Wi-Fi Controlled Mobile Robot

WIFI CONTROLLED MOBILE ROBOT
CHAPTER 1
INTRODUCTION
There are many types of Robots, from the simple ones like a Toy car to the
advanced ones like industrial Robots. a Wi-Fi Controlled Robot using Arduino . This
Arduino based Robot can be controlled wirelessly using any Wi-Fi enabled Android
smart phone. Circuit Diagram of Wi-Fi controlled robot is given below.
We mainly need a Arduino and ESP8266 Wi-Fi module. ESP8266’s Vcc and
GND pins are directly connected to 3.3V and GND of Arduino and CH_PD is also
connected with 3.3V. Tx and Rx pins of ESP8266 are directly connected to pin 2 and 3
of Arduino The robot can be controlled from an ordinary internet browser, using a
HTML designed interface. An Android smartphone might be used to broadcast video
and audio from the robot to the control interface.
An Arduino Uno was choosed because it's very accessible and easy to use for
everyone, and we wanted to design a simple shield for it. In our original project, who
also control some servos and LED matrices, and interfaces with the ESP. The
smartphone is actually replaced by a tablet, that runs other applications as well
Software Serial Library is used to allow serial communication on pin 2 and 3 of
Arduino. We have already covered the Interfacing of ESP8266 Wi-Fi module to
Arduino in detail.
A L293D Motor Driver IC is used for driving DC motors. Input pins of motor
driver IC is directly connected to pin 8, 9, 10 and 11 of Arduino. And DC motors are
connected at its output pins. Here we have used 9 Volt battery for driving the Circuit
and DC motors.An embedded system combines mechanical, electrical, and chemical
DEPT of ECE, ATRI Page 1

components along with a computer, hidden inside, to perform a single dedicated
purpose. There are more computers on this planet than there are people, and most of
these computers are single-chip microcontrollers that are the brains of an embedded
system.
Embedded systems are a ubiquitous component of our everyday lives. We
interact with hundreds of tiny computers every day that are embedded into our houses,
our cars, our bridges, our toys, and our work. As our world has become more complex,
so have the capabilities of the microcontrollers embedded into our devices. Therefore
the world needs a trained workforce to develop and manage products based on
embedded microcontrollers

CHAPTER 2
LITERATURE SURVEY
Various researches have been made by different researchers in developing this
project. However, they serve a different application and have different technologies
implemented. Some of those papers are mentioned below stating their technology and
application.
PAPER I
TITLE: AURDINO
Jorge Kazacos Winter has developed android controlled robot automation. Main
aim of his project was the transfer of information wirelessly between a smartphone and
the robot and developing the robot and its communication system underneath a low
price and open source philosophy. He has used Arduino micro-controller and Wi-Fi
technology in this robot.
AUTHOR: JORGE KAZACOS.
PAPER II
TITLE: WI-FI TECHNOLOGY
M.Selvam in his paper has projected design to develop a robotic system which
has a wireless camera attached to it for surveillance. Bluetooth was implemented in his
project for providing connection between robot and smartphone. The video which is
recorded by camera is then transmitted to TV unit through Radio Frequency
International Journal of Industrial Electronics and Electrical Engineering, ISSN(p):
2347-6982, ISSN(e): 2349-204X Volume-6, Issue-3, Mar.-2018, http://ijieee.org.in
AUTHOR:M.SELVAM.

CHAPTER 3
DESIGN IMPLIMENTATION
3.1 Block diagram:
Fig 3.1 block diagram
of Arduino. Software Serial Library is used to allow serial communication on pin 2 and
3 of Arduino.
We have already covered the Interfacing of ESP8266 Wi-Fi module to Arduino
in detail.A L293D Motor Driver IC is used for driving DC motors. Input pins of motor
and DC motors.

3.2 Flow chart:

3.3 Internal circuit diagram:
of Arduino. Software Serial Library is used to allow serial communication on pin 2 and
3 of Arduino.
We have already covered the Interfacing of ESP8266 Wi-Fi module to Arduino
in detail.A L293D Motor Driver IC is used for driving DC motors. Input pins of motor
and DC motors.

CHAPTER 4
HARDWARE DESCRIPTION
4.1 Arduino Microcontroller
The Arduino is a family of microcontroller boards to simplify electronic design,
prototyping and experimenting for artists, hackers, hobbyists, but also many
professionals.
People use it as brains for their robots, to build new digital music instruments,
or to build a system that lets your house plants tweet you when they’re dry. Arduinos
(we use the standard Arduino Uno) are built around an ATmega microcontroller —
essentially a complete computer with CPU, RAM, Flash memory, and input/output
pins, all on a single chip. Unlike, say, a Raspberry Pi, it’s designed to attach all kinds
of sensors, LEDs, small motors and speakers, servos, etc. directly to these pins, which
can read in or output digital or analog voltages between 0 and 5 volts.
The Arduino connects to your computer via USB, where you program it in a
simple language (C/C++, similar to Java) from inside the free Arduino IDE by
uploading your compiled code to the board. Once programmed, the Arduino can run
with the USB link back to your computer, or stand-alone without it — no keyboard or
screen needed, just power.

Figure 4.1 Structure of Arduino Board
Looking at the board from the top down, this is an outline of what you will see
(parts of the board you might interact with in the course of normal use are highlighted)
Figure 4.2 Arduino Board

Starting clockwise from the top center:
➢ Analog Reference pin (orange)
➢ Digital Ground (light green)
➢ Digital Pins 2-13 (green)
➢ Digital Pins 0-1/Serial In/Out - TX/RX (dark green) - These pins cannot be used
for digital i/o (Digital Read and Digital Write) if you are also using serial
communication (e.g. Serial.begin).
➢ Reset Button - S1 (dark blue)
➢ In-circuit Serial Programmer (blue-green)
➢ Analog In Pins 0-5 (light blue)
➢ Power and Ground Pins (power: orange, grounds: light orange)
➢ External Power Supply In (9-12VDC) - X1 (pink)
➢ Toggles External Power and USB Power (place jumper on two pins closest to
desired supply) - SV1 (purple)
➢ USB (used for uploading sketches to the board and for serial communication
between the board and the computer; can be used to power the board) (yellow)
4.1.1 Digital Pins
In addition to the specific functions listed below, the digital pins on an Arduino
board can be used for general purpose input and output via the pin Mode(), Digital
Read(), and Digital Write() commands. Each pin has an internal pull-up resistor which
can be turned on and off using digital Write() (w/ a value of HIGH or LOW,
respectively) when the pin is configured as an input. The maximum current per pin is
40mA.

