MIZAN TEPI UNIVERSITY

COLLEGE OF ENGINEERING & TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

Communication stream

TEPI CAMPUS, ETHIOPIA

Proposal Title: Cell phone Controlled Vehicle using DTMF

Submission Date: June 12, 2015

Project Supervisor: Mr. Enrique T.Unina

B.Sc Engg, M.T.U

Certificate of the Advisor

 cknowledgment

First of all, we would like to thank our supervisor Mr. Enrique T.Unina for supporting as on
our project and also other instructors for their contribution. Our deepest appreciation also
goes out to those who gave as many needed support, encouragement and help throughout our
semester project improvement in simulation and assembly programming.
Finally, thank you to all those involved directly and indirectly helping as out during our
overall progress which we can’t state out every one of them. A special expression of gratitude
is extended to everyone for their tolerance and patience in doing the project. We must admit
that they had enriched as in many ways and words alone are not enough to express our
gratitude.

Abstract

In this paper a robot car is controlled by cell phone using DTMF. 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 "Dual Tone Multiple-Frequency" (DTMF) tone. The robot
perceives this DTMF tone with the help of the phone stacked on the robot. The received tone
is processed by the microcontroller with the help of DTMF decoder. The microcontroller
send appropriate signal to the motor driver ICs to operate the motors & our robot starts
moving.

The cell phone in the Vehicle will be kept in auto answer mode. So, after a ring the cell
phone accepts the call and starts video transmission. Now for the DTMF tones pressed, the
tones are fed to the circuit and the corresponding actions such as move forward or backward,
turn left or right, target identification and locking, missile launching and parameter
monitoring using black box are performed.

Contents
AbstractError! Bookmark not defined.
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1.2Problem statementError! Bookmark not defined.
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ii.Specific ObjectiveError! Bookmark not defined.
1.4 Scope and Limitation of the projectError! Bookmark not defined.
Chapter 2Error! Bookmark not defined.
Literature ReviewError! Bookmark not defined.
Chapter 3Error! Bookmark not defined.
3.1 theoryError! Bookmark not defined.
3.2 MethodologyError! Bookmark not defined.
3.3DesignError! Bookmark not defined.
i.Financial and SupportError! Bookmark not defined.
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3.2Expected ResultError! Bookmark not defined.
3.3ReferencesError! Bookmark not defined.

Acronyms

GSM: Global system for mobile communication

DTMF: Dual tone multiple frequency
IC: Integrated circuit
BCD: Binary Coded Decimal
VF:
MF: Medium frequency
CMOS: Complementary Metal Oxide semiconductor
DIP: Dual inline Package
MIPS: Million instructions per second
EEPROM: Electrically erasable programmable read only Memory
UART: Universal Asynchronous receiver transmitter
PWM: Pulse width modulation
ADC: Analog to digital converter
DC: Direct Current
TTL: Transistor- Transistor Logic

Chapter 1
1.1 Introduction
Mobile phone in today’s world is become very popular and essential entity for one and all, so
for any mobile based application there is great reception. As long as we are using mobile
phone, we are capable of controlling things remotely from everywhere. Now a day as interest
in robotics continues to grow, robots are increasingly being integrated into everyday life. As
an example consider the application of mobile robots in the health care industry, where the
intended end users are patients themselves. In this case, the need for simplified, reliable, and
user-friendly robot designs is of almost importance.

As interest in robotics continues to grow, robots are increasingly being integrated into
everyday life. The results of this integration are end-users possessing less and less technical
knowledge of the technology. For example, consider the application of mobile robots in the
health care industry, where the intended end users are patients themselves. In this case, the
need for simplified, reliable, and user-friendly robot designs is of almost importance. Mobile
phones today became very popular an essential entity for one and all and so, for any mobile
based application there is great reception. Wireless controlled robots utilize RF circuits.
However, the use of RF contributes to enhancing the already mysterious nature of robotic
technology, which had limitations like limited range, limited frequency ranges and controls.
But a mobile phone controlled robot can hold up these limitations.

