CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

Declaration and Approval of the project

We declare that this project is the original work of us, that has not been done earlier either to this
or any other universities, and all required sources of materials used for the project is fully
available and acknowledged.

Name of members Signature

1. Anmaw Mengie ……………………….

2. Chalew Erdachew …………….………….
3. Yibeltal Assefa .……………………….
4. Redietab Abiriham ……………….……….

This Project has been submitted for examination with approval of a university advisor.

Name of advisor Signature date

Mr. Gopal ….………………. …………………..

Submitted Date …………………………………………

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Acknowledgment
First of all, we would like to thank the almighty God for letting us to finish our final project.
Secondly, we are extremely grateful to the faculty of Electrical and Computer Engineering, for
giving us the opportunity to carry out this B.Sc. thesis project, which is taken and considered as
one course in the curriculum. We would like to express our earnest gratitude and regards to our
project advisor, Mr. Gopal, lecturer in stream of Communication Faculty of Electrical and
Computer Engineering, for being the corner stone of our project to reach this simulation result
and Mr Durai for his continuous help in hardware implementation of our project. It is their
continuous encouragement, invaluable supervision, perpetual motivation, guidance and basic
comments from the beginning of our project to reached this last simulation result, hardware
implementation and successful documentation preparation as well as readiness of us for this
project presentation.

Finally, we extend our gratefulness to one and all who are directly or indirectly involved in the
successful completion of this project work to this simulation.

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Abstract
Many disabled people usually depend on others in their daily life especially in moving from one
place to another. For the wheelchair users, they need continuously someone to help them in
getting the wheelchair moving. By having a wheelchair control system, they become more
independent.

In this project, we are going to build a cell phone controlled robot /wheelchair using DTMF. The
robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot.
Particularly, we concentrate on design and implementation of DTMF based controlled
wheelchair.

Here, we will use mobile keypad as the input device to drive the robot in different direction. In
this project, we will use two mobiles, one will be connected with the DTMF circuit and another
will be used to call the mobile attached with DTMF circuit. The Mobile attached with DTMF
circuit will be kept in auto-answering mode. The robot can be controlled from mobile attached to
the DTMF circuit by pressing its keys and from any other mobile by calling to the mobile
attached with DTMF circuit and pressing keys from the calling mobile keypad. Now for the
DTMF tones pressed, the tones are fed to the circuit and the corresponding actions such as move
forward or backward, turn left or right, or stop are performed.

List of Acronyms
 ADC………………………………………….Analog to digital convertor

 AHT………………………………………… Average Handling Time

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 AVR………………………………………….Automatic voltage regulation

 BCD………………………………………….Binary coded decimal

 CPU…………………………………………..Central processing unit

 DC… ………………………………………...Direct current

 DTMF………………………………………..Dual tone multiple frequency
 EEPROM……………………………………Electrically Erasable Programmable
Read-Only Memory
 EMF…………………………………………..Electromagnetic force
 FAQ…………………………………………...Frequently asked questions
 GSM…………………………………………..Global system for mobile
 GUI……………………………………………Graphical user interface
 HHM…………………………………………..Hand held mobile
 IC………………………………………………Integrated circuit
 ICSP…………………………………………...In- circuit serial programming
 IDE……………………………………….........Integrated development environment
 JTAG…………………………………………. Joint Test Action Group
 LED……………………………………………Light emitting diode
 LM…………………………………………….Left motor
 LOS…………………………………………….Line of sight
 MF……………………………………………..Multi-Frequency signaling
 PIN…………………………………………….Personal identification number
 PWM………………………………………......Pule width modulation
 RF…………………………………………….Radio frequency
 RM……………………………………………Right motor
 SCADA………………………………………. supervisory control and data acquisition
 SRAM………………………………………… Static Random Access Memory
 TQFP………………………………………...... Thin Profile Quad Flat Pack
 TV………………………………………………Television
 USART……………………………………….... Universal Asynchronous
Receiver/Transmitter

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 USB…………………………………………… Universal Serial Bus

 VHS…………………………………………... Video Home System

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List Table
Table 3. 1 Used materials…………………………………………………………………… 15

Table 3. 2 Pin description of CM8870 IC…………………………………………………… 16

Table 3. 3 DTMF decoder output………………………………………………………….. 21

Table 3. 4 Arduino Uno parameters………………………………………………………… 27

Table 3. 5 Main difference between L293D and L298……………………………………… 28

Table 3. 6 LD293 Pin description…………………………………………………………… 29

Table 3. 7 H-bridge motor diver working…………………………………………………… 34

Table 3. 8 direction of motor based on driver input………………………………………… 34

Table 4. 1 Input value of motor…………………………………………………………….. 39

Table 4. 2 Direction of motor………………………………………………………………. 41

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List Figure
Figure 3. 1 DTMF Decoder………………………………………………………………… 16

Figure 3. 2 Differential Input Configuration………………………………………………… 19

Figure 3. 3 Pinout ATmega16………………………………………………………………. 23

Figure 3. 4 Arduino Uno microcontroller…………………………………………………… 26

Figure 3. 5 Block diagram of the system……………………………………………………. 31

Figure 3. 6 H-bridge motor diver……………………………………………………………. 33

Figure 3. 7 Flow chart of operation system…………………………………………………. 36

Figure 4. 1 Phone keypad…………………………………………………………………… 37

Figure 4. 2 Graphical user interface………………………………………………………… 38

Figure 4. 3 Simulated circuit using button and ATmega16…………………………………. 40

Figure 4. 4 Simulated circuit using keypad and ATmega16………………………………... 42

Figure 4. 5 Simulated circuit using button and Arduino……………………………………. 43

Figure 4. 6 Photo of the Prototype………………………………………………………………. Error!

