Control of a Robot by a Mobile Device

Acknowledgement This project is prepared by Ismail Baysal and Esra Gürses for the EE403 Introduction to Robotics module in Dokuz Eylul University, Electrical-Electronics Engineering department with the advises of Asst. Prof. Dr. Ahmet Ozkurt in May 2012. Special thanks for Dokuz Eylul University Solaris, Solar Car Team by supplying kind helps, materials, tools. Abstract In this project, an Arduino board (DFRduino Romeo) and a Bluetooth module (BlueSmirf) are used to control and interfaced the robot to give motion by user. DC motors are driven by the drivers located on Arduino board with PWM signals. Graphical user interface is designed in Microsoft Visual Studio to control the robot over bluetooth protocol. Keywords: Arduino, DC Motor, Bluetooth Module, Windows Mobile Phone. Introduction In this project, it is required that a robot needs to be controlled by a mobile device called as Windows Pocket PC. The robot has two wheels and its control unit will be DFRduino Romeo (a kind of Arduino Board has ATMega328 microcontroller in it). Mobile device is Fujitsu Siemens Loox Windows Pocket PC which has Windows Mobile 2003 operating system. The connection interface is going to be Bluetooth 2.0. Pocket PC has already an integrated Bluetooth module and Arduino board has an external Bluetooth card module called as BlueSmirf (produced by SparkFun). DFRduino Romeo RoMeo is an All-in-One Arduino compatible microcontroller especially designed for robotics applications. The Romeo benefits from the Arduino open source platform, it is supported by thousands of open source codes, and can easily be expanded with most Arduino Shields. The integrated 2 way DC motor driver and wireless socket allows you to start your project immediatly without the need for an additional motor driver or wireless shield. BlueSmirf Bluetooth Module The BlueSMiRF Silver is the latest Bluetooth wireless serial cable. This version of the popular BlueSMiRF uses the RN-42 module which has a bit less range than the RN-41 module used in the BlueSMiRF Gold. These modems work as a serial (RX/TX) pipe. Any serial stream from 2400 to 115200bps can be passed seamlessly from your computer to your target. The remote unit can be powered from 3.3V up to 6V for easy battery attachment. All signal pins on the remote unit are 3V-6V tolerant. No level shifting is required. Do not attach this device directly to a serial port. You will need an RS232 to TTL converter circuit if you need to attach this to a computer. Windows Pocket PC A Pocket PC (P/PC, PPC) is also known by Microsoft as a 'Windows Mobile Classic device'. It is a hardware specification for a handheld-sized computer, personal digital assistant (PDA). That runs the Microsoft 'Windows Mobile Classic' operating system. It has some of the abilities of modern desktop PCs. Windows Mobile 2003 consisted of the Windows CE.NET 4.2 operating system bundled with scaled-down versions of many popular desktop applications, including Microsoft Outlook, Internet Explorer, Word, Excel, Windows Media Player and others. Windows Mobile 2003 Second Edition added native landscape, square screen and VGA support as well as other fixes and changes to those features already present in the original release of Windows Mobile 2003. Operation of System Motor Control L298SO on the Arduino is device which driven two motors on the robot. The arduino is supplied 12V that provides two direction motion.The motor speed and direction is controlled PWM (Pulse Width Modulation) and H-Bridge. Bluetooth Control Bluetooth module is controlled by serial port RX, TX pins setting the baudrate is 9600. The data is send Arduino board is past through TX pins to bluetooth modem and the paired device takes the data. Bluetooth modem can be configured by near or far device with AT commands to deploye its properties . Mobile Control Mobile control device is configured by designing GUI in Microsoft Visual Studio platform. By using C# programing language the integrated bluetooth device in Pocket PC is interfaced like a serial port since the paired far device is located at COM6 port and the recive signals are come over COM8 port. Communication Protocol Predifened characters F, B, L, R, S are used to control the mobile robot. The GUI sends these characters and the robots receives them and decides what move it should do. Mobile Controlled Robot Photos Source Codes Project Poster Presentation References