➢ Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. On the Arduino Diecimila, these pins are connected to the corresponding
pins of the FTDI USB-to-TTL Serial chip. On the Arduino BT, they are
connected to the corresponding pins of the WT11 Bluetooth module. On the
Arduino Mini and LilyPad Arduino, they are intended for use with an external
TTL serial module (e.g. the Mini-USB Adapter).
➢ External Interrupts: 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the
attach Interrupt() function for details.
➢ PWM: 3, 5, 6, 9, 10, and 11 Provide 8-bit PWM output with the analog Write()
function. On boards with an ATmega8, PWM output is available only on pins
9, 10, and 11.
➢ BT Reset: 7. (Arduino BT-only) Connected to the reset line of the bluetooth
module.
➢ SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication, which, although provided by the underlying hardware, is not
currently included in the Arduino language.
➢ LED: 13. On the Diecimila and LilyPad, there is a built-in LED connected to
digital pin 13. When the pin is HIGH value, the LED is on, when the pin is
LOW, it's off.
4.1.2 Analog Pins
In addition to the specific functions listed below, the analog input pins support
10-bit analog-to-digital conversion (ADC) using the analog Read() function. Most of
the analog inputs can also be used as digital pins: analog input 0 as digital pin 14

through analog input 5 as digital pin 19. Analog inputs 6 and 7 (present on the Mini and
BT) cannot be used as digital pins.
➢ I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire
library (documentation on the Wiring website).
4.1.3 Power Pins
➢ VIN (sometimes labeled "9V"): The input voltage to the Arduino board when
it's using an external power source (as opposed to 5 volts from the USB
connection or other regulated power source). You can supply voltage through
this pin, or, if supplying voltage via the power jack, access it through this pin.
Also note that the Lily Pad has no VIN pin and accepts only a regulated input.
➢ 5V: The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board
regulator, or be supplied by USB or another regulated 5V supply.
➢ 3V3 (Diecimila-only) : A 3.3 volt supply generated by the on-board FTDI chip.
➢ GND: Ground pins.
4.1.4 Other Pins
➢ AREF: Reference voltage for the analog inputs. Used with analog Reference().
➢ Reset: (Diecimila-only) Bring this line LOW to reset the microcontroller.
Typically used to add a reset button to shields which block the one on the board.

4.2 Atmega 328P
4.2.1 Pin diagram
Figure 4.3 Pin Configuration of Atmega328
Pin Description
VCC:
Digital supply voltage.
GND:
Ground.
Port A (PA7-PA0):
Port A serves as the analog inputs to the A/D Converter. Port A also serves as
an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide

internal pull-up resistors (selected for each bit). The Port A output buffers have
symmetrical drive characteristics with both high sink and source capability. When pins
PA0 to PA7 are used as inputs and are externally pulled low, they will source current if
the internal pull-up resistors are activated.
The Port A pins are tri-stated when a reset condition becomes active, even if the
clock is not running.
Port B (PB7-PB0):
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected
for each bit). The Port B output buffers have symmetrical drive characteristics with
both high sink and source capability.
As inputs, Port B pins that are externally pulled low will source current if the
pull-up resistors are activated. The Port B pins are tri-stated when a reset condition
becomes active, even if the clock is not running. Port B also serves the functions of
various special features of the ATmega32.
Port C (PC7-PC0):
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected
for each bit). The Port C output buffers have symmetrical drive characteristics with
As inputs, Port C pins that are externally pulled low will source current if the
pull-up resistors are activated. The Port C pins are tri-stated when a reset condition
becomes active, even if the clock is not running.
If the JTAG interface is enabled, the pull-up resistors on pins PC5(TDI),
PC3(TMS) and PC2(TCK) will be activated even if a reset occurs. The TD0 pin is tri-
stated unless TAP states that shift out data are entered. Port C also serves the functions
of the JTAG interface.

Port D (PD7-PD0):
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected
for each bit). The Port D output buffers have symmetrical drive characteristics with
As inputs, Port D pins that are externally pulled low will source current if the
pull-up resistors are activated. The Port D pins are tri-stated when a reset condition
becomes active, even if the clock is not running.
Port D also serves the functions of various special features of the ATmega32.
Reset (Reset Input):
A low level on this pin for longer than the minimum pulse length will generate
a reset, even if the clock is not running. Shorter pulses are not guaranteed to generate a
reset.
XTAL1:
Input to the inverting Oscillator amplifier and input to the internal clock
operating circuit.
XTAL2:
Output from the inverting Oscillator amplifier.
AVCC:
AVCC is the supply voltage pin for Port A and the A/D Converter. It should be
externally connected to VCC, even if the ADC is not used. If the ADC is used, it should
be connected to VCC through a low-pass filter.
AREF:
AREF is the analog reference pin for the A/D Converter.

4.2.2 Features
➢ 1.8-5.5V operating range
➢ Up to 20MHz
➢ Part: ATMEGA328P-AU
➢ 32kB Flash program memory
➢ 1kB EEPROM
➢ 2kB Internal SRAM
➢ 2 8-bit Timer/Counters
➢ 16-bit Timer/Counter
➢ RTC with separate oscillator
➢ 6 PWM Channels
➢ 8 Channel 10-bit ADC
➢ Serial USART
➢ Master/Slave SPI interface
➢ 2-wire (I2C) interface
➢ Watchdog timer
➢ Analog comparator
➢ 23 IO lines
➢ Data retention: 20 years at 85C/ 100 years at 25C
➢ Digital I/O Pins are 14 (out of which 6 provide PWM output)
➢ Analog Input Pins are 6.
➢ DC Current per I/O is 40 mA
➢ DC Current for 3.3V Pin is 50mA

4.2.3. AVR CPU Core
The AVR core combines a rich instruction set with 32 general purpose working
registers. All the 32 registers are directly connected to the Arithmetic Logic Unit
(ALU), allowing two independent registers to be accessed in one single instruction
executed in one clock cycle. The resulting architecture is more code efficient while
achieving throughputs up to ten times faster than conventional CISC microcontrollers.
Figure 4.4AVR CPU Block Diagram

4.2.4 Status Register

The Status Register contains information about the result of the most recently
executed arithmetic instruction. This information can be used for altering program flow
in order to perform conditional operations. Note that the Status Register is updated after
all ALU operations, as specified in the Instruction Set Reference. This will in many
cases remove the need for using the dedicated compare instructions, resulting in faster
and more compact code. The Status Register is not automatically stored when entering
an interrupt routine and restored when returning from an interrupt. This must be handled
by software.
The AVR Status Register – SREG is defined as:
Figure 3.6 AVR status register
Bit 7 – I: Global Interrupt Enable
The Global Interrupt Enable bit must be set for the interrupts to be enabled. The
individual interrupt enable control The Global Interrupt Enable bit must be set for the
interrupts to be enabled. The individual interrupt enable control is then performed in
separate control registers. If the Global Interrupt Enable Register is cleared, none of the
interrupts are enabled independent of the individual interrupt enable settings. The I-bit
is cleared by hardware after an interrupt has occurred, and is set by the RETI instruction
to enable subsequent interrupts. The I-bit can also be set and cleared by the application
with the SEI and CLI instructions, as described in the instruction set reference.

Bit 6 – T: Bit Copy Storage
The Bit Copy instructions BLD (Bit Load) and BST (Bit Store) use the T-bit as
source or destination for the operated bit. A bit from a register in the Register File can
be copied into T by the BST instruction, and a bit in T can be copied into a bit in a
register in the Register File by the BLD instruction.
Bit 5 – H: Half Carry Flag
The Half Carry Flag H indicates a Half Carry in some arithmetic operations The
Half Carry Flag H indicates a Half Carry in some arithmetic operations. Half Carry Is
useful in BCD arithmetic. See the “Instruction Set Description” for detailed
information.
Bit 4 – S: Sign Bit, S = N V
The S-bit is always an exclusive or between the Negative Flag N and the Two’s
Complement Overflow Flag V. See the “Instruction Set Description” for detailed
information.
Bit 3 – V: Two’s Complement Overflow Flag
The Two’s Complement Overflow Flag V supports two’s complement
arithmetic.
Bit 2 – N: Negative Flag
The Negative Flag N indicates a negative result in an arithmetic or logic
operation.
Bit 1 – Z: Zero Flag
The Zero Flag Z indicates a zero result in an arithmetic or logic operation.
Bit 0 – C: Carry Flag
The Carry Flag C indicates a carry in an arithmetic or logic operation.