Bookmark not defined.

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Table of Contents
Declaration and Approval of the project.........................................................................................................i
Acknowledgment...........................................................................................................................................ii
Abstract.........................................................................................................................................................iii
List of Acronyms..........................................................................................................................................iii
List Table......................................................................................................................................................vi
List Figure....................................................................................................................................................vii
CHAPTER ONE............................................................................................................................................1
1. INTRODUCTION.....................................................................................................................................1
1.1 Background Information......................................................................................................................2
1.1.1 History and Evolution of DTMF.................................................................................................2
1.1.2 DTMF Technology Overview.....................................................................................................5
1.1.3 DTMF Applications....................................................................................................................7
1.2 Statement of the Problem.....................................................................................................................9
1.3. Objectives.........................................................................................................................................10
1.3.1 General Objective.....................................................................................................................10
1.3.2 Specific Objectives...................................................................................................................10
1.4 Methodology of the Project...............................................................................................................10
1.5 Scope of the Project...........................................................................................................................12
CHAPTER TWO.........................................................................................................................................13
2. REVIEW OF RELATED LITERATURES.............................................................................................13
CHAPTER THREE.....................................................................................................................................15
3. SYSTEM DESIGN AND ANALYSIS....................................................................................................15
3.1 System Components and Analysis.....................................................................................................15
3.1.1 DTMF Decoder (CM8870) Module..........................................................................................15
3.1.2 Microcontroller.........................................................................................................................22
3.1.3 Motor Driver IC........................................................................................................................28
3.1.4 DC Motor..................................................................................................................................30

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3.2. System Description and Operation..................................................................................................31

3.2.1 System Description...................................................................................................................31
3.2.2 Overall Operation.....................................................................................................................35
CHAPTER FOUR........................................................................................................................................37
4. RESULTS AND DISCUSSIONS............................................................................................................37
4.1. Software simulation results...............................................................................................................37
4.2 Hardware Implementation.................................................................................................................43
4.3 Discussions........................................................................................................................................44
CHAPTER 5................................................................................................................................................46
5. CONCLUSION AND RECOMMENDATIONS....................................................................................46
5.1 Conclusion.........................................................................................................................................46
5.2 Recommendations for Future work...................................................................................................46
References....................................................................................................................................................47
Appendix......................................................................................................................................................48

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CHAPTER ONE
1. INTRODUCTION
The human mind always needs information of interest to control systems of his/her choice [2]. In
the age of electronic systems, it is important to be able to control and acquire information from
everywhere. Although many methods to remotely control systems have been devised, the
methods have the problems such as the need for special devices and software to control the
system. Mobile phone in today’s world is become very popular and essential entity for one and
all, so for any mobile based application there is great reception. As long as we are using mobile
phone, we are capable of controlling things remotely from everywhere.

Now, a day as interest in robotics continues to grow, robots are increasingly being integrated into
everyday life [3]. The results of this integration are end-users possessing less and less technical
knowledge of the technology. Robots play a very important role in human life. Robots are a
machine which reduces the human efforts in heavy works in industries, building etc. and makes
life easy.

Controlling a robot wirelessly is possible with several methods such as Remote, Bluetooth, Wi-
Fi, etc. But, the controls of these communication methods are limited to certain areas, and
complicated to design as well. A Mobile Controlled Robot is a solution to overcome these
difficulties. A general concept of mobile controlled robot is that it can be controlled from any
part of the world Robotics has been a dominant contributor to the development of the human
society over the years.

Electric wheelchairs appeared in the 1950s; it extends the capabilities of traditional wheelchair
by introducing control and navigational intelligence [11]. These devices can make easy the lives
of many disabled people, particularly those with severe impairments by increasing their range of
mobility. This project “cellphone controlled wheelchair using DTMF” aims to resolve the above-
mentioned issue i.e. increasing the freedom of mobility by adding new mechanism of controlling
the wheelchair. So, what we are going to do is controlling the wheelchair through cellphone.

This project includes a robotic wheelchair consisting of a cell phone, DTMF decoder and
microcontroller. The transmitter is a handheld mobile phone. Dual Tone Multi-Frequency

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(DTMF), Touch-tone or simply tone dialing. A valid DTMF signal is the sum of two tones, one
from a low group (697-941Hz) and the other from a high group (1209-1633Hz) with each group
containing four individual tones. DTMF signaling therefore play an important role in distributed
communication systems such as multiuser mobile radio [1].

In this project, we present the design and implementation of an unmanned wheelchair (i.e. a
robotic wheelchair) consisting of a GSM network (a mobile phone), DTMF decoder,
microcontroller and a motor driver.

