56584048 main dtmf robot doc

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DTMF Controlled Robot


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Abstract

The aim of this project is to design automatic robot which is capable of

receiving a set of command instructions in the form of DTMF tones and performs

the necessary actions. Here DTMF stands for Dual tone multiple frequency.

Automated sensors and remote communication aims at building a highly

automated wireless system which can be monitored with the help of a remote

mobile. The employment of the GSM mobile into the project makes the device to

overcome distance limitation. This makes the user of the robot to be operated

from anywhere in the universe.

The objective of this project is fulfilled by employing a GSM mobile, a

microcontroller, few DC motors for direction control, and an electrical interfacing

between the different modules of the project and


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the controller. The electrical interfacing between different peripheral is

necessary to satisfy different electrical parameters.

The project makes use of a microcontroller which acts as a central

controlling unit. This module is capable of communicating with the input and the

output modules. The output module is formed by the motors used for controlling

the direction of the motor i.e. the forward and backward movement of the robot

and also the GSM mobile which is used for performing communication with the

remotely located authorities. The micro controller reads the mobile sensor

continuously to take any action.


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Introduction

Automation is the need of today. The ultimate aim of technology is to reduce the

load of mankind. To reduce the amount of human effort required to perform a task

is the objective behind technical development.

Robotics is the engineering science and technology of robots, and their design,

manufacture, and application.

Robot is a virtual or mechanical artificial agent. In practice, it is usually an

electro-mechanical machine which is guided by computer or electronic

programming, and is thus able to do tasks on its own. Robotics is related to

electronics, mechanics, and software.

Dual-tone multi-frequency (DTMF) signaling is used for telecommunication

signaling over analog telephone lines in the voice-frequency band between

telephone handsets and other communications devices and the switching center.

The version of DTMF used for telephone tone dialing is known by the

trademarked term Touch-Tone (canceled March 13, 1984), and is standardized by

ITU-T Recommendation Q.23. It is also known in the UK as MF4. Othermulti-

frequency systems are used for signaling internal to the telephone network.

DTMF, better known as touch-tone, is a system of signal tones used in

telecommunications. Applications include voice mail, help desks, telephone

banking, etc.
http://en.wikipedia.org/wiki/Robothttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Electronicshttp://en.wikipedia.org/wiki/Mechanicshttp://en.wikipedia.org/wiki/Computer_softwarehttp://en.wikipedia.org/wiki/Signalling_(telecommunications)http://en.wikipedia.org/wiki/Signalling_(telecommunications)http://en.wikipedia.org/wiki/Telephonehttp://en.wikipedia.org/wiki/Automatic_telephone_exchangehttp://en.wikipedia.org/wiki/ITU-Thttp://en.wikipedia.org/w/index.php?title=Q.23&action=edit&redlink=1http://en.wikipedia.org/wiki/Multi-frequencyhttp://en.wikipedia.org/wiki/Multi-frequencyhttp://en.wikipedia.org/wiki/Robothttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Electronicshttp://en.wikipedia.org/wiki/Mechanicshttp://en.wikipedia.org/wiki/Computer_softwarehttp://en.wikipedia.org/wiki/Signalling_(telecommunications)http://en.wikipedia.org/wiki/Signalling_(telecommunications)http://en.wikipedia.org/wiki/Telephonehttp://en.wikipedia.org/wiki/Automatic_telephone_exchangehttp://en.wikipedia.org/wiki/ITU-Thttp://en.wikipedia.org/w/index.php?title=Q.23&action=edit&redlink=1http://en.wikipedia.org/wiki/Multi-frequencyhttp://en.wikipedia.org/wiki/Multi-frequency


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There are twelve DTMF signals, each of which is made up of two tones from the

following selection: 697 Hz, 770 Hz, 852 Hz, 941 Hz, 1209 Hz, 1336 Hz,

1477Hz.