4.2.5 General Purpose Register File
The Register File is optimized for the AVR Enhanced RISC instruction set. In
order to achieve the required performance and flexibility, the following input/output
schemes are supported by the Register File:
• One 8-bit output operand and one 8-bit result input
• Two 8-bit output operands and one 8-bit result input
• Two 8-bit output operands and one 16-bit result input
One 16-bit output operand and one 16-bit result input
Most of the instructions operating on the Register File have direct access to
all registers, and most of them are single cycle instructions. As shown in Figure 6-2,
each register is also assigned a data memory address, mapping them directly into the
first32 locations of the user data space. Although not being physically implemented as
SRAM locations, this memory organization provides great flexibility in access of the
registers, as the X-, Y-, and Z-pointer Registers can be set to index any register.
Figure 4.6 Structure of the 32 general purpose working registers in the CPU
X-, Y-, and Z-register

The registers R26:R31 have some added functions to their general purpose
usage. These registers are 16-bit address pointers for indirect addressing of the data
space. The three indirect address registers X, Y, and Z are defined as described in
Figure 4.7 X-, Y-, and Z-Registers
In the different addressing modes these address registers have functions as fixed
displacement, automatic increment, and automatic decrement.
4.2.6 Stack Pointer
The Stack is mainly used for storing temporary data, for storing local variables
and for storing return addresses after interrupts and subroutine calls. Note that the Stack
is implemented as growing from higher to lower memorylocations. The Stack Pointer
Register always points to the top of the Stack. The Stack Pointer points to the data
SRAM Stack area where the Subroutine and Interrupt Stacks are located. A Stack
PUSH command will decrease the Stack Pointer.
The Stack in the data SRAM must be defined by the program before any
subroutine calls are executed or interrupts are enabled. Initial Stack Pointer value equals
the last address of the internal SRAM and the Stack Pointer must be set to point above
start of the SRAM

Table 4.1 Stack Pointer instructions
The AVR ATmega128A Stack Pointer is implemented as two 8-bit registers in
the I/O space. The number of bits actually used is implementation dependent. Note that
the data space in some implementations of the AVR architecture is so small that only
SPL is needed. In this case, the SPH Register will not be present.SPH and SPL - Stack
Pointer High and Low Register.
4.2.7 AVR Memories
This section describes the different memories in the ATmega328. The AVR
architecture has two main memory spaces, the Data Memory and the Program Memory
space. In addition, theATmega328 features an EEPROM Memory for data storage. All
three memory spaces are linear and regular.
In-System Reprogrammable Flash Program Memory:
The ATmega328 contains 4/8/16/32Kbytes On-chip In-System
Reprogrammable Flash memory for program storage. Since all AVR instructions are
16 or 32 bits wide, the Flash is organized as 2/4/8/16K x 16. For software security, the
Flash Program memory space is divided into two sections, Boot Loader Section and
Application Program Section. The Flash memory has an endurance of at least 10,000

write/erase cycles. The ATmega328 Program Counter (PC) is 11/12/13/14 bits wide,
thus addressing the 2/4/8/16K program memory locations.
SRAM Data Memory:
ATmega328 is a complex microcontroller with more peripheral units than can
be supported within the 64 locations reserved in the Opcode for the IN and OUT
instructions. For the Extended I/O space from 0x60 - 0xFF in SRAM, only the
ST/STS/STD and LD/LDS/LDD instructions can be used.
The lower 768/1280/1280/2303 data memory locations address both the
Register File, the I/O memory, Extended I/O memory, and the internal data SRAM. The
first 32 locations address the Register File, the next 64 location the standard I/O
memory, then 160 locations of Extended I/O memory, and the next
512/1024/1024/2048 locations address the internal data SRAM. The five different
addressing modes for the data memory cover: Direct, Indirect with Displacement,
Indirect, Indirect with Pre-decrement, and Indirect with Post-increment. In The Register
File, Registers R26 to R31 Feature the indirect addressing pointer registers. The direct
addressing reaches the entire data space. The Indirect with Displacement mode reaches
63 address locations from the base address given by the Y- or Z register.
When using register indirect addressing modes with automatic pre-decrement
and post-increment, the address registers X, Y, and Z are decremented or incremented.
The 32 general purpose working registers, 64 I/O Registers, 160 Extended I/O
Registers, and the 512/1024/1024/2048 bytes of internal data SRAM in the ATmega328
are all accessible through all these addressing modes.

Figure 4.8 Data Memory Map
4.2.8 Interrupts
This section describes the specifics of the interrupt handling as performed in the
Atmega328. In Atmega328Each Interrupt Vector occupies two instruction words and
the Reset Vector is affected by the BOOTRST fuse, and the Interrupt Vector start
address is affected by the IVSEL bit in MCUCR.
Table 4.2 Reset and Interrupt Vectors in ATMEGA 328 and ATMEGA 328P
Vector Program Source Interrupt Definition
No. Address
1 0x0000 RESET External Pin, Power-on Reset,
Brown-out Reset and Watchdog
System Reset
2 0x0002 INT0 External Interrupt Request 0
3 0x0004 INT1 External Interrupt Request 0
4 0x0006 PCINTO Pin Change Interrupt Request 0
5 0x0008 PCINT1 Pin Change Interrupt Request 1
6 0x000A PCINT2 Pin Change Interrupt Request 2
7 0x000C WDT Watchdog Time-out Interrupt
8 0x000E TIMER2 COMPA Timer/Counter2 Compare Match A
9 0x0010 TIMER2 COMPB Timer/Counter2 Compare Match B
10 0x0012 TIMER2 OVF Timer/Counter 2 Overflow
11 0x0014 TIMER1 CAPT Timer/Counter 2 Capture Event
12 0x0016 TIMER1 COMPA Timer/Counter1 Compare Match A
13 0x0018 TIMER1 COMPB Timer/Counter1 Compare Match B
14 0x001A TIMER 1 OVF Timer/Counter1 Overflow
15 0x001C TIMER0 COMPA Timer/Counter0 Compare Match A
16 0x001E TIMER0 COMPB Timer/Counter0 Compare Match B
17 0x0020 TIME0 OVF Timer/Counter0 Overflow
18 0x0022 SPI, STC SPI Serial Transfer Complete
19 0x0024 USART, RX USART RX Complete

20 0x0026 USART, UDRE USART, Data Register Empty

21 0x0028 USART, TX USART, TX Complete
22 0x002A ADC ADC Conversion Complete
23 0x002C EE READY EEPROM Ready
24 0x002E ANALOG COMP Analog Comparator
25 0x0030 TWI 2-wire Serial Interface
26 0x0032 SPM READY Store Program Memory Ready
4.3Arduino with ATmega328