A remote control vehicle (RCV) is defined as any mobile device that is controlled by a
means that does not restrict its motion with an origin external to the device. This is often a
radio control device, cable between control and vehicle, or an infrared controller. A RCV is
always controlled by a human and takes no positive action autonomously. one of the key
technologies which underpin this field is that of remote vehicle control. It is vital that a
vehicle should be capable of proceeding accurately to a target area maneuvering within that
area to fulfill its mission and returning equally accurately and safely to base. this project
includes a robotic car consisting of a cell phone, DTMF decoder and microcontroller. The
transmitter is a handheld mobile phone.

We present the design and implementation of an unmanned vehicle (i.e. a robotic vehicle)
consisting of a GSM network (a mobile phone), DTMF decoder, microcontroller and a motor
driver. The transmitter is a handheld mobile phone. Ordinary low cost mobile phones like
Nokia 1100 or even older versions of Nokia phones could be used effectively for this
purpose.

Dual Tone Multi-Frequency (DTMF), Touch-Tone or simply tone dialing. As its acronym
suggests, a valid DTMF signal is the sum of two tones, one from a low group (697-941Hz)
and the other from a high group (1209-1633Hz) with each group containing four individual
tones. 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
"Dual Tone Multiple-Frequency" (DTMF) tone. The robot perceives this DTMF tone with the
help of the phone stacked on the robot. The received tone is processed by the microcontroller
with the help of DTMF decoder. The microcontroller then transmits the signal to the motor
driver ICs to operate the motors & our robot starts moving.
 Problem statement
Now days there are lots of industries like metal industries, brewery factories in our country
and cement factories. So in such places it is a difficult task to do a job in unsuited place and
also there are unsafe conditions for researchers to gather information from dangerous places,
so this project can solve this big problem and support those persons.

Objective

I. General Objective
Specifically the objective of this project is to design a robotic vehicle which can be
controlled easily by using our cell phone. Also to implement a DTMF (dual tone multiple
frequency) technology into the robot to work in the places where we cannot move. So that, by
pressing number keys in the mobile it will send different sound frequency to the other phone which is
interfaced to the circuit. The DTMF decoder will change the frequency to four bit and give it to the
microcontroller. Based on the program inside the microcontroller will control the tow motors.

II. Specific Objective

This project was aimed at Designing and implementing a system that can be controlled
remotely on our cell phone based on DTMF (Dual Tone Multiple Frequency). The system,
have an interface between the transmitters, the sending phone and another interface between
the receiver phone and the robot.

The system is designed to

 Receive the DTMF tone through the cellphone.

 Decode the received tone using a DTMF decoder into binary coded decimal (BCD).
 Interpret the BCD codes into desired motor controls using microcontroller.

Scope and Limitation of the project

The scope of the project is to design a basic circuit and prototype of robotic vehicle which
can be controlled remotely on mobile phone by using DTMF. The vehicle can be used for
application in the dangers area in the factories. By adding different features it can be used for
different applications like, metal industry cement factories.

Currently there are many different robotic options available to modern militaries. Robots can
be run by wire, run by remote control or steered thru tele-robotics. There are plenty of "fire
and forget" weapons, dumb weapons and smart munitions as well, which can fire thru human
command or by way of software rules that include target identification and firing. But that is
just the start as these technologies will save thousands of lives on our Nation's Highways thru
Smart Car Systems and Net-Centric Automobiles of the future. Motivated from this
background, this project will outline autonomous “ground combat vehicles” which is
controlled by simple mobile phone

The limitation of the project that is going to be design is, it doesn’t have the ability to
visualize the surrounding environment because IP camera is not integrated to the system.

Chapter 2
Literature Review
The human mind always needs information of interest to control systems of his/her choice. In
the age of electronic systems it is important to be able to control and acquire information
from everywhere. Although many methods to remotely control systems have been devised,
the methods have the problems such as the need for special devices and software to control
the system. The DTMF tone generated when the user pushes mobile phone keypad buttons or
when connected to a remote mobile system. The remote control technologies have been used
in the fields like factory automation, space exploration, in places where human access is
difficult.