The tones are divided into two groups (low and high), and each DTMF signal uses

one from each group. This prevents any harmonics from being misinterpreted as

part of the signal.

Digit Low frequency High frequency

1 697 1209

2 697 1336

3 697 14774 770 1209

5 770 1336

6 770 1477

7 852 1209

8 852 1336

9 852 1477

0 941 1336

* 941 1209

# 941 1477

Below is the description of a project, that is an application to control the ROBOT

using the DTMF technology.

OVERVIEW


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

phone attached to the robot. In the course of the call, if any button is pressed

control corresponding to the button pressed is heard at the end of the call. This is

called Dual Tone Multi Frequency (DTMF). The robot receives this DTMF tone

with the help of the phone stacked in the robot. The received tone is processed by

the microcontroller (PIC16F73) with the help of DTMF decoder (HT9170), which

decodes the DTMF tone in to its equivalent binary digit and this binary numbers

are then send to the microcontroller. The microcontroller is programmed to take a

decision for any given input and outputs it decisions to the motor drivers in order

to drive the motors for forward or backward motion or a turn. The mobile that

makes a call to the mobile attached to the robot acts as a remote, so this does not

require any transmitter or receiver units. DTMF signaling is used for telephone

signaling over the line in the voice frequency band to the call switching center.

The version of DTMF used for telephone dialing is called touch tone DTMF

assigns a specific frequency (consisting of two separate tones) to each keys that it

can easily be identified by the electronic

circuit. The signal generated by the DTMF encoder is the direct algebraic

submission, in real time of the amplitudes of two sine or cosine waves of different

frequencies, that is pressing 5 will send a tone made by adding 1336 Hz and 770

Hz to the other end of the mobile phone. The table below shows the

corresponding frequencies of the numbered buttons.

Frequencies corresponding to touch tone


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Block Diagram


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The major building blocks of this project are:

1. Regulated power supply.

2. Mobile phone.

3. Voice Generating circuit (IC based).

4. Microcontroller.

5. DTMF decoders

6. Motor drivers.

7. Movement controlling motors.

CIRCUIT DESCRIPTION:


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3.1. Power supply

Power supply is the major concern for every electronic device .Since the

controller and other devices used are low power devices there is a need to step

down the voltage and as well as rectify the output to convert the output to a

constant dc.

3.1.1 Battery

In electronics, a battery orvoltaic cell is a combination of manyelectrochemical

Galvanic cells of identical type to store chemical energy and to deliver higher

voltage or higher current than with single cells.

In our project we make use of a battery or a voltaic cell instead of house

hold power supply in order to assure portability to the device so that it can be

carried as per the requirement. Here we employ a 9 volts transistor radio battery.

3.1.2 Rectifier
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Usually rectifiers are employed to convert an ac input to a constant dc. But the

case here is the input itself is a DC then is there any necessity to employ a

rectifier in the circuit, the answer is quite simple even if the battery is connected

in reverse polarity the rectifier takes care about so we there will not be any

damage for the device even if the polarity of the battery is connected in reverse

direction

There are many rectifiers available in the market some of them are:-

Half wave rectifier

Full wave rectifier

Bridge rectifier

The rectification is done by using one or more diodes connected in series or

parallel.

If only one diode is used then only first half cycle is rectified and it is

termed as half wave rectification and the rectifier used is termed as Half wave

rectifier.

If two diodes are employed in parallel then both positive and negative half

cycles are rectified and this is full wave rectification and the rectifier is termed as

Full wave rectifier.


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If the diodes are arranged in the form of bridge then it is termed as Bridge

rectifier, it acts as a full wave rectifier.

These rectifiers are available in the market in the form of integrated chips (I.Cs)

3.1.3 Voltage regulator

The voltage regulator is used for the voltage regulation purpose. We use IC 7805

voltage regulator.