The Arduino Uno is a microcontroller board based on the ATmega328
(datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM outputs),
6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP
header, and a reset button. It contains everything needed to support the microcontroller;
simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter
or battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-
to-serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to versionR2)
programmed as a USB-to-serial converter.
➢ Pin out: Added SDA and SCL pins that are near to the AREF pin and two other
new pins placed near to the RESET pin, the IOREF that allow the shields to
adapt to the voltage provided from the board. In future, shields will be
compatible with both the board that uses the AVR, which operates with 5V and
with the Arduino. Due that operates with 3.3V. The second one is a not
connected pin that is reserved for future purposes.
➢ Stronger RESET circuit.
➢ Atmega 16U2 replace the 8U2.
"Uno" means one in Italian and is named to mark the upcoming release of
Arduino 1.0. The Uno and version 1.0 will be the reference versions of Arduino,
moving forward. The Uno is the latest in a series of USB Arduino boards, and the

reference model for the Arduino platform; for a comparison with previous versions, see
the index of Arduino boards.
4.3.1 Arduino Characteristics Power

The Arduino Uno can be powered via the USB connection or with an external
power supply. The power source is selected automatically. External (non-USB) power
can come either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be
connected by plugging a 2.1mm center-positive plug into the board's power jack. Leads
from a battery can be inserted in the Gnd and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may be unstable.
If using more than 12V, the voltage regulator may overheat and damage the board.
The recommended range is 7 to 12 volts.
The power pins are as follows:
➢ VIN: The input voltage to the Arduino board when it's using an external power
source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via
the power jack, access it through this pin.
➢ 5V: This pin outputs a regulated 5V from the regulator on the board. The board
can be supplied with power either from the DC power jack (7 - 12V), the USB
connector (5V), or the VIN pin of the board (7-12V). Supplying voltage via the
5V or 3.3V pins bypasses the regulator, and can damage your board. We don't
advise it.
➢ 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.
➢ GND. Ground pins.

➢ IOREF. This pin on the Arduino board provides the voltage reference with
which the microcontroller operates. A properly configured shield can read the
IOREF pin voltage and select the appropriate power source or enable voltage
translators on the outputs for working with the 5V or 3.3V.
Memory:
The ATmega328 has 32 KB (with 0.5 KB used for the boot loader). It also has 2 KB of
SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM
library).
Serial Communication:
The Arduino Uno has a number of facilities for communicating with a
computer, another Arduino, or other microcontrollers. The ATmega328 provides
UART TTL (5V) serial communication, which is available on digital pins 0 (RX) and
1 (TX). An ATmega16U2 on the board channels this serial communication over USB
and appears as a virtual com port to software on the computer.
The '16U2 firmware uses the standard USB COM drivers, and no external driver
is needed. However, on Windows, a .inf file is required. The Arduino software includes
a serial monitor which allows simple textual data to be sent to and from the Arduino
board. The RX and TX LEDs on the board will flash when data is being transmitted via
the USB-to-serial chip and USB connection to the computer (but not for serial
communication on pins 0 and 1).
A Software Serial library allows for serial communication on any of the Uno's
digital pins. The ATmega328 also supports I2C (TWI) and SPI communication. The
Arduino software includes a Wire library to simplify use of the I2C bus. For SPI
communication, use the SPI library.

4.3.2 Conclusion
In this chapter Arduino, ATmega328, and also about the Embedded system and
its application was dicussed.
4.4 L293D Motor Driver IC:
Figure 4.9block diagram of l293d
4.4.1 Description
L293D is a typical Motor driver or Motor Driver IC which allows DC motor to
drive on either direction. L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction. It means that you can control two DC motorwith a
single L293D IC. Dual H-bridge Motor Driver integrated circuit(IC).The l293d can
drive small and quiet big motors as well, check the Voltage Specification at the end of
this page for more info.

4.4.2Concept:
It works on the concept of H-bridge. H-bridge is a circuit which allows the
voltage to be flown in either direction. As you know voltage need to change its direction
for being able to rotate the motor in clockwise or anticlockwise direction, Hence H-
bridge IC are ideal for driving a DC motor.In a single l293d chip there two h-Bridge
circuit inside the IC which can rotate two dc motor independently. Due its size it is very
much used in robotic application for controlling DC motors. Given below is the pin
diagram of a L293D motor controller.
There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the
motor, the pin 1 and 9 need to be high. For driving the motor with left H-bridge you
need to enable pin 1 to high. And for right H-Bridge you need to make the pin 9 to high.
If anyone of the either pin1 or pin9 goes low then the motor in the corresponding section
will suspend working. It’s like a switch
Figure 4.10 pin diagram of L293D

4.4.3 Working:
There are 4 input pins for l293d, pin 2,7 on the left and pin 15 ,10 on the right as shown
on the pin diagram. Left input pins will regulate the rotation of motor connected across
left side and right input for motor on the right hand side. The motors are rotated on the
basis of the inputs provided across the input pins as LOGIC 0 or LOGIC 1.
In simple you need to provide Logic 0 or 1 across the input pins for rotating the
motor.
4.4.4Voltage Specification:
VCC is the voltage that it needs for its own internal operation 5v; L293D will
not use this voltage for driving the motor. For driving the motors it has a separate
provision to provide motor supply VSS (V supply). L293d will use this to drive the
motor. It means if you want to operate a motor at 9V then you need to provide a Supply
of 9V across VSS Motor supply.
The maximum voltage for VSS motor supply is 36V. It can supply a max current
of 600mA per channel.Since it can drive motors Up to 36v hence you can drive pretty
big motors with this l293d.
VCC pin 16 is the voltage for its own internal Operation. The maximum voltage
ranges from 5v and upto
4.4.5 H-Bridge:
An H-bridge is an electronic circuit which enables DC electric motors to be run
forwards or backwards. These circuits are often used in robotics. H-bridges are
available as integrated circuits, or can be built from discrete components 36v.

The term "H-bridge" is derived from the typical graphical representation of such
a circuit. An H-bridge is built with four switches (solid-state or mechanical).
When the switches S1 and S4 (according to the first figure) are closed (and S2 and S3
are open) a positive voltage will be applied across the motor. By opening S1 and
S4 switches and closing S2 and S3 switches, this voltage is reversed, allowing
reverse operation of the motor. Using the nomenclature above, the switches S1 and S2
should never be closed at the same time, as this would cause a short circuit on the input
voltage source. The same applies to the switches S3 and S4. This condition is known
as shoot-through
4.4.6 Operation
The H-Bridge arrangement is generally used to reverse the polarity of the motor,
but can also be used to 'brake' the motor, where the motor comes to a sudden stop, as
the motors terminals are shorted, or to let the motor 'free run' to a stop, as the motor is
effectively disconnected from the circuit. The following table summarizes operation.
Table 4.3 H-Bridge operation
S1 S2 S3 S4 Result
1 0 0 1 Motor moves right
0 1 1 0 Motor moves left
0 0 0 0 Motor free runs
0 1 0 1 Motor brakes

4.4.7 H-Bridge Driver

The switching property of this H-Bridge can be replaced by a Transistor or a
Relay or a MOSFET or even by an IC. Here we are replacing this with an IC named
L293D as the driver whose description is as given below.
Features:
➢ 600mA output current capability
➢ Per channel
➢ 1.2a peak output current (non repetitive)
➢ Per channel
➢ Enable facility
➢ Over temperature protection
➢ Logical "0" input voltage up to 1.5 v
➢ (high noise immunity)
➢ Internal clamp diodes
4.4.8 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.