DTMF stands for Dual Tone Multiple Frequency; it is used to send information through
phone lines to and from local exchange. Dual Tone Multiple Frequency (DTMF) is also
known as Touch-tone, Tone Dialing, VF Signaling and MF Dialing. Each DTMF tone
consists of two simultaneous tones (one from the high group and one from the low group),
which are used to indicate which number or symbol that is press on the telephone's keypad.
For example if number 5 is pressed in telephone's keypad, the tones that will hear are 1336
Hz and 770 Hz played simultaneously.
Dual Tone Multiple Frequency is the basis of voice communications control. Modern
telephone circuits use DTMF to dial numbers, configure telephone exchanges (switchboards)
from remote locations, and program certain equipment and so on. Almost any mobile phone
is capable of generating DTMF, providing a connection has already been established. This is
for the use of phone banking; voicemail services and other DTMF controlled applications.
DTMF was designed so that it is possible to use acoustic transfer. The DTMF tones can be
sent from a standard speaker and be received using a standard microphone (providing it is
connected to a decoding circuit of some type). DTMF tones are simply two frequencies
played simultaneously by a standard home phone/fax or mobile phone. Each key on your
telephone's keypad has a unique frequency assigned to it. When any key is pressed on your
telephone's keypad the circuit plays the corresponding DTMF tone and sends it to your local
exchange for processing. DTMF tones can be imitated by using a White Box or Tone Dialer.
It is also possible to record DTMF tones using a tape recorder or computer microphone and
then played into the mouthpiece of your

Currently there are many different robotic options available to modern militaries. Robots can
be run by wire, run by remote control or steered thru Tele-robotics. There are plenty of "fire
and forget" weapons, dumb weapons and smart munitions as well, which can fire thru human
command or by way of software rules that include target identification and firing. But that is
just the start as these technologies will save thousands of lives on our Nation's Highways thru
Smart Car Systems and Net-Centric Automobiles of the future.

However if there is a significant amount of background sound behind the recorded DTMF
tones, the tones may not work properly and cause problems when trying to dial numbers. the
use of phone banking; voicemail services and other DTMF controlled applications. DTMF
was designed so that it is possible to use acoustic transfer. The DTMF tones can be sent from
a standard speaker and be received using a standard microphone (providing it is connected to
a decoding circuit of some type). DTMF tones are simply two frequencies played
simultaneously by a standard home phone/fax or mobile phone. Each key on your telephone's
keypad has a unique frequency assigned to it. When any key is pressed on your telephone's
keypad the circuit plays the corresponding DTMF tone and sends it to your local exchange
for processing. DTMF tones can be imitated by using a White Box or Tone Dialer. It is also
possible to record DTMF tones using a tape recorder or computer microphone and then
played into the mouthpiece of your telephone to dial numbers. However if there is a
significant amount of background sound behind the recorded DTMF tones, the tones may not
work properly and cause problems when trying to dial 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

The MT-8870 is a DTMF Receiver that integrates both band split filter and decoder functions
into a single 18-pin DIP or SOIC package. It is manufactured using CMOS process
technology. The MT-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. Minimal external components required
includes a low-cost 3.579545 MHz color burst crystal, a timing resistor, and a timing
capacitor.

The filter section is used for separation of the low-group and high group tones and it is
achieved by applying the DTMF signal to the inputs of two sixth order switched capacitor
band pass filters, the bandwidths of which corresponds to the low and high group frequencies.
The filter section also incorporates notches at 350 and 440 Hz for exceptional dial tone
rejection. Each filter output is followed by a single order switched capacitor filter section
which smoothes the signals prior to limiting. Limiting is performed by high-gain comparators
which are provided with hysteresis to prevent detection of unwanted low-level signals. The
outputs of the comparators provide full rail logic swings at the frequencies of the incoming
DTMF signals. Following the filter section is a decoder employing digital counting
techniques to determine the frequencies of the incoming tones and to verify that they
correspond to the standard DTMF frequencies.