1.1 Background Information

In the recent past, wireless controlled vehicles had been extensively used in a lot of areas like
unmanned rescue missions, military usage for unmanned combat and many others [3]. But the
major disadvantage of these wireless unmanned robots is that they typically make use of RF
circuits for maneuver and control. Essentially RF circuits suffer from a lot of drawbacks such as
limited frequency range i.e. working range, and limited control. To overcome such problems
associated with RF control, few papers have been written, describing methods which make use of
the GSM network and the DTMF function of a cell phone to control the robotic vehicle. This
paper although uses the same principle technology of the GSM network and the DTMF based
mobile phone [2].

In earlier days, our telephone systems were operated by manually in a telephone exchange room.
The callers will pick up the phone and giving instruction to the operator to connect their
destination line. The DTMF technology provides ultimate solutions for the telephone industries
which is used to switch two lines automatically. The DTMF stands for ‘Dual Tone Multi-
frequency’ which is one of the techniques for converting the analogue signal to digital using
DTMF decoder. The DTMF decoder circuit mostly used in mobile communications system
which recognizes the sequence of DTMF tones from the standard keypad of the mobile phone
[1].

1.1.1 History and Evolution of DTMF

Before DTMF was introduced, telephone networks were dependent on pulse dialing. In pulse
dialing, pulses are generated by rapidly connecting and disconnecting the telephone connection.
Typically, each number corresponded to the same number of clicks, thus 1 was represented by

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one click, 2 by two clicks and so on. The numbers were dialed with a short gap between each
digit in order to avoid the digit bleeding into the next digit. Pulse dialing had the disadvantage
that it was limited to the local exchange connections and required an operator for connecting
long distance calls. It was also easy to trick the phone system by tapping the hook, which is
pushed down when the telephone is hung up [6].

Research on DTMF was initiated by Bell labs in the late fifties in an attempt to allow tone
signals for long distance dialing. DTMF was being developed as the future of electronic
telecommunications as opposed to the mechanical telecommunication networks that were
prevalent at that time.

DTMF was introduced on November 18, 1963 under the trademark of ‘Touch Tone’ by Bell
Systems [11]. The first Touch Tone telephone was the Western Electric model 1500 with ten
buttons, which was introduced on the same year. Using audio tones for signaling was not new
and the Multi‐Frequency signaling (MF) which was used by telephone exchanges for
communicating with each other using in‐band signaling was already around. Multi‐frequency
signaling uses a combination of two pure sine wave frequencies for signaling. Both CCITT and
Bell System devised various MF signaling protocols. The in‐band signaling between exchanges
was based on a sixteen‐digit keypad, which a telephone operator used to input the next leg of the
destination telephone number for connecting to the downstream telephone operator. This semi‐
automated signaling and switching technology had the twin advantage of cost and time
effectiveness as it was faster and cheaper to use MF.

The MF technology was a great success among specialists for establishing long distance
telephone calls [11]. The Touch Tone was an extension of this technology to the end consumer
and was offered as a ‘modern way’ of placing calls where consumers can dial the destination
telephone number directly without having to talk to a telephone operator. AT&T described the
product as "a method for pushbutton signaling from customer stations using the voice
transmission path”. Engineers who designed the Touch Tone experimented with the keypad
layout which would replace the rotary dial on telephone sets and the current layout with 1 in the
upper‐left and 0 at the bottom was chosen after testing nearly fifteen different layouts. During the
initial days, mechanical switches were used in the keypads to select different taps on tuned coils

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and the microphone was disconnected every time a key was pressed in order to prevent the
background noise from interfering with the DTMF tones that were transmitted. Each button
activated two contacts, and the system was called dual tone multi frequency because of the two
tones and multiple frequencies generated. The tones were then decoded by the switching center
to identify which key was pressed.

When it came to selecting the frequencies for DTMF, the engineers wanted a set of frequencies
that would not interfere with the MF based switching between telephone exchanges.
Accordingly, DTMF’s frequencies were different from all pre‐existing MF signaling protocols at
that time – R2, R1, CCS4, and CCS5.

DTMF as used in consumer telephone push‐button tone dialing was known by the trademark
Touch
Tone. Other vendors who manufactured equipment compatible with DTMF called the feature
Tone
dialing or used their own registered trademarks (as in the case of ‘Digi tone’ of Northern
Electric).

The initial research team had also examined the possibility of accessing computers through
telephone lines and surveyed several companies to identify their needs for this. The # (hash) and
*(star) keys were added based on the inputs received. A set of lettered keys A, B, C, and D were
also added to facilitate menu selection, though it was later dropped from most phones. However,
it was several years before these keys were widely used for suppressing caller IDs or for entering
service codes. It was also used by public payphones that would accept credit cards for sending
information from the magnetic strip [8].

Yet another use for the letter keys was by the military, where it was used to prioritize the calls
[6]. The relabeled letters were used to define the priority of the calls before dialing, in order to
cut currently active calls, if required, allowing the more important traffic to flow through
uninterrupted. The levels of priority available were Flash Override (A), Flash (B), Immediate
(C), and Priority (D), in decreasing order of priority. Pressing any of these keys prioritized the
call, overriding other calls on the network. For example, if B was pressed before dialing a
number, the telephone switch would first look for available lines and if unavailable, try to

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disconnect any no‐priority calls. If also unavailable, then it would disconnect the D and C
priority calls in that order so as to free a line for this call. A Flash Override would stop all other
calls on the trunks between the origin and destination of the current call and hence it was limited
to the White House Communications Agency. However, this method of precedence dialing is
largely obsolete today as military networks use number combinations to prioritize calls.

