward direction( as per table ).Similarly, motors M1 and M2 move for left turn,
right turn, backward motion and stop condition as per (table ).

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SOFTWARE

#include<mega16.h>
Void main(void)
{
Unsigned int k,h ;
DDRA= 0X00;
DDRD=0XFF;
While (1)
{
k=~PINA;
h=k & 0X0F;
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switch (h)
{
case 0X02 ; //if i/p is 0x02
{
PORTD=0x89; // forward
break;
}
case 0x08; // if i/p is 0x08
{
PORTD=0x86; // backward
break;
}
case 0x04;
{
PORTD=0x85; // left turn
break;
}
case 0x06;
{
PORTD=0x8A; // right turn

break;
}
case 0x05;
{
PORTD=0x00; // stop
break;
}
}
}
}

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1. 8870 DTMF DECODER IC

The M-8870 is a full DTMF Receiver that integrates both bandsplit filter and
decoder functions into a single18-pin DIP or SOIC package. Manufactured using
CMOS process technology, the M-8870 offers low power consumption (35 mW
max) and precise data handling. Its filter section uses switched capacitor
technology for both the high and low group filters and for dial tone rejection. Its
decoder uses digital counting techniques to detect and decode all 16 DTMF tone
pairs into a 4-bit code. External component count is minimized by provision of an
on-chip differential input amplifier, clock generator, and latched tri-state interface
bus. Minimal external components required include a low-cost 3.579545 MHz
color burst crystal, a timing resistor, and a timing capacitor. The M-8870-02
provides a “power-down” option which, when enabled, drops consumption to less
than 0.5 mW. The M-8870-02 can also inhibit the decoding of fourth column digits

Functional Description

M-8870 operating functions include a band split filter that separates the high and
low tones of the received pair, and a digital decoder that verifies both the
frequency and duration of the received tones before passing the resulting 4-bit
code to the output bus.

Filter

The low and high group tones are separated by applying the dual-tone signal to
the inputs of two 6th order switched capacitor bandpass filters with bandwidths
That corresponds to the bands enclosing the low and high group tones. The filter
also incorporates notches at 350 and 440 Hz, providing excellent dial tone
rejection. Each filter output is followed by a single-order switched capacitor
section that smooths the signals prior to limiting. Signal limiting is performed by
highgain
comparators provided with hysteresis to prevent detection of unwanted low-level
signals and noise.The comparator outputs provide full-rail logic swings at the
frequencies of the incoming tones.
Decoder The M-8870 decoder uses a
digital counting techniqueto determine the frequencies of the limited tones and

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to verify that they correspond to standard DTMF frequencies. A complex
averaging algorithm is used to protect against tone simulation by extraneous
signals (such as voice) while tolerating small frequency variations. The algorithm
ensures an optimum combination of immunity to talk off and tolerance to
interfering signals
(Third tones) and noise. When the detector recognizesthe simultaneous presence
of two valid tones (known as signal condition), it raises the Early Steering flag
(Est.). Any subsequent loss of signal condition will cause Est. to fall.

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2. ATMEGA16 MICROCONTROLLER (HEART OF PROJECT)

• High-performance, Low-power AVR® 8-bit Microcontroller

• Advanced RISC Architecture
○ 131 Powerful Instructions – Most Single Clock Cycle Execution
○ 32 x 8 General Purpose Working Registers
○ Fully Static Operation
○ Up to 16 MIPS Throughput at 16 MHz
○ On-chip 2-cycle Multiplier
• Nonvolatile Program and Data Memories
○ 16K Bytes of In-System Reprogrammable Flash Endurance: 10,000
Write/Erase Cycles
○ Optional Boot Code Section with Independent Lock Bits
○ In-System Programming by On-chip Boot Program
○ True Read-While-Write Operation
○ 512 Bytes EEPROM
○ 1K Bytes Internal SRAM
○ Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
○ Boundary-scan Capabilities According to the JTAG Standard
○ Extensive On-chip Debug Support
○ Programming of Flash, EEPROM, Fuses and Lock Bits through the JTAG
Interface
• Peripheral Features
○ Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
○ One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and
Capture Mode
○ Real Time Counter with Separate Oscillator
○ Four PWM Channels
○ 8-channel, 10-bit ADC
○ Byte-oriented Two-wire Serial Interface
○ Programmable Serial USART

○ Master/Slave SPI Serial Interface

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 ○ Programmable Watchdog Timer with Separate On-chip Oscillator
○ On-chip Analog Comparator
• Special Microcontroller Features
○ Power-on Reset and Programmable Brown-out Detection
○ Internal Calibrated RC Oscillator
○ External and Internal Interrupt Sources
○ Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down,
Standby, and Extended Standby
○ Software Selectable Clock Frequency
• Operating Voltages
○ 2.7 - 5.5V for ATmega16L
○ 4.5 - 5.5V for ATmega16
• Speed Grades
○ 0 - 8 MHz for ATmega16L
○ 0 - 16 MHz for ATmega16

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3. L 293D IC

DESCRIPTION

The Device is a monolithic

integrated high voltage, high current four channel driver designed to accept
standard DTL or TTL logic levels and drive inductive loads (such as relays
solenoids, DC and stepping motors) and switching power transistors.

To simplify use as two bridges

each pair of channels is equipped with an enable input. A separate supply input is
provided for the logic, allowing operation at a lower voltage and internal clamp
diodes are included. This device is suitable for use in switching application at
frequencies up to 5 kHz. The L293D is assembled in a 16 lead plastic Package
which has 4 center pins connected together and used for heat sinking The
L293DD is assembled in a 20 lead surface Mount which has 8 center pins
connected together and used for heat sinking.

ADVANTAGES

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 • This is wireless controller robot hence the limitation of wired robots is
completely overcome by using latest technology of mobile phones.

• In this project we have used RF circtury hance the limitation of a controlled

range is no more a constrain of this model.

• Limitless area coverage is the main advantage of this land rover

DISADVANTAGE

• This land rover has only one disadvantage that is it can be operated in area
where mobile network is available and if mobile network is not available it
can not be operated.

APPLICATION

• This land rover can carry any thing mounted on top it.

• This can be fitted in an attractive form of a toy robo.

• It can also be used to make mobile bomb by making some modification.

• If we use the switching IC instead of the driver ic we can turn on and off any
appliances connected to this robot

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FEATURE EXPENSION

This land rover can be future improved to sever specification purposes. It requires
four controls to roam around. The remaining eight controls can be configured to
sever other purposes, with some modification in the source program of the
microcontroller.

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CONCLUSION

In this project, the robot is controlled by a mobile phone that

makes a call to themobile phone attached to the robot. In the course of a call, if
any button is pressed,a tone corresponding to the button pressed is heard at the
other end of the call.This tone is called DTMF(dual-tone-multiple-frequency).The
robot perceivesthis DTMF tone with the help of the phone stacked in the robot.
The received toneis processed by the (ATmega16) microcontroller with then help
of DTMF decoderMT887o. The decoder decodes the DTMF tone into its equivalent
binary digit andthis binary number is sent to the microcontroller. The
microcontroller is programmedto take a decision for any given input and outputs
its decision to motor drivers in order to drive the motors in forward direction or
backward direction or turn. The mobile phone that makes a call to mobile phone
stacked in the robot act as a remote.so this robotic project does not require the
construction of receiver and transmitter units.

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BIBLIOGRAPHY

We collect our require information from following websites...

www.google.com

www.robokits.com

www.instructable.com

www.atmel.com

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