Figure 4.10 Block Diagram of H bridge
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 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.
4.5 DC Motors:
Here DC Motor is used to rotate the panel in the required direction. Let us study
in detail about the DC Motor.
4.5.1 Principles of Operation

In any electric motor, operation is based on simple electromagnetism. A current-
carrying conductor generates a magnetic field; when this is then placed in an external
magnetic field, it will experience a force proportional to the current in the conductor,
and to the strength of the external magnetic field. As you are well aware of from playing
with magnets as a kid, opposite (North and South) polarities attract, while like polarities
(North and North, South and South) repel. The internal configuration of a DC motor is

designed to harness the magnetic interaction between a current-carrying conductor and
an external magnetic field to generate rotational motion. Let's start by looking at a
simple 2-pole DC electric motor (here red represents a magnet or winding with a
"North" polarization, while green represents a magnet or winding with a "South"
polarization).
Figure 4.11 Internal structure DC motor

Every DC motor has six basic parts. They are axle, rotor (a.k.a., armature),
stator, commutator, field magnet(s), and brushes. In most common DC motors (and all
that BEAMERS will see), the external magnetic field is produced by high-strength
permanent magnets1. The stator is the stationary part of the motor -- this includes the
motor casing, as well as two or more
permanent magnet pole pieces. The rotor (together with the axle and attached
commutator) rotates with respect to the stator.
The rotor consists of windings (generally on a core), the windings being
electrically connected to the commutator. The above diagram shows a common motor
layout with the rotor inside the stator (field) magnets.
The geometry of the brushes, commutator contacts, and rotor windings are such
that when power is applied, the polarities of the energized winding and the stator
magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the

stator's field magnets. As the rotor reaches alignment, the brushes move to the next
commutator contacts, and energize the next winding. Given our example two-pole
motor, the rotation reverses the direction of current through the rotor winding, leading
to a "flip" of the rotor's magnetic field, driving it to continue rotating. In real life,
though, DC motors will always have more than two poles (three is a very common
number). In particular, this avoids "dead spots" in the commutator. You can imagine
how with our example two-pole motor, if the rotor is exactly at the middle of its rotation
(perfectly aligned with the field magnets), it will get "stuck" there. Meanwhile, with a
two-pole motor, there is a moment where the commutator shorts out the power supply
(i.e., both brushes touch both commutator contacts simultaneously). This would be bad
for the power supply, waste energy, and damage motor components as well. Yet another
disadvantage of such a simple motor is that it would exhibit a high amount of torque
"ripple" (the amount of torque it could produce is cyclic with the position of the rotor).
You'll notice a few things from this -- namely, one pole is fully energized at a time (but
two others are "partially" energized). As each brush transitions from one commutator
contact to the next, one coil's field will rapidly collapse, as the next coil's field will
rapidly charge up (this occurs within a few microsecond). We'll see more about the
effects of this later, but in the meantime you can see that this is a direct result of the coil
windings' series wiring:
The use of an iron core armature (as in the Mabuchi, above) is quite common,
and has a number of advantages2. First off, the iron core provides a strong, rigid support
for the windings -- a particularly important consideration for high-torque motors. The
core also conducts heat away from the rotor windings, allowing the motor to be driven
harder than might otherwise be the case. Iron core construction is also relatively
inexpensive compared with other construction types. But iron core construction also

has several disadvantages. The iron armature has a relatively high inertia which limits
motor acceleration. This construction also results in high winding inductances which
limits brush and commutates life. In small motors, an alternative design is often used
which features a 'coreless' armature winding. This design depends upon the coil wire
itself for structural integrity. As a result, the armature is hollow, and the permanent
magnet can be mounted inside the rotor coil. Coreless DC motors have much lower
armature inductance than iron-core motors of comparable size, extending brush and
commutator life. The coreless design also allows manufacturers to build smaller
motors; meanwhile, due to the lack of iron in their rotors, coreless motors are somewhat
prone to overheating. As a result, this design is generally used just in small, low-power
motors. BEAMers will most often see coreless DC motors in the form of pager motors.
Consider the g a DC motor. A DC motor will have two terminals. Let the terminals are
D1 and D2. If we give positive voltage to D1 and negative voltage to D2 (simply voltage
at D1 should be more positive than the voltage at D2) the rotor will rotate in forward
direction. Alternatively if the voltage at D1 is negative and D2 is positive (or in other
words voltage at D1 is more negative than D2) then the motor will rotate in reverse
direction.
4.5.2 Basics of Dc Motor

The speed of a DC motor is directly proportional to the supply voltage, so if we reduce
the supply voltage from 12 Volts to 6 Volts, the motor will run at half the speed. The
speed controller works by varying the average voltage sent to the motor. It could do
this by simply adjusting the voltage sent to the motor, but this is quite inefficient to do.
A better way is to switch the motor's supply on and off very quickly. If the switching is
fast enough, the motor doesn't notice it, it only notices the average effect. Now imagine
a light bulb with a switch. When we close the switch, the bulb goes on and is at full

brightness, say 100 Watts. When we open the switch it goes off (0 Watts). Now if you
close the switch for a fraction of a second, then open it for the same amount of time,
the filament won't have time to cool down and heat up, and you will just get an average
glow of 50 Watts. This is how lamp dimmers work, and the same principle is used by
speed controllers to drive a motor. When the switch is closed, the motor sees 12 Volts,
and when it is open it sees 0 Volts. If the switch is open for the same amount of time as
it is closed, the motor will see an average of 6 Volts, and will run more slowly
accordingly.
4.6 Wi-Fi Module (ESP8266):
4.6.1 Introduction
ESP8266 is Wi-Fi enabled system on chip (SoC) module developed by Espressif
system. It is mostly used for development of IoT (Internet of Things) embedded
applications.
Figure 4.12 Wi-Fi module
ESP8266 comes with capabilities of
• 2.4 GHz Wi-Fi (802.11 b/g/n, supporting WPA/WPA2),
• general-purpose input/output (16 GPIO),
• Inter-Integrated Circuit (I²C) serial communication protocol,

• analog-to-digital conversion (10-bit ADC)
• Serial Peripheral Interface (SPI) serial communication protocol,
• I²S (Inter-IC Sound) interfaces with DMA(Direct Memory Access) (sharing
pins with GPIO),
• UART (on dedicated pins, plus a transmit-only UART can be enabled on
GPIO2), and
• pulse-width modulation (PWM).
It employs a 32-bit RISC CPU based on the Tensilica Xtensa L106 running at 80 MHz
(or overclocked to 160 MHz). It has a 64 KB boot ROM, 64 KB instruction RAM and
96 KB data RAM. External flash memory can be accessed through SPI.
ESP8266 module is low cost standalone wireless transceiver that can be used for end-
point IoT developments.
To communicate with the ESP8266 module, microcontroller needs to use set of AT
commands. Microcontroller communicates with ESP8266-01 module using UART
having specified Baud rate.
There are many third-party manufacturers that produce different modules based on this
chip. So, the module comes with different pin availability options like,
• ESP-01 comes with 8 pins (2 GPIO pins) – PCB trace antenna. (shown in above
figure)
• ESP-02 comes with 8 pins, (3 GPIO pins) – U-FL antenna connector.
• ESP-03 comes with 14 pins, (7 GPIO pins) – Ceramic antenna.
• ESP-04 comes with 14 pins, (7 GPIO pins) – No ant. etc.
For example, below figure shows ESP-01 module pins