Once DTMF was launched, pulse dialing lost its significance. As a result, DTMF controlled
switching systems were introduced in telephone exchanges in lieu of the equipment circuits that
were used. Customer telephone sets were also upgraded to use DTMF circuits and tone dialing.
Several tests were performed during the sixties on the DTMF system and it was made official
during that time. Since then, DTMF has been used as the de facto telecommunications dialing
and switching system. [11]

1.1.2 DTMF Technology Overview

DTMF is a very reliable means of signaling used by telecom companies to process information
from customers. Whenever a number is dialed, the DTMF is decoded by the local exchange in
order to route the call [6].

DTMF can be transmitted over telephone lines as well as over the internet. The tones are
decoded on the receiving end and used for practical applications such as interacting with
computer systems
and answering machines. The interaction with a computer system is achieved using an IVR
system.
Over a regular landline, DTMF is sent as audio signals. DTMF tones are transmitted through the
same wires that carry the voice signals. In the case of mobile phones, DTMF tones can be
generated only after the connection is established. This feature is often used by call centers for
gathering inputs from callers for selection of IVR menus, capturing account information for
phone banking facilities and so on. In a VoIP phone, DTMF is transmitted as a data packet over
the internet, however this is prone to errors such as echo or packet loss during transmission,
distorting the data and making it difficult to rebuild the key press combination at the receiving
end.

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DTMF technology supports acoustic transfer. This means that DTMF tones can be transmitted by
a standard speaker and received by a standard microphone.

Speech recognition technologies are another alternative used by call centers to offer the callers
more flexibility for providing inputs during a call [11]. However, speech recognition
technologies have still a long way to go to achieve a high degree of accuracy and therefore most
call centers prefer DTMF for user inputs as it is more reliable. The flip side of using DTMF is
that with just 16 distinct tones, there are a limited number of permutations that can be used to
transmit information.
A, Advantages of Using DTMF

There are several advantages for using DTMF technology for automating some of the key parts
of a call. Some of these are listed below [6], [11]:

Higher Security: -Using DTMF for obtaining user input is more secure and gives callers the
assurance that sensitive data is being protected. DTMF tones cannot be interpreted by the human
ear, but can be easily decoded by a phone system and computer. Thus, sensitive information can
be isolated from the agents as well as from call recording systems. In the absence of DTMF, an
agent with a malicious intent can steal sensitive card information from the archived call records.

From a customer’s perspective as well, DTMF offers higher security, as they do not have to
speak out the card details over the phone, and this protects them from data theft if the call is
being made in a crowded environment.

Improved Metrics: - In an inbound call center, obtaining user inputs via DTMF can improve
key metrics such as Average Handling Time (AHT), since the agents need not repeat the card
details back to the caller to confirm the accuracy of the input.

The increased security offered by DTMF also improves customer satisfaction levels, making
them feel more comfortable with entering sensitive data using DTMF, and thereby maintaining
its anonymity.

Reduced Probability of Errors: - It also reduces the possibility of errors, as there is only one
point of data entry. Without a DTMF, the caller will have to read out the data and the agent types

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it into his desktop application, giving rise to two points of error. On the other hand, using DTMF
means the caller is directly entering the data, subsequently reducing the chances for error.

1.1.3 DTMF Applications

DTMF decoders are much slower than a good communication modem. While the former can
process nearly ten tones per second (or five bytes of data), a modem can transmit nearly 3000
bytes per second. Still, because of its durability under noisy conditions, DTMF signaling is still
preferred in several cases. DTMF tones can also be used to transfer caller ID information in
telephone systems [11].

The primary use of DTMF tones is by a telephone exchange for the identification of the dialed
number. DTMF tones have a wide variety of applications in areas such as voicemail, phone
banking, help desk services, and other types of inbound call centers. DTMF tones are also used
by radio and cable TV networks to signal when local insertions (local news content or ads) can
be made. It can also be used for station identification as well as for switching the remote
transmitters on or off. Radio channels also use DTMF tones to transfer the audio to local
airwaves. DTMF tones were often heard during a station identification process, which typically
preceded a local insert.

The A, B, C, and D keys are rarely used on present day telephone networks, but some networks
still use them for network control purposes. For example, the A key is used to listen in on calls
by cycling through different carriers at will. (This is prohibited by most carriers today). These
keys are also used in radiophone patch and repeater operations to control the repeater while
connected to an active phone line. These keys, along with the # and * keys, are also widely used
by amateur radio operators for repeater control, VoIP based communications, and remote‐base
operations.

Earlier VHS tapes (Video Home System) used DTMF signaling to encode information on the
master video tape thereby providing information on settings such as format, duration, volume
etc. to automatic duplication machines. This allowed better replication of the master video tapes
and these signaling tones can sometimes be heard at the beginning and end of some tapes.

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DTMF signals can also be transmitted over a radio to control turning things on and off. Practical
applications include remote control of home appliances, activation of warning systems, opening
and closing of doors, starting and stopping of motors and in general any binary action.