The IC number has a specific significance. The number 78 represents the series

while 05 represent the output voltage generated by the IC

3.1.4 Light emitting diode

We employ a light emitting diode for testing the functionality of the power supply

circuit. Here we use a 5 volts LED which is connected in series with the power

supply circuit it verifies the functioning of the power supply

LEDs are also employed in other areas for many purposes. The fallowing

are the advantages of using LEDs.


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It helps us while troubleshooting the device i.e. when the device is

malfunctioning it would be easy to detect where the actual problem

araised

LED employed with microcontroller verifies whether data entered is

correct bus number or not

It verifies the functionality of the power supply.

8051 MICROCONTROLLER

In 1981, Intel Corporation introduced an 8-bit microcontroller called the 8051.

This microcontroller had 128 bytes of RAM, 4K bytes of on-chip ROM, two

timers, one serial port, and four ports (each 8-bits wide) all on a single chip. The

8051 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data

at a time. Data larger than 8 bits has to broken into 8-bit pieces to be processed by

the CPU. The 8051 has a total of four I/O ports, each 8 bits wide. Although the

8051 can have a maximum of 64K bytes of on-chip ROM, many manufacturers

have put only 4K bytes on the chip. There are different flavors of the 8051 interms of speed and amount of on-chip ROM, but they are all compatible with the

original 8051 as far as the instructions are concerned. The various members of the

8051 family are 8051 microcontroller, 8052 microcontroller and 8031

microcontroller.


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Block Diagram

Block diagram of inside the microcontroller 8051

8051 Microcontroller


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The 8051 is the original member of the 8051 family. Figure 2.1 shows the block

diagram of the 8051 microcontroller. The AT89C51 is a low-power, high-

performance CMOS 8-bit microcomputer with 4K bytes of Flash programmable

and erasable read only memory (PEROM). The device is manufactured using

Atmels high-density nonvolatile memory technology and is compatible with the

industry-standard MCS-51 instruction set and pin out. The on-chip Flash allows

the program memory to be reprogrammed in-system or by a conventional

nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash

on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer which

provides a highly-flexible and cost-effective solution to many embedded control

applications. The AT89C51 provides the following standard features: 4Kbytes of

Flash, 128 bytes of RAM, 32 I/O lines, two 16-bittimer/counters, five vector two-

level interrupt architecture, a full duplex serial port, and on-chip oscillator and

clock circuitry. In addition, the AT89C51 is designed with static logic for

operation down to zero frequency and supports two software selectable power

saving modes. The Idle Mode stops the CPU while allowing the RAM,

timer/counters, serial port and interrupt system to continue functioning. The

Power-down Mode saves the RAM contents but freezes the oscillator disabling all

other chip functions until the next hardware reset.

Pin Description

VCC

Supply voltage.

GND


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Ground.

Pin diagram for microcontroller 8051

Port 0

Port 0 is an 8-bit open-drain bi-directional I/O port. As an output port, each pin

can sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be


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used as high-impedance inputs. Port 0 may also be configured to be the

multiplexed low- order address/data bus during accesses to external program and

data memory. In this mode P0 has internal pull-ups. Port 0 also receives the code

bytes during Flash programming, and outputs the code bytes during program

verification. External pull-ups are required during program verification.

Port 1

Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 1 output

buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they

are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port

1 pins that are externally being pulled low will source current (IIL) because of the

internal pull-ups. Port 1 also receives the low-order address bytes during Flash

programming and verification.

Port 2


buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they



internal pull-ups. Port 2 emits the high-order address byte during fetches from

external program memory and during accesses to external data memory that uses

16-bit addresses (MOVX @DPTR). In this application, it uses strong internal

pull-ups when emitting 1s. During accesses to external data memory that uses 8-

bit addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function

Register. Port 2 also receives the high-order address bits and some control signals

during Flash programming and verification.

Port 3


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buffer scan sink/source four TTL inputs. When 1s are written to Port 3 pins they



pull-ups. Port 3 also serves the functions of various special features of the

AT89C51 as listed below:

Table 2.1function of port 3

Port 3 also receives some control signals for Flash programming and verification.

