Mobile controlled Robot with Arduino

    In this tutorial we will look at making a mobile controlled robot with Explore Robo platform and we will be using arduino software to program the board.

    Working

    Whenever we make a call, and press keys, dtmf tones are generated and transmitted. The tones can be easily decoded using a IC like MT8870. This enables a lot of possibilities for wireless control over mobile and telephone. We will use it to control the Explore Robo with DTMF.

    Code

    1. /*
    2. Demonstrates reading DTMF keys from chip like MT8870 and driving motors with the help
    3. of L293d bridge; making a Mobile controlled Robot.
    4. Tones are read from the DTMF decoder and keys 2, 8, 4, 6 are used to move the robot
    5. FORWARD, BACKWARD, LEFT and RIGHT.
    6. The DTMF interrupt (INT1) is used to read a new key.
    7.  
    8. Check the below link for connections and other details
    9. http://exploreembedded.com/wiki/index.php?title=Explore_Robo  
    10.  
    11. */
    12.  
    13. int MotorLeft[2] = {A0,A1};//Motor Pins
    14. int MotorRight[2] = {A2,A3};//Motor Pins	
    15. int Mobile[5]={4,5,6,7};// DTMF mobile tones
    16.  
    17.  
    18. volatile int NewTone_Flag = 0;
    19. int volatile NewTone = 0;
    20.  
    21.  
    22. void setup()
    23. {
    24. 	MotorInit();
    25. 	MobileInit();
    26. 	attachInterrupt(1, CheckTone, FALLING);
    27. 	//Serial.begin(9600);
    28. 	//Serial.println("Mobile controlled Robo");
    29. }
    30.  
    31.  
    32. void loop()
    33. { 
    34.  
    35.  
    36. 	if(NewTone_Flag == 1)
    37. 	{ 
    38. 		NewTone = ReadTone();
    39. 		NewTone_Flag = 0;
    40. 	}
    41.  
    42. 	switch(NewTone)
    43. 	{
    44. 		case 2: Robot_Forward();break;
    45. 		case 8: Robot_Backward(); break;
    46. 		//Notice that in order to use the delay() we need to disable the interuptts. 
    47. 		case 4: noInterrupts(); Robot_Left();delay(1000); Robot_Stop(); NewTone = 0; interrupts(); break;
    48. 		case 6: noInterrupts(); Robot_Right();delay(1000); Robot_Stop(); NewTone=0; interrupts(); break;
    49. 		case 5: Robot_Stop();break;
    50. 		default:Robot_Stop();
    51. 	}
    52.  
    53. }
    54.  
    55. void CheckTone()
    56. {
    57. 	NewTone_Flag = 1;
    58. }
    59.  
    60. int ReadTone()
    61. {
    62. 	int MobileTone=0,i;
    63.  
    64.         for(i=0;i<4;i++)
    65.         MobileTone|= digitalRead(Mobile[i])<<i;
    66. 	//MobileTone = (digitalRead(Mobile[3])*8)+ (digitalRead(Mobile[2])*4)+(digitalRead(Mobile[1])*2)+(digitalRead(Mobile[0])*1);
    67. 	//Serial.print(MobileTone);
    68. 	return MobileTone;
    69. }
    70.  
    71. void MobileInit()
    72. {
    73. 	int i;
    74. 	for(i=0 ; i<5; i++)
    75. 	{
    76. 		pinMode(Mobile[i],INPUT);
    77. 	}
    78. 	//first pin will be used as interrupt, hence direction set not required.
    79. }
    80.  
    81. //Initialize the motor
    82.  
    83. void MotorInit()
    84. {
    85. 	int i;
    86. 	for(i=0 ; i<2; i++)
    87. 	{
    88. 		pinMode(MotorLeft[i],OUTPUT);
    89. 		pinMode(MotorRight[i],OUTPUT);
    90. 	}
    91. }
    92.  
    93. //Robot Driving Functions
    94. void Robot_Forward()
    95. {
    96. 	digitalWrite(MotorLeft[0],0);
    97. 	digitalWrite(MotorLeft[1],1);
    98. 	digitalWrite(MotorRight[0],1);
    99. 	digitalWrite(MotorRight[1],0);
    100. }
    101.  
    102. void Robot_Backward()
    103. {
    104. 	digitalWrite(MotorLeft[0],1);
    105. 	digitalWrite(MotorLeft[1],0);
    106. 	digitalWrite(MotorRight[0],0);
    107. 	digitalWrite(MotorRight[1],1);
    108. }
    109.  
    110. void Robot_Left()
    111. {
    112. 	digitalWrite(MotorLeft[0],1);
    113. 	digitalWrite(MotorLeft[1],0);
    114. 	digitalWrite(MotorRight[0],1);
    115. 	digitalWrite(MotorRight[1],0);
    116. }
    117.  
    118. void Robot_Right()
    119. {
    120. 	digitalWrite(MotorLeft[0],0);
    121. 	digitalWrite(MotorLeft[1],1);
    122. 	digitalWrite(MotorRight[0],0);
    123. 	digitalWrite(MotorRight[1],1);
    124. }
    125.  
    126. void Robot_Stop()
    127. {
    128. 	digitalWrite(MotorLeft[0],0);
    129. 	digitalWrite(MotorLeft[1],0);
    130. 	digitalWrite(MotorRight[0],0);
    131. 	digitalWrite(MotorRight[1],0);
    132. }
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