Using a two‐way radio, a number can be transmitted using DTMF tones [6]. A DTMF decoder
programmed with the same number at the receiving end and connected to a receiver at the remote
location can then be activated and used to control the equipment that has been connected to it. By
adding Wildcard characters to the number, information can be embedded in the number thus
enabling multi‐location control using a single DTMF signal. For example, assume that the lights
in your house are controlled using DTMF codes. If each light is mapped to a single DTMF
signal, and you have fifteen lights in your house, then in an emergency if you want all lights
switched on, you cannot wait for fifteen codes to be transmitted. In such a case, the decoder
would be programmed to allow individual lights to be controlled, while also enabling a Master
Switch to turn on all lights simultaneously using a Wildcard. Another Wildcard may be
programmed to switch on all lights in a single room. Thus, group and sub‐group controls are
possible using DTMF control.

Similarly, to receive information from a remote site, a transmitter can be added to the two‐way
radio. This is known as a talkback system or SCADA system and it can send information back to
you via DTMF, which can then be used for status indication or for feeding into the computer for
further action. Thus, DTMF is a truly interactive signaling format [11].

A, Applications in the Call Center Industry

In the call center industry, DTMF is primarily used to process user requests, to obtain
identification
information and to route phone calls using the keypad entries made by the user. DTMF
technology
is used in conjunction with IVR software and ACD systems to offer self‐service menu options to
call center customers. In a 2005 Data monitor Pool Survey of over 100 contact center decision
makers, to identify the areas and type of calls that they prefer to automate using DTMF, the top
three responses were call routing, information access/FAQ, and financial transactions/billing.
DTMF signaling is used in several computer‐telephony software applications as well [11].

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Even with the advent of speech recognition based applications, most contact centers offer callers
the choice to use either DTMF or speech input to capture user inputs. DTMF inputs are often
used in IVR based applications for menu navigation, obtaining numerical inputs (such as account
number, date of birth PIN number etc.) or even for recognizing a digital pattern [6].

While scripting, one of the following methods is typically used for determining when the user
input is complete [11]:

 Termination Character: A caller specifies the end of an input by entering a termination

key, which is typically the # key.
 Time Out: In this case, an input is considered complete, if a specified time has passed
without the caller pressing any key.
 Specified Number of Characters: In this case, the input is considered complete after the
caller has entered a fixed number of tones. This can be used for fixed length inputs such
as in cases where the account number is say six digits long.

Most applications will have default settings for each option, which can be overridden using
scripts. Menu navigation using DTMF is achieved by asking the user to press a key to select a
menu option. Depending on the menu choice selected, the application can then route the call to a
specific group of agents, based on the skill set requirements.

DTMF is used to obtain information from customers, and is employed in a wide variety of
industries ranging from financial institutions such as banks and credit card companies to
healthcare and insurance organizations.

1.2 Statement of the Problem

A handicapped person with locomotive disabilities needs a wheelchair to perform functions that
require them to move around. They use traditional wheelchair and they do so manually by
pushing the wheelchair with his hands. Now a day, there are many peoples with disability who
cannot walk by themselves but can hold at least small material like cellphone.so this disable
peoples who cannot walk by themselves use a wheelchair that needs a helper, or requires high
energy to drive it. Even if the disable person can drive it by his/her own hand it leads him to be
tired. Because of this they become dependent on others and this limits their mobility. This also

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causes some psychological and financial problems. Hence it is desirable to provide them with a
motorized wheelchair that can be controlled by mobile cellphone using DTMF technology. The
introduction of the motorized wheelchair increases their independency and mobility in
performing their daily social life activities. Disabled people who cannot walk by themselves but
can hold and/or touch at least small material like cellphone are able to move their wheelchair
around independently. Since the motorized cellphone controlled wheelchair can move at a fair
speed, it is important that it be able to obstacles automatically in real time.

1.3. Objectives
1.3.1 General Objective
The main objective of this project is; to control the wheelchair (robotic vehicle) easily by using
cellphone. It has been mainly designed in order to reduce human effort in driving a wheelchair.
Many existing systems has discussed about the wheelchairs and has proposed many methods for
reducing their efforts. But still there is a difficulty in moving a wheelchair manually. So, in
order to avoid that difficulty, instead of controlling the wheelchair manually, our project
objective is in moving the wheelchair using DTMF technology

1.3.2 Specific Objectives

Some of the specific objectives for this project is that to know more about;

 To understand the programming methodologies and interfacing issues of

microcontroller and DTMF module.
 To implement for factories/industries; in which it is a difficult task to do a job in
unsuited place and also there are unsafe conditions for researchers to gather
information from dangerous places.

1.4 Methodology of the Project

Experimentation and testing is necessary to evaluate the accuracy and characteristics of each
proposed system. The results from the experiments provide vital information that can be used to
perfect the configuration of each system as well as choose the optimal design for a given
condition.

Systems of methods used in this project were;

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Step1: - Observing and analyzing the problem: scanning the environment and review related
works since it is a critical look at the related projects or researches that is significant to the
project that we are carrying out, we were seen and analyze necessary literatures, some many
videos, and many other important references.

Step2:-Design the circuit diagram on the paper: - first we tried to design the circuit on the
paper.