Fig:2 DTMF decoder pin configuration

ATmega16 AVR Microcontroller futures

A microcontroller often serves as the “brain” of a mechatronic system. Like a mini, self-
contained computer, it can be programmed to interact with both the hardware of the system
and the user. Even the most basic microcontroller can perform simple math operations,
control digital outputs, and monitor digital inputs. As the computer industry has evolved, so
has the technology associated with microcontrollers? Newer microcontrollers are much
faster, have more memory, and have a host of input and output features that dwarf the ability
of earlier models. Most modern controllers have analog-to-digital converters, high-speed
timers and counters; interrupt capabilities, outputs that can be pulse-width modulated, serial
communication ports, etc.

The ATmega16 microcontroller used in this lab is a 40-pin wide DIP (Dual In Line) package
chip. This chip was selected because it is robust, and the DIP package interfaces with
prototyping

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

• Advanced RISC Architecture

– 131 Powerful Instructions - Most Single Clock Cycle Execution

– 32 × 8 General Purpose Working Registers

– Fully Static Operation

– Up to 1 MIPS throughput per MHz

– On-chip 2-cycle Multiplier

• Data and Non-Volatile Program Memory

– 16/32/64K Bytes Flash of In-System Programmable Program Memory

– 512B/1K/2K Bytes of In-System Programmable EEPROM

– 1/2/4K Bytes Internal SRAM

– Write/Erase Cycles: 10,000 Flash/ 100,000 EEPROM

– Data Retention: 20 years at 85°C/ 100 years at 25°C(1)

– Optional Boot Code Section with Independent Lock Bits In-System Programming by On-
chip Boot Program True Read-While-Write Operation

– Programming Lock for Flash Program and EEPROM Data Security On Chip Debug
Interface (debug WIRE)

• CAN 2.0A/B with 6 Message Objects - ISO 16845 Certified

• LIN 2.1 and 1.3 Controller or 8-Bit UART

• One 12-bit High Speed PSC (Power Stage Controller)

– Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time

– Variable PWM duty Cycle and Frequency

– Synchronous Update of all PWM Registers

– Auto Stop Function for Emergency Event

• Peripheral Features

– One 8-bit General purpose Timer/Counter with Separate Prescaler, Compare

Mode and Capture Mode

– One 16-bit General purpose Timer/Counter with Separate Prescaler,

Compare Mode and Capture Mode

– One Master/Slave SPI Serial Interface

– 10-bit ADC Up To 11 Single Ended Channels and 3 Fully Differential ADC

Channel Pairs Programmable Gain (5×, 10×, 20×, 40×) on Differential Channels Internal
Reference Voltage direct Power Supply Voltage Measurement

– 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

Fig Atmega16

L293D motor Driver

As the MUCs PORT are not powerful enough to Drive DC motors directly so we need some
kind of drivers. A very easy and safe is to use popular L@(#D chips. It is 16 PIN chip. The
pin configuration is as follows.
 16 8 U2
2 3
IN1 VSS VS OUT1
7 6
IN2 OUT2
1
EN1

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

L293D

Figure 1: L293D motor driver.

The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to
provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D
is designed to provide bidirectional drive currents of up to600-mA at voltages from 4.5 V to
36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and
bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply
applications.

All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with
drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN.

When an enable input is high the associated drivers are enabled and their outputs are active
and in phase with their inputs. When the enable input is low, those drivers are disabled and
their outputs are off and in the high-impedance state. With the proper data inputs, each pair of
drivers forms

On the L293, external high-speed output clamp diodes should be used for inductive transient
suppression.
A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device
power dissipation.
The L293 and L293D are characterized for operation from 0°C to 70°C.