RST

Reset input. A high on this pin for two machine cycles while the oscillator is

running resets the device.

ALE/PROG


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Address Latch Enable output pulse for latching the low byte of the address during

accesses to external memory. This pin is also the program pulse input (PROG)

during Flash programming. In normal operation ALE is emitted at a constant rate

of 1/6 the oscillator frequency, and may be used for external timing or clocking

purposes. Note, however, that one ALE pulse is skipped during each access to

external Data Memory. If desired, ALE operation can be disabled by setting bit 0

of SFR location 8EH. With the bit set, ALE is active only during a MOVX or

MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-

disable bit has no effect if the microcontroller is in external execution mode.

PSEN

Program Store Enable is the read strobe to external program memory.When the

AT89C51 is executing code from external program memory, PSEN is activated

twice each machine cycle, except that two PSEN activations are skipped during

each access to external data memory.

EA/VPP

External Access Enable. EA must be strapped to GND in order to enable the

device to fetch code from external program memory locations starting at 0000H

up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be

internally latched on reset. EA should be strapped to VCC for internal program

executions. This pin also receives the 12-volt programming enable voltage (VPP)

during Flash programming, for parts that require 12-volt VPP.

XTAL1


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Input to the inverting oscillator amplifier and input to the internal clock operating

circuit.

XTAL2

Output from the inverting oscillator amplifier. Oscillator Characteristics XTAL1

and XTAL2 are the input and output, respectively, of an inverting amplifier which

can be configured for use as an on-chip oscillator, as shown in Figure 1. Either a

quartz crystal or ceramic resonator may be used. To drive the device from an

external clock source, XTAL2 should be left unconnected while XTAL1 is driven

as shown.

Crystal Oscillator Connections

There are no requirements on the duty cycle of the external clock signal, since the

input to the internal clocking circuitry is through a


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divide-by-two flip-flop, but minimum and maximum voltage high and low time

specifications must be observed.

Programming of Microcontroller 8051

We are using embedded C programming language to program the central unit i.e.

microcontroller 8051, so that it performs the specific task according to the

requirement.

Need of C

Compiler produces hex file that we download into ROM of microcontroller. The

size of hex file produced by compiler is one of the main concerns of

microcontroller programmers for two reasons:

Microcontroller has limited on -chip ROM

The code space for 8051 is limited to 64 KB

Programming in assembly language is tedious and time consuming. C is a high

level programming language that is portable across many hardware architectures.

So for following reasons we use C

It is easier and less time consuming to write in C than assembly.

C is easier to modify and update.

You can use code available in function libraries.

C code is portable to other microcontrollers with little or no modification.


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We use reg51.h as a header file as #include . These files contain all

the definitions of the 80C51 registers. This file is included in your project and will

be assembled together with the compiled output of your C program.

3.5 Oscillators

8051 can work with four different configurations of an oscillator. Since

configurations with crystal oscillator and resistor-capacitor (RC) are the ones that

are used most frequently, these are the only ones we will mention here.

Microcontroller type with a crystal oscillator has in its designation XT, and a

microcontroller with resistor-capacitor pair has a designation RC. This is

important because you need to mention the type of oscillator when buying a

microcontroller.

XT Oscillator


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Crystal oscillator is kept in metal housing with two pins where you have written

down the frequency at which crystal oscillates. One ceramic capacitor of 30pF

whose other end is connected to the ground needs to be connected with each pin.

Oscillator and capacitors can be packed in joint case with three pins. Such

element is called ceramic resonator and is represented in charts like the one

below. A center pin of the element is the ground, while end pins are connected

with OSC1 and OSC2 pins on the microcontroller. When designing a device, the

rule is to place an oscillator nearer a microcontroller, so as to avoid any

interference on lines on which microcontroller is receiving a clock.RC Oscillator.