Step3: - Analyze the Circuit Diagram: - before design the circuit on a software, we concentrate
on components analysis and their connections as well as their locations on the circuit diagram,
and select appropriate software.

Step 4: - Design the circuit on the Software, and write the algorithm for C-program: - the
schematic capture designed on proteus electronics circuit design software for simulation, and the
algorithm of the C-program was developed.

Step 5: - Write C-program code on software: - After selecting appropriate C program and
Atmel studio 6.1 software; we wrote the C-program code on Atmel studio 6.1 software and run
it, and then by taking many correction mechanisms we run it correctly.

Step 6: -Simulate the circuit and check whether it is properly working or not: - since testing
is necessary to evaluate the accuracy and characteristics of each proposed system, by loading the
hex file program on the design circuit we simulate it, and by taking many correction mechanisms
we tried to check its proper working.

Step 7: - Try to do prototype: - Using bread board we have tried to do the prototype of
this project, using the following steps:
 Check the Working of the Breadboard
 Analyze the Circuit Diagram
 Get the Required Components
 Insert the Components on Breadboard
 Give the Power Supply

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1.5 Scope of the Project

Since every good engineering design innovations, projects and researches is not done without
limitations so our scope focuses on designing and develop low cost secured DTMF based
cellphone controlled robot. For now we don’t focus on smart phones but in the future we will try
to work on smart phones.

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CHAPTER TWO
2. REVIEW OF RELATED LITERATURES

A number of related works exist in literature, application of DTMF Technology to different areas.
We develop this project, after analysis deeply explained below related literatures, and other
necessary references; and then relating these to our project idea.

To explain about some of basic and more related used literatures;

In 1898, Nikola Tesla built the first propeller driven radio controlled boat [8], which can be
regarded as the original prototype of all modern day uninhabited aerial vehicles and precision
guided weapons. Records state that it is the first among all remotely controlled vehicles in air,
land or sea [8]. It was powered by lead-acid batteries and an electric drive motor. The vessel was
designed in such a way that it could be maneuvered alongside a target using instructions received
from a wireless remote-control transmitter. Once in its position, a command would be sent to
detonate an explosive charge contained within the boat’s forward compartment. The weapon’s
guidance system introduced a secure communications link between the pilot’s controller and the
surface running torpedo in an effort to assure that control could be maintained even in the
presence of electronic counter measures [8].

The aim of this project [14] is to improve the machine operation in Malaysia Industry and also in
medical facilities. In this project, the technology that we used is Dual-Tone Multi-Frequency
(DTMF) Technology. DTMF signaling is used for telecommunication signaling over analog
telephone lines in the voice frequency band between telephone handsets and other
communications device and the switching center. [14]

The underlying principle mainly relies up on the ability of DTMF (Dual-Tone Multi-Frequency)
technology to acts as a remote for controlling the land-rover to move [14]. It will generate
DTMF corresponding to a number or code in the number pad and then detect the same number or
code from its corresponding DTMF. In detail, a DTMF generator will generates two frequencies
corresponding to a number or code in the number pad which will be transmitted through the

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communication networks, constituting the transmitter section which is simply equivalent to a

mobile set. [14]

Wireless controlled unmanned vehicles which are used nowadays typically use RF circuits for
motion and control [4]. But RF circuits suffer from the disadvantage of limited working range
which results in limited control. As RF circuits’ follows LOS (Line of sight) approach, it fails
miserably in NLOS (Non-Line of Sight) conditions involving obstacles and barriers. To
overcome these, one method was proposed by Awab Farikh et al, (2010) [1] which typically
makes use of the DTMF technology along with a microcontroller based circuit for maneuver and
control of these unmanned robotic vehicles.

Similarly, Ashish Yadav et al, (2012) [2] also proposed the construction of an unmanned vehicle
which could be especially used for ground combat using a similar technology. Recently, Sabuj
Das Gupta et al (2013) [3] discussed in detail about how the method described in [1] could be
implemented using a microcontroller by providing the necessary circuit details and the software
code.

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CHAPTER THREE
3. SYSTEM DESIGN AND ANALYSIS
3.1 System Components and Analysis
Hardware materials these are required for this project are listed below in table 3.1 with
these mode and quantity [1] - [5].

Table 3. 1 Used materials

No Required Components MODE Quantity

1 DC Motors Chasis MOC: Steel 4
2 Mobile Phone 2
3 Motor Driver L293D 2
4 ATmega 16 microcontroller LM7805 power regulator 1
5 Capacitor 22pF,1000uF and 10uF 10
6 Resistors 1,10,100 and 330K 10
8 Push button 4 Pin DIP 10
10 Battery Hi-Watt 9v 1
11 Battery Connector 50797 Snap 9V 1
12 Robot Chasis with wheel 4 Wheel Robotic Platform 4x4 1
13 DTMF Module MT8870 with Aux wire 1
3. 4 Used materials

Now, we try to explain more in detail about some of most important components with analysis
as follows.
3.1.1 DTMF Decoder (CM8870) Module

It is an IC that takes DTMF signal as input and decodes it and shows the corresponding key as
four-bit output. It is used for decoding the mobile signal. It gets DTMF tone from the mobile
handset’s speaker pins at its pin 2 and 3. The DTMF decoder is operated with a 3.579MHz
crystal (Xtal2) applied between pin 7 and 8. In the DTMF receiver CM8870 (IC), capacitor is
used to filter the noise. Pin 16 connected to resistor R5 provides the early steering output. It goes
high immediately when the digital diagram detects a valid tone pair. Any momentary loss of
signal condition causes Est to return to low state. A voltage greater than threshold of steering
logic VTst detected at St causes the device to register the detected tone pair. The guard time
output resets the external steering time constant, and its state is a function of Est and the voltage
at St. Pin 5, 6, and 9 are grounded pin 1 and 4 are shorted as shown in figure below.