This chip is designed to control tow DC motors, there are two input and two output pins for
each motors. The two input pins will connect to the output port of Atmega16 MUC and the
two output pins will connect to the two DC motors.
The Device is a monolithic integrated high volt- age, 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 di-
odes are included. This device is suitable for use in switching applications at frequencies up
to 5 kHz. The L293D is assembled in a 16 lead plastic package which has 4 centre pins
connected together and used for heat sinking The L293DD is assembled in a 20 lead surface
mount which has 8 centre pins connected together and used for heat sinking.

Table 1: L293D configuration

D0 D1 D2 D3 DISCRIPTION

Both motors stops

Both motors rotate clockwise
Both motors rotate anticlockwise
Right motor rotates clockwise
Left motor rotates clockwise

Methodology
The DTMF technology is associated with digital telephony and provides two selected o/p
frequencies (One high band and one low band). The DTMF technique consist of 16 common
alphanumeric characters (0-9, A-D, *, #) on the telephone. Each characters is uniquely
referenced by selecting one of the four low band frequencies associated with the matrix rows,
coupled with selecting one of the four high band frequencies associated with the matrix
columns.
 Figure 2: Dual Tone Multi Frequency (DTMF) map.

However, this is not a standard keypad. This keypad has 4 more keys than a standard keypad
(3X4-matrix). The keys A, B, C and D are not commonly used on standard home phone/fax,
office phone or payphone. Each of the keys A, B, C and D are system tones/codes and are
mainly used to configure telephone exchanges or to perform other special functions at an
exchange. For example, the corresponding tone/code assigned to the A key is used on some
networks to move through various carriers (this function is prohibited by most carriers).

The contemporary mobile keypad is laid out in a 3x4 grid, although the original DTMF
keypad had an additional column for four menu selector keys. When used to dial a telephone
number, pressing a single key will produce a pitch consisting of two simultaneous pure tone
sinusoidal frequencies. The row in which the key appears determines the frequency, and the
column determines the high frequency. For example, pressing the key will result in a sound
composed of both 697 Hz and 1209 Hz tone [8, 15]. The original keypads had levers inside,
so each button activated two contacts. The multiple tones are the reason for calling the system
multi frequency. These tones are then decoded by the switching center 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 software is written in ‘C’ language and compiled using WIN AVR ‘C’ compiler. The
source program is converted into hex code by the compiler. We burned this hex code into
ATmega16 AVR microcontroller. Now, we will first describe the algorithm of the code
structure, follow it up a control flow diagram and implement the algorithm in actual C code.

Algorithm

In this section we are going to discuss the working algorithm which we have used in the
construction of the unmanned vehicle:

Step 1->include the register name defined specifically for ATmega16 and also declare the
variable.

Step 2->set port D as the input and port B as the output.

Step 3->the program will run forever by using ‘while’ loop.

Step 4->under ‘while’ loop, read port D and test the received input using ‘switch’ statement.

1. If 2 is pressed on the keypad, both the left and right motors move forward.

2. If 8 is pressed on the keypad, both the left and right motors moves backward.

3. If 4 is pressed on the keypad, the left motor halts and the right motor moves forward.

4. If 6 is pressed on the keypad, the right motor halts and the left motor moves forward.

5. If 5 is pressed on the keypad both the motors stop and the car comes to a stop.
Step 5->the corresponding data will output at port B after testing and conditioning of the
received data.

Circuit Design and working

The design of the DTMF controlled robotic vehicle consists of different circuits, which are
used to take the input signals from the remote cell phone and transmit the signal to the
Microcontroller and also there is a circuit that is designed with the L293D motor driver to
control the motor operation in different direction.

The important components of this car are DTMF decoder, microcontroller and motor driver.
An MT8870 series DTMF decoder is used here. All types of the MT8870 series use digital
counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code output.
The built-in dial tone rejection circuit eliminates the need of pre-filtering. When the input
signal given at pin 2(IN-) in single-ended input configuration is recognized to be effective,
the correct 4-bit decode signal of the DTMF tone is transferred to enhanced RISC
architecture. It provides the following features: 16kb of in system programmable flash
program memory with read-while write capabilities, 512 bytes of EEPROM, 1kb SRAM, and
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,
respectively to drive two geared dc motors. Switch S1 is used for manual reset. The
microcontroller output is not sufficient to 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 up to 600mA 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
outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin9) enables
drivers 3. (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

Block Diagram
Below the block diagram shows the basic working principle of the overall system, it
describes the connection between different parts of the project.