ESP8266-01 Module Pin Description
Figure 4.13 ESP8266-01 Module Pins

3V3: - 3.3 V Power Pin.
GND: - Ground Pin.
RST: - Active Low Reset Pin.
EN: - Active High Enable Pin.
TX: - Serial Transmit Pin of UART.
RX: - Serial Receive Pin of UART.
GPIO0 & GPIO2: - General Purpose I/O Pins. These pins decide what mode (boot or
normal) the module starts up in. It also decides whether the TX/RX pins are used for
Programming the module or for serial I/O purpose.
To program the module using UART, Connect GPIO0 to ground and GPIO2 to VCC
or leave it open. To use UART for normal Serial I/O leave both the pins open (neither
VCC nor Ground).
For more information refer http://esp8266.net/
Now, before we start with ESP8266 interfacing, we need to update its firmware.

Downloading Firmware’s
There are many software & hardware platforms, firmware’s and frameworks available,
that are specific to their applications such as,
Espressif AT Firmware
EspressifFreeRTOS Firmware
Espressif NON-OS SDK Firmware
NodeMCU (Lua Firmware)
etc.
ESP8266 Firmware has been provided in binary format files (.BIN) that can be
downloaded directly on the ESP8266 chip.
These binaries are generated using ESP8266 SDK (Software Development Kit), which
is an application development platform produced by Espressif. Linux OS is required to
compile the ESP8266 SDK. Windows user can use virtual machine.
For more information about ESP8266 SDK compilation refer -
ESP8266_Getting_Started_Guide or download below attached ESP8266 Getting
Started Guide
After compilation, download firmware directly on ESP8266 chip over serial port.
Let’s download Espressif NON-OS SDK Firmware in to the ESP8266 module.
First download ESP8266 FLASH DOWNLOAD TOOL which is the official firmware
download tool developed by Espressif.
Second download Espressif NON-OS SDK Firmware

Now select .bin files with their respective address as shown in below figure.
boot_v1.2.bin ------------------------------------------------> 0x00000
user1.1024.new.2.bin ------------------------------------------------> 0x01000
esp_init_data_default.bin ------------------------------------------------> 0xfc000
blank.bin ------------------------------------------------> 0x7e000
blank.bin ------------------------------------------------> 0xfe000
Note that, all binary (.BIN) files are available at ESP8266_NONOS_SDK-
master\bin directory except user1.1024.new.2.bin which we can generate from SDK
compilation and can be found in subfolder of ESP8266_NONOS_SDK-
master\bin directory.

Ensure that you have selected the correct COM port and BAUD rate (115200 default).
Note that, to put ESP8266 in flash mode, make connections as per above figure (in
between ESP8266 and USB to Serial converter) and then only connect it to PC/laptop.
Do not forget to connect GPIO0 pin to ground.
Then click on START tab in ESP8266 DOWNLOAD TOOL, and wait till it finishes.
After finishing flash process, disconnect ESP8266 module from PC/laptop and remove
ground connection at GPIO0 pin.
After successful downloading of firmware, we can use below AT commands for server
and client communication using ESP8266.
Note: This time do not connect GPIO0 and GPIO2 pins (leave the open/unconnected).
4.4ESP8266 AT Command Set
Function AT Commands Response

Working AT OK
OK
Restart AT+RST .......

Ready
<AT version info> information about

AT version
<SDK version info> information about
Firmware SDK version
AT+GMR
Version
<compile time> time of the bin was
compiled
OK
+CWLAP:<ecn>,<ssid>,<rssi>,<mac>
List
,<ch>,<freq offset>
Access AT+CWLAP
Point OK


Query +CWJAP:<ssid>,<bssid>,<channel>,<
Joined rssi>
AT+CWJAP?
Access
OK
Point
WIFI CONNECTED
Join
Access AT+CWJAP=”SSID”,”Password” WIFI GOT IP
Point OK
Quit OK
Access AT+CWQAP
WIFI DISCONNECTED
Point
+CIFSR:APIP,<IP address>
+CIFSR:APMAC,<mac address>
AT+CIFSR
Get IP +CIFSR:STAIP,<IP address>
Address (Assuming AT+CWMODE=3)
+CIFSR:STAMAC,<mac address>
OK
Query
WiFi AT+CWMODE? +CWMODE:<mode>
Mode
AT+CWMODE=<mode>
Mode: -
Set WiFi 1 = STA (station)
OK
Mode
2 = AP (Access Point)
3 = BOTH i.e. STA & AP
Query
TCP/UD
P AT+CIPMUX? +CIPMUX:<mode>
Connecti
on
AT+CIPMUX=<mode>
Set
TCP/UD Mode: -
P OK
0 = Single Connection
Connecti
on 1 = Multiple Connection


STATUS:<status>
Possible statuses are
TCP/IP
Connecti AT+CIPSTATUS 2: Got IP
on status 3: Connected
4: Disconnected
Query
TCP
AT+CIPMODE? +CIPMODE:<mode>
transmiss
ion mode
AT+CIPMODE=<mode>
Set TCP Mode: -
transmiss OK
0 = Normal mode
ion mode
1 = Transparent mode
(CIPMUX=0) AT+CIPSTART =
<type>,<addr>,<port>
Set up
(CIPMUX=1) AT+CIPSTART=
TCP/UD CONNECT
<id>,<type>,<addr>, <port>
P
OK
connectio Example (CIPMUX=0):
n
AT+CIPSTART="TCP","192.168.1
01.110",80
OK
>
(Note: write your data after > and enter
it to send it will return status like.)
(CIPMUX=0)
Recv<data length> bytes
AT+CIPSEND=<data length>
Send
SEND OK
Data (CIPMUX=1)
AT+CIPSEND=<id>,<data length> (after we receive response from server
if any for default auto receive mode)
(CIPMUX=0): + IPD, <length>: <data>
(CIPMUX=1): + IPD, <id>, <length>:
<data>


Close
TCP/UD CLOSED
P AT+CIPCLOSE
OK
Connecti
on
4.9 Power Supply:

Arduino board can be connected through an USB cable or we can use 12Vpower
supply battery

CHAPTER 5
SOFTWARE DESCRIPTION
4.1 Arduino IDE
The Arduino Integrated Development Environment - or Arduino Software (IDE) -
contains a text editor for writing code, a message area, a text console, a toolbar with
buttons for common functions and a series of menus. It connects to the Arduino and
Genuino hardware to upload programs and communicate with them.
4.2 programming in arduino:
STEP 1
Arduino microcontrollers come in a variety of types. The most common is the Arduino
UNO, but there are specialized variations. Before you begin building, do a little
research to figure out which version will be the most appropriate for your project.