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Figure 3. 1 DTMF Decoder

Now the pin description of DTMF decoder is described in the following table.

Table 3. 2 Pin description of CM8870 IC

Name Function Description

IN+ Non-inverting input Connection to the front-end

differential amplifier

IN– Inverting input Connection to the front-end

differential amplifier

GS Gain select Gives access to output of

front-end differential
amplifier for connection of
feedback resistor.

VREF Reference output Voltage May be used to bias the

inputs at mid-rail
(nominally VDD/2)

INH Inhibits detection of tones Represents keys A, B, C, and

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OSC3 Digital buffered oscillator

output

PD Power down Logic high powers down the

device and inhibits the
oscillator

OSC1 Clock input 3.579545MHz crystal

connected between these pins
completes internal oscillator

OSC2 Clock output 3.579545MHz crystal

connected between these pins
completes internal oscillator

VSS Negative power supply Normally connected to OV

TOE Three-state output enable Logic high enables the

(Input) outputs Q1-Q4. Internal pull-
up.

Q1-Q4 Three-state outputs When enabled by TOE,

provides the code
corresponding to the last
valid tone pair received.

StD Delayed Steering output Presents a logic high when a

received tone pair has been
registered and the output
latch is updated. Returns to
logic low shen the voltage on
St/GT falls below VTSt

Est Early steering output Presents logic high

immediately when the digital

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algorithm detects a
recognizable tone pair (signal
condition). Any momentary
loss of signal condition will
cause ESt to return to a logic
low

St/Gt Steering input/guard A voltage greater than VTSt

detected at St causes the
time output (bidirectional
device to register the detected
tone pair. The GT output acts
to reset the external steering
time constrant, and its state is
a function of ESt and the
voltage on St.

VDD Positive power supply

IC Internal connection Must be tied to VSS (for

8870 configuration only).

A, Some Features of CM8870 IC

 Complete DTMF receiver

 Less than 35mW power consumption
 Operating voltage: 2.5V~5.5V
 Minimal external component requirements
 No external filter required
 Excellent performance
 Internal gain setting amplifier
 Uses quartz crystal or ceramic resonators
 Adjustable guard time

B) Input Configuration

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The input arrangement of the CM8870 provides a differential input operational amplifier as well
as a bias source (VREF) which is used to bias the inputs at mid-rail. Provision is made for
connection of a feedback resistor to the op-amp output (GS) for adjustment of gain.

In a single-ended configuration, the input pins are connected as shown in above figure, with the
op-amp connected for unity gain and VREF biasing the input at ½ VDD. The following figure
shows differential configuration, which permits the adjustment of gain with the feedback resistor
R5. All resistors are -1% tolerance and all capacitors are -5% tolerances.

C1=C2= 10nF

R1=R4=R5= 100 KΩ

R2 = 60KΩ, R3 = 37.5KΩ

R3 = (R2R5)/(R2 + R5)

VOLTAGE GAIN (Av diff) =R5/R1=1 and

IMPUT IMPEDANCE= 2*sqrt(R2+(1/wc)2)

Figure 3. 2 Differential Input Configuration

C) Functional Description

The CM8870 DTMF Integrated Receiver provides small size, low power consumption, but high
performance with 5V operation. The CM8870 internal architecture consists of a band-split filter
section which separates the high and low tones of the received pair, followed by a digital decode

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(counting) section which verifies both the frequency and duration of the received tones before
passing the resultant 4-bit code to the output bus.

Filter Section: - Separation of the low-group and high-group tones is achieved by applying the
dual-tone signal to the inputs of two 9th-order switched capacitor bandpass filters. The
bandwidths of these filters correspond to the bands enclosing the low-group and high-group
tones. The filter section also incorporates notches at 350Hz and 440Hz which provides excellent
dial tone rejection. Each filter output is followed by a single order switched capacitor section
which smooths the signals prior to limiting. Signal limiting is performed by high-gain
comparators. These comparators are provided with a hysteresis to prevent detection of unwanted
low-level signals and noise. The outputs of the comparators provide full-rail logic swings at the
frequencies of the incoming tones. [12]

Decoder Section: - The CM8870 decoder uses a digital counting technique to determine the
frequencies of the limited tones and to verify that these tones correspond to standard DTMF
frequencies. A complex averaging algorithm is used to protect against tone simulation by
extraneous signals (such as voice) while providing tolerance to small frequency variations. The
averaging algorithm has been developed to ensure an optimum combination of immunity to
“talk-off” and tolerance to the presence of interfering signals (third tones) and noise. When the
detector recognizes the simultaneous presence of two valid tones (known as “signal condition”),
it raises the “Early Steering” flag (Est). Any subsequent loss of signal condition will cause ESt
to fall. The overall decoder output of DTMF can be summarized for each key press as the
following table.