Figure 3: block diagram.

Input circuit
This input circuit consists of RC circuits that are connected to the cell phone headset wire to
transmit the received tone on the receiver cell phone to the DTMF decoder. the circuit which
connects the receiving phone to the DTMF decoder. It transmits DTMF tone frequency to
the decoder IC.

Figure 4: input circut.

C2 R1
100k
10uf R2
100k

Crystal oscillator
The PIC clock frequency can be controlled using different methods, including an external RC
circuit, an external clock source, or a clock crystal. In Figure 22 we show the use of a clock
crystal to provide an accurate and stable clock frequency at relatively low cost. The clock
frequency is set by connecting a 4-MHz crystal across the OSC1 and OSC2 pins with the 22
pF capacitors grounded as shown in Figure 22

Figure 5: crystal oscillator

C5
XTAL1
30pF

1
X2
12MHz
C4

2
XTAL2
30pF

Motor Driving IC
The L293D IC (Motor Driver) 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
[14]. 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 centre pins connected together and used for heat sinking.
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 11
Bp2 IN3 OUT3
15 14
IN4 GND GND OUT4
Bp3 M22
L293D

Control Buttons
Since there is no DTMF Decoder IC in Proteus simulation software, for simulation and
demonstration purpose only we forced to use push battens to replace the binary digital value
which is generated by the decoder after receiving tone signal from the receiving side mobile
phone through microphone.

Figure 7: control and switching circuit.

+5V

+5V
FORWARD
RESET
pD14

C3
10uF
BACKWARD
R7
220 pD15

R5
RIGHT
10k
pD16
reset

LEFT
pD17

Construction of circuit

While constructing any robot, one major mechanical constraint is the number of motors being
used. You can have either a two- wheel drive or a four-wheel drive. Though four-wheel drive
is more complex than two-wheel drive, it provides more torque and good control. Two-wheel
drive, on the other hand, is very easy to construct. Motors are fixed to the bottom of this sheet
and the circuit is affixed firmly on top of the sheet. A cell phone is also mounted on the sheet.
In the four-wheel drive system, the two motors on a side are controlled in parallel. So a single
L293D driver IC can drive the Robotic Car. in order to control the robot, you need to make a
call to the cell phone attached to the robot (through head phone) from any phone, which
sends DTMF tunes on pressing the numeric buttons. The cell phone in the robot is kept in
‘auto answer’ mode.

So after a ring, the cell phone accepts the call. Now you may press any button on your mobile
to perform actions. The DTMF tones thus produced are received by the cell phone in the
robot. These tones are fed to the circuit by the headset of the cell phone. The MT8870
decodes the received tone and sends the equivalent binary number to the microcontroller.
According to the program in the microcontroller, the robot starts moving. When key ‘2’ is
pressed on the mobile phone, the microcontroller outputs for forward motion. When you
press key ‘8’ on your mobile phone, the microcontroller outputs for Reverse motion. When
you press key ‘4’ on your mobile phone, the microcontroller outputs for Left direction
motion. When you press key ‘6’ on your mobile phone, the microcontroller outputs for Right
direction motion. Four keys on the keypad are used for motion control of the robotic car. The
rest can be configured to serve various other purposes depending on the area of application of
the vehicle.

The working procedure for this model is very simple. At first, the robot needs to turn ON by
giving power supply of 10v battery. Now dial a mobile number that is connected with robot
at remote location. Then after ringing the remote mobile connected with robot, it will
automatically connected by Auto Answer option in mobile phone just like an internet
connection established between two systems. It needs to be ensured that DTMF tones sending
facility should be active between both mobiles. After connection establishment the keyboard
need to use to operate the robot car in particular direction. The flow chart of the whole circuit
is very helpful for the complete comprehending of the working principle of this model. For
that purpose the flow chart is shown below.