In applications where great time precision is not necessary, RC oscillator offers

additional savings during purchase. Resonant frequency of RC oscillator depends

on supply voltage rate, resistance R, capacity C and working temperature. It

should be mentioned here that resonant frequency is also influenced by normal

variations in process parameters, by tolerance of external R and C components,

etc.

Above diagram shows how RC oscillator is connected with PIC16F877A. With

value of resistor R being below 2.2k, oscillator can become unstable, or it can

even stop the oscillation. With very high value of R (ex.1M) oscillator becomes

very sensitive to noise and humidity. It is recommended that value of resistor R

should be between 3 and 100k. Even though oscillator will work without an

external capacitor (C=0pF), capacitor above 20pF should still be used for noise

and stability. No matter which oscillator is being used, in order to get a clock that

microcontroller works upon; a clock of the oscillator must be divided by 4.


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Oscillator clock divided by 4 can also be obtained on OSC2/CLKOUT pin, and

can be used for testing or synchronizing other logical circuits.

Following a supply, oscillator starts oscillating. Oscillation at first has an unstable

period and amplitude, but after some period of time it becomes stabilized.

To prevent such inaccurate clock from influencing microcontroller's performance,

we need to keep the microcontroller in reset state during stabilization of

oscillator's clock. Diagram above shows a typical shape of a signal which

microcontroller gets from the quartz oscillator.


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.

Phone on the transmitting side:

The person who wants to switch on/off any device kept at the controller side calls

from a phone and, once the call gets picked up, enters the password and tones fora corresponding device. Every key has to be pressed for a minimum amount of

time to get it latched at the decoder IC.

Mobile phone on the receiving side:

The mobile phone on the receiver side picks up the phone automatically after

5seconds, and then makes the tones available to the DTMF tone decoder IC

through the headphone jack of the phone.

DTMF Tone Decoder IC HT9170:

Features

_ Operating voltage: 2.5V~5.5V

_ Minimal external components

_ No external filter is required

_ Low standby current (on power down mode)

_ Excellent performance

_ Tristate data output for _C interface

_ 3.58MHz crystal or ceramic resonator_ 1633Hz can be inhibited by the INH pin

_ HT9170B: 18-pin DIP package

The HT9170 series are Dual Tone Multi Frequency (DTMF) receivers integrated

with digital

decoder and bandsplit filter functions. The HT9170B and HT9170D types supply

power-down mode and inhibit mode operations. All types of the HT9170 series

use digital counting techniques to detect and decode all the 16 DTMF tone pairs

into a 4-bit code output. Highly accurate switched capacitor filters are employed

to divide tone (DTMF) signals into low and high group signals. A built-in dial

tone rejection circuit is provided to eliminate the need for pre-filtering.


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The DTMF tone decoder IC converts the received tones to their respective binary

values and then gives them as an input to the microcontroller through D3-D0.

The DTMF tone decoder ICs internal architecture consists of a band split filter

section which separates the low and the high tone of the received tone pair,

followed by a digital decode(counting) section which verifies both the frequencyand duration of the received tones before passing resultant 4-bit code to the output

bus.

THE WORKING:

In order to control the robot, we make a call to the phone attached to the robot

from any phone. Now the phone is picked up by the phone on the robot through

auto answer mode (which is in the phone already just we have to enable it). Now

after the circuit is ready and all hex codes are fetched we are ready to control the

robot.


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As shown in the above table, on pressing the key from mobile phone, DTMF

decoder decodes the code and conveys to microcontroller which in turn controls

the motor in code allotted direction.

Introduction

Whenever a robotics hobbyist talk about making a robot, the first thing comes to

his mind is making the robot move on the ground. And there are always two

options in front of the designer whether to use a DC motor or a stepper motor.When it comes to speed, weight, size, cost... DC motors are always preffered over

stepper motors. There are many things which you can do with your DC motor

when interfaced with a microcontroller. For example you can control the speed of

motor, you can control the direction of rotation, you can also do encoding of the

rotation made by DC motor i.e. keeping track of how many turns are made by

your motors etc. So you can see DC motors are no less than a stepper motor.