STEP 2
Connect your Arduino to the USB port of your computer. This may require a specific
USB cable. Every Arduino has a different virtual serial-port address, so you 'll need to
reconfigure the port if you're using different Arduinos.

CHAPTER 6
EXPERIMENTAL RESULTS

CHAPTER 7
ADVANTAGES AND DISADVANTAGES
Advantages:
1. Consistency of performance.
2. 24/7 continuous working.
3. Reduced amount of operators.
4. Improved quality of product.
5. It can move from one location to another location.
6. Robotic workers never gets tired.
7. Do not need to be paid.
Disadvantages:
1. High standard of maintenance required.
2. Precise programming needed.
3. Complex and expensive.

CHAPTER 8
CONCLUSION AND FUTURESCOPE
Conclusion:
The project carried out by using the node mc and motor drive in the field of
mechatronics department. New things and new technology are being invented. As the
technology grows day by day, it can imagine about the future in which thing may
occupy every place. User friendly and less complex, which can readily be used in order
to perform. Several tedious and repetitive tasks. Though it is designed keeping in mind
about the need for industry, it can extended for other purposes such as commercial and
research application. The chassis of robot made by aluminium it give the efficiency and
more speed to robot. The command coding are entered in robot it is very easy to
understand. Though it is designed keeping in mind about the need for industry, it can
extended for other purposes such as commercial and research application.
Future scope:
Wi-Fi will be a key access technology for Internet of Things enablement due to
cost coverage and bandwidth, challenges with mobile cellular which can be
compromised through wifi. We can introduce a spy camera in this project and we can
use it in military purposes. Even we can develop it as a drone

REFERENCES
[1] Al- Sahib Nabeel.K& Azeez.Z Mohammed created “Internet Remote

Control Interface for a Multi-Purpose Mobile Robot”
[2] Andreasson.J, Gavert.M created “The Vehicle Dynamics Library

Overview and Applications Modelon”.
[3] Cuno Pfister created “Getting started with Internet of Things”.
[4]Joy deep Biswas created “Wifi Localization and Navigation for

Autonomous Indoor Mobile Robots”.
[5] Sudha Jamthe created”IoT Disruptions: The Internet of Things -

Innovations & Jobs “
[6] Tom nguyen ,josh slonaker created “Semi Autonomous wireless

control robot”.
[7] M.S.Sreejith, Steffy Joy created “Conceptual design of a wifi and gps
based robotic library using an intelligent system.
[8] C.W.Warren , S.G.Buckley created “Mobile robotic over wifi

network using arduino technology”.
[9] Harshit Gulati, Shriyannsh Vaishya created “Bluetooth and wifi

control rescue robot.

APPENDIX
SOURCE CODE
/*-----( Calling of Header File)-----*/
#include<SoftwareSerial.h>
#include <EEPROM.h>
#define IP "13.232.24.83" //Server IP that one may pi or Amazone, Here it

is Amazone IP
#define MotorL1 4
#define MotorL2 5
#define MotorR1 6
#define MotorR2 7
String URL_Link = "/2019_projects/college/ATRI_2019/Robot/Status.txt"; //

WEB page Link to send Data and control Device
String SSID_Name = "belkin.18f" ;
String SSID_PSWD = "ERF1234_0001";
String DATA="", MyIP;
String CMD, Response;
unsigned long Ptime_get = 0;
char Receive_Channel;
bool Left_Change = true, Right_Change = true;
SoftwareSerial ESP_Serial(8, 9);
void setup()
Serial.begin(9600);

ESP_Serial.begin(9600);
Robot_Int();
Serial.println(F("If u want to set ur SSID & PSWD"));
Serial.println(F("Then send ur SSID followed by ',' and ur Password"));
Ptime_get = millis();
ESP_Serial.listen();
while (millis() - Ptime_get < 10000)
if (Serial.available())
delay(1000);
while (Serial.available())
CMD += (char)Serial.read();
SSID_Collect();
break;
ESP_Setup();
void loop()
if (millis() - Ptime_get >= 3000)

get_server();
if (CMD.length() > 1)
if (CMD.startsWith("Forward"))
Forward();
Right_Change = 1;
Left_Change = 1;
else if (CMD.startsWith("Back"))
Back();
Right_Change = 1;
Left_Change = 1;
else if (CMD.startsWith("Right"))
if(Right_Change){
Right_Change = false;
Right();
else if (CMD.startsWith("Left"))
if(Left_Change){

Left_Change = false;
Left();
else if (CMD.startsWith("Stop"))
Stop();
Right_Change = 1;
Left_Change = 1;
CMD = "";
/*
This function set the ESP8266 Mode 3 And on Server
*/
void ESP_Setup()
ESP_Serial.println(F("AT+CWMODE=3"));
if (ESP_Receive("OK", 100))
Serial.println(F("Mode Set"));
ESP_Serial.println(F("ATE0"));
Serial.println(F("Echo Stop"));

if (EEPROM.read(1023) == 255)
EEPROM.write(1023, 0);
ESP_Serial.println(F("AT+CWSAP=\"Pump1\",\"\",10,0"));
ESP_Serial.println(F("AT+RST"));
delay(4000);
ESP_Serial.println(F("AT+CIPMUX=1"));
Serial.println(F("CIP MUX SET"));
ESP_Serial.println(F("AT+CWJAP?"));
if (ESP_Receive(F("+CWJAP:"), 2000))
Serial.println(F("Connected to Wifi"));
ESP_Serial.println(F("AT+CIFSR"));
if (ESP_Receive("+CIFSR:STAIP", 200))
MyIP = Response.substring(14, 26);
Serial.print(F("My IP Is")); Serial.println( MyIP);
else
Serial.println(F("Wifi not Connect"));

Serial.println(F("Enter ur SSID and PSWD"));
ESP_Serial.println(F("AT+CIPSERVER=1,80"));
if (ESP_Receive(F("OK"), 100))
Serial.println(F("Server Started"));
Serial.println(F("CIP MUX SET"));
/*
This function Received the data from ESP_Module
In this Function we can pass the Argument to cross check starswith
If argument satisfied with startwith then it return 1 and store the string in "MSG"
*/
bool ESP_Receive(String Argument, int time_delay)
unsigned long Rx_Time = millis();
String Rx_MSG;
while (millis() - Rx_Time < time_delay) // it working fine with delay 520 milisec
if (ESP_Serial.available())
char Byte = ESP_Serial.read();
Rx_MSG += Byte;
if (Byte == '\n')

if (Rx_MSG.startsWith(F("check")))
Response += Rx_MSG;
else if (Rx_MSG.startsWith(Argument))
Response = Rx_MSG;
if (Argument == "Content-Type")
Byte = '\0'; Rx_MSG = "";
Rx_Time = millis();
while (millis() - Rx_Time < 1000)
if (ESP_Serial.available())
Byte = ESP_Serial.read();
Rx_MSG += Byte;
Serial.println(Rx_MSG);
unsigned char Count = 0;
for (int i = 0; Rx_MSG[i] != '\0'; i++)
if (Rx_MSG[i] == '\n')
Count++;
// Serial.println(i);

