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Make a Robot that responds to

commands from your
mobile phone
December 10, 2012 by spidertm

DTMF Controlled Robot

Introduction
This project is similar to the functioning of an
ordinary remote control system which consists
of, a transmitter and a receiver. Therefore two
mobile phones are required for effective
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transmission and reception by DTMF .The robot

is controlled by the mobile phone held by the
user, which communicates with the mobile
phone attached to the robot. In the course of a
phone call, if any button is pressed, a tone
corresponding to the button pressed is heard at
the receiver end, which is called Dual Tone
Multiple frequency (DTMF) tone. The robot
receives these tones via the receiver mobile
phone which is on board. The received tone is
processed by the microcontroller with the help
of DTMF decoder IC CM8870DE . This IC
communicates with the motor driver IC l293d
through the microcontroller interface which
drives the motor in forward, reverse, right and
left directions according to the users key press.
The microcontroller featuring in this project will
be the AVR microcontroller,ATmega8.
Why build a DTMF ROBOT?
Conventionally, robots controlled by wireless
communication employ radio frequency(RF),
which have the drawbacks of limited working
range, limited frequency range and the limited
control. Use of a mobile phone for robotic
control can overcome these limitations. It
provides the advantage of robust control,
working range as large as the coverage area of
the service provider, no interference with other
controllers and up to twelve controllers.
Although the appearance and the capabilities of
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robots vary vastly, all robots share the feature of

a mechanical, movable structure under some
form of control. The control of the robot
involves three distinct phases: perception,
processing and action. Generally, the preceptors
are sensors mounted on the robot , processing is
done by the on-board microcontroller or
processor, and the action is performed using
motors or with some other actuators.
Project Overview
Here the robot is controlled by the mobile
phone that makes the call to the mobile phone
attached to the robot.During the course of the
call, if any button is pressed, control
corresponding to the button pressed is heard at
the other end of the call. This unique tone is
received by the mobile on the robot, and is
decoded with the help of the CM8870 IC.
The received tone is then processed by the
Atmega8 microcontroller into its equivalent
binary digit, according to which it is preprogrammed to take a decision for any given
input and outputs its decision to the motor
driver, in order to drive the motors forward,
backward or for rotatory motion.
The mobile that makes a call to the mobile
phone kept in the robot acts as a remote. So this
simple robotic project does not require the
construction of receiver and transmitter units.
This project can be sub divieded into 3 parts
1.The input (DTMF decoder IC-CM8870)
2. Controller (ATMega8 microcontroller)
3.Output (The motor driver IC and motors)
Now lets us look into each aspect in detail.

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1.Input: (DTMF
decoder circuit)
When you press the
buttons on the
keypad, a connection
is made that generates two tones at the same
time. A Row tone and a Column tone. These
two tones help in identifying the that key you
pressed to any equipment you are controlling. If
the keypad is on your phone, the telephone
companys Central Office equipment knows
what numbers you are dialing by these tones,
and will switch your call accordingly. If you are
using a DTMF keypad to remotely control
equipment, the tones can identify what unit you
want to control, as well as which unique function
you want it to perform.

When you press the digit 1 on the keypad, you

generate the tones 1209 Hz and 697 Hz.
Pressing the digit 2 will generate the tones 1336
Hz and 697 Hz.
Sure, the tone 697 is the same for both digits,
but it take two tones to make a digit and the
decoding equipment knows the difference
between the 1209 Hz that would complete the
digit 1, and a 1336 Hz that completes a digit 2.
Thus each key in the keypad gives different 4 bit
binary number in the output(pin no
14,13,12,11).This binary no is processed by the
microcontroller to give specific output to the
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motor.
Motor Driver:-L293D
L293D is a dual H-bridge motor driver
integrated circuit (IC). The current from the
microcontroller is only of the order of 1A which
is not sufficient to drive the motors. Therefore
motor drivers are used which act as current
amplifiers since they take a low-current control
signal and provide a higher-current signal which
is used to drive the motors.

L293D contains two

inbuilt H-bridge driver
circuits. In its common
mode of operation, two DC motors can be driven
simultaneously, both in forward and reverse
direction. The motor operations of two motors
can be controlled by input logic at pins 2 & 7 and
10 & 15. Input logic 00 or 11 will stop the
corresponding motor. Logic 01 and 10 will rotate
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it in clockwise and anticlockwise directions,

respectively.
Enable pins 1 and 9 (corresponding to the two
motors) must be high for motors to start
operating. When an enable input is high, the
associated driver gets enabled. As a result, the
outputs become active and work in phase with
their inputs. Similarly, when the enable input is
low, that driver is disabled, and their outputs are
off and in the high-impedance state.
Control with MCUs
The AtMega8 microcontroller used in this
project has 8Kb of flash memory with 20 general
purpose input/output pins. These input/output
pins can be used to receive input from the DTMF
Decoder as well as to send output signals to
control the motors. However the MCUs PORT
outputs are not powerful enough to drive DC
motors directly, we need some kind of drivers to
facilitate this. A very easy and safe is to use
popular L293D ICs. It is a 16 PIN chip. The pin
configuration is as follows.This chip is designed
to control 2 DC motors. There are 2 Input and 2
Output pins for each of the motors. The
connections are as follows:

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The behavior of motor for various input

conditions are as follows
If we want to rotate the motor clockwise, we
make the left upper switch and right lower
switch closed (which corresponds to A low and B
high above) and if it has to rotate in
anticlockwise direction, we close the right upper
switch and the left lower switch which
corresponds to A high and B low. Also for the
forward motion of the vehicle we make both
motors rotate in clockwise sense (say) and for
backward motion, both motors should rotate
anticlockwise. For right turn, right motor should
stop and left motor should rotate in clockwise
direction and for sharp right turn right motor
rotates in clockwise direction and left motor in
the anticlockwise direction. A similar technique
is followed for left turn and sharp left turn which
you can easily guess.So you saw you just need to
set appropriate levels at two PINs of the
microcontroller to control the motor. Since this
chip controls two DC motors there are two more
output pins (output3 and output4) and two
more input pins(input3 and input4). The
INPUT3 and INPUT4 controls second motor in
the same way as listed above for input A and B.
There are also two ENABLE pins they must be
high (+5v) for operation, if they are pulled low
(GND) motors will stop.

Code:
/*

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DTMF Controlled Robot

PORTD pin 0,1,2,3 goes to motor driver l293d
PORTB pin 0,1,2,3 is connected to output of
CM8870 DTMF decoder IC
*/
#include<avr/io.h>
#include<util/delay.h>
int main(void)
{
DDRD=0xff;
DDRB=000;
while(1)
{
switch(PINB&0b00001111)
{
case 0b0010://Key 2
{
PORTD=0x0A ;

//1010 both motor front

continue;
}
case 0b0100://Key 4

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{
PORTD=002; //0010 right motor front
continue;
}
case 0b0101://Key 5
{
PORTD=0x0F;//1111 SUDDEN STOP
continue;
}
case 0b0110://Key 6
{
PORTD=008; //1000 left motor front
continue;
}
case 0b1000://Key 8
{
PORTD=005;
continue;
}
default:
continue;
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}
}//end of switch
return 0;
}
//
//
//
//
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CONTROLLED
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Augmented Reality Are we creating one or are we

already in one! ~ KVR August 1, 2014
The Legacy behind a HELLO ~ KVR August 1, 2014
Make a Robot that responds to commands from your
mobile phone December 10, 2012
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motor vehicle October 7, 2012
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