In this part of tutorial we will learn to interfacing a DC motor with a

microcontroller. Usually H-bridge is preffered way of interfacing a DC motor.

These days many IC manufacturers have H-bridge motor drivers available in the

market like L293D is most used H-Bridge driver IC. H-bridge can also be made

with the help of trasistors and MOSFETs etc. rather of being cheap, they only

increase the size of the design board, which is somtimes not required so using a

small 16 pin IC is preffered for this purpose.


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Working Theory of H-Bridge

The name "H-Bridge" is derived from the actual shape of the switching circuit

which control the motoion of the motor. It is also known as "Full Bridge".

Basically there are four switching elements in the H-Bridge as shown in the figure

below.

As you can see in the figure above there are four switching elements named as

"High side left", "High side right", "Low side right", "Low side left". When theseswitches are turned on in pairs motor changes its direction accordingly. Like, if

we switch on High side left and Low side right then motor rotate in forward

direction, as current flows from Power supply through the motor coil goes to

ground via switch low side right. This is shown in the figure below.


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Similarly, when you switch on low side left and high side right, the current flows

in opposite direction and motor rotates in backward direction. This is the basic

working of H-Bridge. We can also make a small truth table according to the

switching of H-Bridge explained above.

Truth Table

High Left High Right Low Left Low Right Description

On Off Off On Motor runs clockwiseOff On On Off Motor runs anti-clockwise

On On Off Off Motor stops or decelerates

Off Off On On Motor stops or decelerates

As already said, H-bridge can be made with the help of trasistors as well as

MOSFETs, the only thing is the power handling capacity of the circuit. If motors

are needed to run with high current then lot of dissipation is there. So head sinks

are needed to cool the circuit.

Now you might be thinkin why i did not discuss the cases like High side left on

and Low side left on or high side right on and low side right on. Clearly seen in


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the diagra, you don't want to burn your power supply by shorting them. So that is

why those combinations are not discussed in the truth table.

So we have seen that using simple switching elements we can make our own H-

Bridge, or other option we have is using an IC based H-bridge driver. Both of

them are discussed in the next section of the tutorial.

BJT H-Bridge

A simple H-bridge can be made with the help of Power BJTs like TIP31 and

TIP32. An example and a working demo of this circuit is shown in the figure

below.


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BJT H-Bridge Demo

L293D Dual H-Bridge Motor Driver

L293D is a dual H-Bridge motor driver, So with one IC we can interface two DC

motors which can be controlled in both clockwise and counter clockwise direction

and if you have motor with fix direction of motion the you can make use of all the

four I/Os to connect up to four DC motors. L293D has output current of 600mAand peak output current of 1.2A per channel. Moreover for protection of circuit

from back EMF ouput diodes are included within the IC. The output supply

(VCC2) has a wide range from 4.5V to 36V, which has made L293D a best

choice for DC motor driver.

A simple schematic for interfacing a DC motor using L293D is shown below.


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As you can see in the circuit, three pins are needed for interfacing a DC motor (A,

B, Enable). If you want the o/p to be enabled completely then you can connect

Enable to VCC and only 2 pins needed from controller to make the motor work.

As per the truth mentioned in the image above its fairly simple to program the

microcontroller. Its also clear from the truth table of BJT circuit and L293D the

programming will be same for both of them, just keeping in mind the allowed

combinations of A and B. We will discuss about programming in C as well as

assembly for running motor with the help of a microcontroller.
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SOFTWARE DETAILS

Software used in our project is keilc. Its details are as follows:

Keil (IDE) MicroVision3Keil Software development tools are used to create products for practically every

industry: consumer electronics, industrial control, networking, office automation,

automotive, space exploration. Micro Vision Two is a second generation IDE that

simplifies project development and application testing. With Micro Vision Two,

we can easily create embedded applications in a mixture of C and assembly.