Chapter 4
Result and discussion

From the project we have been doing, we have got a result that is shown below, with the two
dc motors running in four directions. The two motors, left and right motors are controlled
through the switching circuit designed instead of the DTMF Decoder and the remote cell
phone. In the Schematic capture taken from the simulation software it is shown that there are
four switches designed to control the movement of the vehicle in four directions which are
left, right, forward and backward.

If one of the four switches is pressed at a time, a signal is transferred to the Microcontroller in
a binary form and it is going to be processed in the microcontroller accordingly with the
source code written inside the microcontroller, the processed data is given to the L293D
motor driver to take an action based on the decision made by the program on to the Motor,
finally after the execution of one action the switching circuit has to be reset to take another
action on to the motors. the schematic capture shown below is indicate the running of the
vehicle in 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
pD16
30pF
1

reset
X2 LEFT
12MHz reset
C4 pD17
2

LEFT MOTOR
XTAL2
30pF 9 22
RESET PC0/SCL
23
XTAL1 PC1/SDA
13 24
XTAL1 PC2/TCK
12 25
XTAL2 PC3/TMS
26 12V

M11

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

M21

M22
16 8 8 30
PB7/SCK AVCC 10uf
Bp0 M11
2 3 ATMEGA16
IN1 VSS VS OUT1
7 6
Bp1 IN2 OUT2
1
EN1 M12
+5V

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

Chapter 5

Conclusion and Scope of Future Work

This paper presented a method to control cutting machine using mobile phone and DTMF
decoder. DTMF tone is generated by pressing the keypad buttons of the mobile which is
connected to internet modem through mobile network. The popularity and availability of the
mobile and mobile network makes this kind of control very useful and powerful. The main
advantages of the proposed system are its reliability, low cost, and wide area coverage.

By developing a cell phone operated robotic car, we have overcome the drawbacks of the
conventionally used RF circuits. This RCV includes advantages such as robust control,
minimal interference and a large working range. The car requires four commands for motion
control. The remaining twelve controls are available to serve purposes dependant on the area
of application of the RCV.
The primary purpose of the mobile phone operated land rover with DTMF decoder is to know
the information in the places where we cannot move. The robot perceives the DTMF tone
with the help of the phone stacked in the robot. It provides the advantage of robust control,
working range as large as coverage area of service provider.

IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line
of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place. The
project can be also modified in order to password protect the robot so that it can be operated
only if correct password is entered. Either

In this project, the toy car is controlled by a mobile phone that makes a call to the mobile
phone attached to the car. 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 is a wireless
controller toy car hence the limitation of wired is completely overcome by using latest
technology of mobile phones. However, there are still lots of scopes to improve the stability
and ability of this system. The mobile phone that makes a call to mobile phone stacked in the
car act as a remote. Hence this project does not require the construction of receiver and
transmitter units. It is undoubtedly true that, this model can be a very significant device in
case of the information acquisition from the remote areas where direct interference of human
being is quite impossible hence it would be a very crucial topic to do further research on it.

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.

Biography

Name: Muhamed Ahmed Side_ ETR/0960/03

Studied 1-8: at gendawha 1-8 elementary school and

Studied 9-12: at metema preparatory and high school

Permanent address: metema, gendawha kebela 02

Phone no. : +251918202163

Email: mamilat2014@outlook.com or muhamedsofism@gmail.com

Name: Kirubel G/hiwot_ETR/1030/03

Studied :

Permanent address:

Phone no. : +251

Email:

Name: Mesfin Hurisa_ETR/0416/03

Studied

Studied

Permanent address

Phone no.

Email

Name: Habtework Ayenew_ETR/0288/03

Studied

Studied

Permanent address

Phone no.

Email

Name: Abdela Kema_ETR/0002/03

Studied
Studied

Permanent address

Phone no

Email