CMD = Rx_MSG.substring(2, Rx_MSG.indexOf(","));
Serial.println(CMD);
// Serial.println(Count);
return 1;
if (Argument == "<html>")
Serial.println(Rx_MSG);
Get_Control_CMD(Rx_MSG);
else if (Argument == "+IPD")
get_data(Rx_MSG);
return 1;
else
Rx_MSG = "";
} Rx_Time = millis();
return 0;
/*

This Below function will get the Control Comand from the Received String
This function we will call once we get return 1 from ESP_Receive()
*/
bool Get_Control_CMD(String MSG)
// String CMD_Byte;
CMD = "";
CMD = MSG.substring((MSG.indexOf("<html>") + 6), MSG.indexOf("</html>"));
// Serial.println(MSG);
// Serial.print(F("Command is: ")); Serial.println(CMD);
// MSG = "";
boolean get_data(String MSG)
CMD = "";
Receive_Channel = MSG[5];
CMD = MSG.substring(9, MSG.indexOf("\r\n"));
// Serial.print(F("Command is: ")); Serial.println(CMD);
// MSG = "";
void get_server()
// String dat=DATA;
unsigned char Try = 0;

String POST = "GET " + URL_Link + DATA + " HTTP/1.0\r\n" + "Host: " + IP +
"\r\n" +
"Accept: *" + "/" + "*\r\n" + "Content-Length: " + DATA.length() + "\r\n"

+
"Content-Type: application/x-www-form-urlencoded\r\n" + "\r\n" + "\r\n";
Serial.println(F("OK"));
StartServer:
// ESP_Serial.println(F("AT+CIPCLOSE=2"));
// if(ESP_Receive("2,CLOSED", 200))
// Serial.println(F("Chanel Close"));
// ESP_Serial.println(F("AT+CIPSTART=2,\"TCP\",\"13.232.24.83\",80"));
ESP_Serial.print(F("AT+CIPSTART=2,\"TCP\",\""));
ESP_Serial.print(IP);
ESP_Serial.println(F("\",80"));
Serial.println(F("OK"));
ESP_Serial.print(F("AT+CIPSEND=2,"));
ESP_Serial.println(POST.length());
if (ESP_Serial.find('>'))
delay(200); //with 250 milisec delay its working fine
Serial.println(F("OK in send"));
Serial.print(POST);

ESP_Serial.print(POST);
if (ESP_Receive("Content-Type", 1000));
else
Try++;
if (Try < 3)
ESP_Serial.println(F("AT+CIPSTATUS"));
delay(100);
goto StartServer;
void SSID_Collect()
unsigned char i;
SSID_PSWD = ""; SSID_Name = "";
for (i = 0; CMD[i] != ','; i++)
SSID_Name += CMD[i];
SSID_PSWD = CMD.substring(i + 1);
Serial.println(SSID_Name + SSID_PSWD);
ESP_Serial.print(F("AT+CWJAP=\""));

ESP_Serial.print(SSID_Name);
ESP_Serial.print(F("\",\""));
ESP_Serial.print(SSID_PSWD);
ESP_Serial.println("\"");
Serial.println(F("Connected to Wifi"));
else
Serial.println(F("Wifi not Connect try Again"));
delay(3000);
void Robot_Int()
pinMode(MotorL1,OUTPUT);
pinMode(MotorL2,OUTPUT);
pinMode(MotorR1,OUTPUT);
pinMode(MotorR2,OUTPUT);
void Forward()
digitalWrite(MotorR1,HIGH);
digitalWrite(MotorL1,HIGH);
digitalWrite(MotorR2,LOW);

digitalWrite(MotorL2,LOW);
void Back()
void Left()
delay(1000);
Stop();
void Right()
delay(1000);

Stop();
void Stop()

Wi-Fi Controlled Mobile Robot

Загружено:

Сведения о документе

Исходное описание:

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Wi-Fi Controlled Mobile Robot

Загружено:

Авторское право:

Доступные форматы

WIFI CONTROLLED MOBILE ROBOT

smart phone. Circuit Diagram of Wi-Fi controlled robot is given below.

HTML designed interface. An Android smartphone might be used to broadcast video

and audio from the robot to the control interface.

smartphone is actually replaced by a tablet, that runs other applications as well

Software Serial Library is used to allow serial communication on pin 2 and 3 of

Arduino. We have already covered the Interfacing of ESP8266 Wi-Fi module to

driver IC is directly connected to pin 8, 9, 10 and 11 of Arduino. And DC motors are

and DC motors.An embedded system combines mechanical, electrical, and chemical

DEPT of ECE, ATRI Page 1

components along with a computer, hidden inside, to perform a single dedicated

Embedded systems are a ubiquitous component of our everyday lives. We

DEPT of ECE, ATRI Page 2

Various researches have been made by different researchers in developing this

technology in this robot.

AUTHOR: JORGE KAZACOS.

TITLE: WI-FI TECHNOLOGY

recorded by camera is then transmitted to TV unit through Radio Frequency

International Journal of Industrial Electronics and Electrical Engineering, ISSN(p):

2347-6982, ISSN(e): 2349-204X Volume-6, Issue-3, Mar.-2018, http://ijieee.org.in

DEPT of ECE, ATRI Page 3

Fig 3.1 block diagram

We have already covered the Interfacing of ESP8266 Wi-Fi module to Arduino

driver IC is directly connected to pin 8, 9, 10 and 11 of Arduino. And DC motors are

DEPT of ECE, ATRI Page 4

3.2 Flow chart:

DEPT of ECE, ATRI Page 5

3.3 Internal circuit diagram:

We have already covered the Interfacing of ESP8266 Wi-Fi module to Arduino

driver IC is directly connected to pin 8, 9, 10 and 11 of Arduino. And DC motors are

DEPT of ECE, ATRI Page 6

The Arduino is a family of microcontroller boards to simplify electronic design,

can read in or output digital or analog voltages between 0 and 5 volts.

screen needed, just power.

DEPT of ECE, ATRI Page 7

Figure 4.1 Structure of Arduino Board

Figure 4.2 Arduino Board

DEPT of ECE, ATRI Page 8

Starting clockwise from the top center:

➢ Analog Reference pin (orange)

➢ Digital Ground (light green)

➢ Digital Pins 2-13 (green)

communication (e.g. Serial.begin).

➢ Reset Button - S1 (dark blue)

➢ In-circuit Serial Programmer (blue-green)

➢ Analog In Pins 0-5 (light blue)

➢ Power and Ground Pins (power: orange, grounds: light orange)

➢ External Power Supply In (9-12VDC) - X1 (pink)

desired supply) - SV1 (purple)

4.1.1 Digital Pins

DEPT of ECE, ATRI Page 9

connected to the corresponding pins of the WT11 Bluetooth module. On the

TTL serial module (e.g. the Mini-USB Adapter).

➢ External Interrupts: 2 and 3. These pins can be configured to trigger an

attach Interrupt() function for details.

function. On boards with an ATmega8, PWM output is available only on pins

9, 10, and 11.

➢ BT Reset: 7. (Arduino BT-only) Connected to the reset line of the bluetooth

➢ SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI

communication, which, although provided by the underlying hardware, is not

currently included in the Arduino language.

LOW, it's off.