Real-time applications benefit from our highly optimized C libraries and real-time

kernels.

MicroVision3 provides a centralized front-end interface for the compiler,

assembler, linker, debugger, and other development tools. The Project Window in

MicroVision3 displays the current target, groups, and source files that comprise

our project. Rather than creating a single target for each project,

MicroVision2allows multiple targets for each project file. So, with a single

project file, we can create a target for simulating, a target for our emulator, and a

production target for programming into EPROM {E-PROM}.

Each target is composed of one or more groups which are in turn composed

of one or more source files. Groups let us divide the source files into functional

blocks or assign source files to different team members. Options may be

configured at each level of the project. This gives us a great deal of freedom and

flexibility when organizing our application. In addition to the on-line help,MicroVision3 provides on-line versions of the development tool manuals as well

as the device manuals.

Keil C Compilers are based on the ANSI standard and include extensions

necessary to support the 8051, 251, and 166 microcontroller families. The

optimizer in our compiler is tuned for each specific architecture and provides the

highest level of code density and execution speed.

The Keil C compilers give full us control over our embedded platform. We

decide which register banks are used, when to access certain memory areas,

which variables are stored in bits, when and how to use special function registers,and so on. Without ever writing any assembly code we may even write interrupt

service routines in C. Code generated by the Keil C Compiler compares with that

of a professional assembly programmer. This is due to the level of optimizations

that are performed. One such optimization is global register optimization.


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By analyzing which registers are used in each function, the compiler can better

optimize register usage program-wide and generate smaller, faster programs.

This is accomplished by iterative compilation steps during the make process.

The MicroVision3 debugger is designed to make testing your programs as

efficient as possible. While editing and debugging your programs, text and code

attributes are displayed in the source window. As you step through your program,

the current line is marked with a yellow arrow. Code coverage shows you which

lines of your program have been executed. Green means the line has been run.

Grey means is has not.

Breakpoints are clearly marked in the source window. Red for enabled,

white for disabled. These attributes make following program flow easier than

ever. The features of the Micro Vision Two debugger dont stop there. When

simulating your programs, you not only get source-level, symbolic simulation.

You also get on-chip peripheral simulation. Dialog boxes display the condition of

all peripherals and on-chip components


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Cost of the components

Component Quantity Total price(Rs)

330K 2 2

10K 1 2

22uF 2 4

.47uF 1 3

.01uF 1 4

IC 7805 1 7

11.059MHz 1 5

3.57MHz 1 5

16 Pin base 1 5

3.5mm jack 1 10

18 Pin base 1 5

DC Motors 2 300

IC HT9170 1 50

Battery 2 30

Battery cap 1 5

L293D 1 120

wheels 2 50

Caster Wheel 1 15

Chesis 1 60

PCB 1 30

TOTAL COST 702/-


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FURTHER IMROVEMENTS & FUTURE SCOPE

1. IR Sensors:

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.

2. Password Protection:

Project can be modified in order to password protect the robot so that it can beoperated only if correct password is entered. Either cell phone should be password

protected or necessary modification should be made in the assembly language

code. This introduces conditioned access & increases security to a great extent.


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3. Alarm Phone Dialer:

By replacing DTMF Decoder IC CM8870 by a 'DTMF Transceiver IC CM8880,

DTMF tones can be generated from the robot. So, a project called 'Alarm Phone

Dialer' can be built which will generate necessary alarms for something that is

desired to be monitored (usually by triggering a relay). For example, a high water

alarm, low temperature alarm, opening of back window, garage door, etc. When

the system is activated it will call a number of programmed numbers to let the

user know the alarm has been activated. This would be great to get alerts of alarm

conditions from home when user is at work.

References:

www.8051projects.net

www.edaboard.com

Mazidi-8051 microcontroller

Dip trace Help

Datasheets of the IC's

56584048 main dtmf robot doc

Documents