Table 3. 3 DTMF decoder output

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Steering Circuit: - Before the registration of a decoded tone pair, the receiver checks for a valid
signal duration (referred to as “character-recognition-condition”). This check is performed by an
external RC time constant driven by ESt. A logic high on ESt causes VC to rise as the capacitor
discharges. Providing signal condition is maintained (ESt remains high) for the validation period
(tGTP), VC reaches the threshold (VTSt) of the steering logic to register the tone pair, thus
latching its corresponding 4-bit code into the output latch. At this point, the GT output is
activated and drives VC to VDD. GT continues to drive high as long as ESt remains high,
signaling that a received tone pair has been registered. The contents of the output latch are made
available on the 4-bit output bus by raising the three-state control input (TOE) to a logic high.
The steering circuit works in reverse to validate the interdigit pause between signals. Thus, as
well as rejecting signals too short to be considered valid, the receiver will tolerate signal
interruptions (drop outs) too short to be considered a valid pause. This capability together with
the capability of selecting the steering time constants externally, allows the designer to tailor
performance to meet a wide variety of system requirements.

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3.1.2 Microcontroller

Microcontroller is a small computer on single integrated circuits containing processor core,

memory and programmable input/output reference. For our project, we choose Atmega16,
because it has higher code memory and RAM, it is simple to program and supporting
programming hardware is also easy to learn and use. Even if simulation is done by Atmega16,
since we did not get it, for prototype we choose and use Arduino UNO3 microcontroller, since
we get it and can easily interface with the system. Since we used these two microcontrollers, let
as try to see these in detail.

1. ATmega16 Microcontroller
The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC
architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves
throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power
consumption versus processing speed. [10]

The ATmega16 provides the following features: 16 Kbytes of In-System Programmable Flash
Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1 Kbyte SRAM, 32
general purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundary
scan, On-chip Debugging support and programming, three flexible Timer/Counters with compare
modes, Internal and External Interrupts, a serial programmable USART, a byte oriented Two-
wire Serial Interface, an 8-channel, 10-bit ADC with optional differential input stage with
programmable gain (TQFP package only), a programmable Watchdog Timer with Internal
Oscillator, an SPI serial port, and six software selectable power saving modes. The Idle mode
stops the CPU while allowing the USART, Two-wire interface, A/D Converter, SRAM,
Timer/Counters, SPI port, and interrupt system to continue functioning. The Power-down mode
saves the register contents but freezes the Oscillator, disabling all other chip functions until the
next External Interrupt or Hardware Reset. In Power-save mode, the Asynchronous Timer
continues to run, allowing the user to maintain a timer base while the rest of the device is
sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except
Asynchronous Timer and ADC, to minimize switching noise during ADC conversions. In
Standby mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping.

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This allows very fast start-up combined with low-power consumption. In Extended Standby
mode, both the main Oscillator and the Asynchronous Timer continue to run.

The device is manufactured using Atmel’s high density nonvolatile memory technology. The
On-chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI
serial interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot
program running on the AVR core. The boot program can use any interface to download the
application program in the Application Flash memory. Software in the Boot Flash section will
continue to run while the Application Flash section is updated, providing true Read-While-Write
operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a
monolithic chip, the Atmel ATmega16 is a powerful microcontroller that provides a highly-
flexible and cost-effective solution to many embedded control applications.

The ATmega16 AVR is supported with a full suite of program and system development tools
including: C compilers, macro assemblers, program debugger/simulators, in-circuit emulators,
and evaluation kits. [10]

Figure 3. 3 Pinout ATmega16

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A) Pin Descriptions
 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 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 both high sink and source capability. 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.
 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 both high sink and source capability. 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.
 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. The minimum pulse length is given
in Table 15 on page 38. Shorter pulses are not guaranteed to generate a reset.

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 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.
2. Arduino Microcontroller

Arduino is a tool for making computers that can sense and control more of physical world than
our desktop computer. It is an open source physical computing platform based on simple
microcontroller board and a development environment for writing software for the board.
Arduino can be used to develop interactive objects taking point from a variety of switches or
sensors an controlling a variety of lights, motor and other physical output. Arduino projects can
be standalone or they can be communicated with software running on our computer (eg flash,
processing, MAX MSp). The boards can be assembled by hand or purchased preassembled; the
open source IDE can be downloaded free. The Arduino programming language is an
implementation of Wiring, a similar physical computing plat form, which is based on the
Processing multimedia programming environment. The Arduino Uno is a micro controller board
based on AT mega 328.it has 14 digital input /output pin (of which 6 can be used as PWM
outputs,6 analog inputs a 16 MHZ ceramic resonator a USB connection, a power jacks an ICSP
header and a reset button. It contains everything needed to support the micro controller; simply
connect it a computer with a USB cable or power it with a AC to DC adapter or battery to get
started. [13]

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Figure 3. 4 Arduino Uno microcontroller

The Arduino has several different kinds of pins, each of which is labeled on the board and used
for different functions. GND (3): Short for „Ground‟. There are several GND pins on the
Arduino, any of which can be used to ground your circuit. 5V (4) & 3.3V (5): As we might
guess, the 5V pin supplies 5 volts of power, and the 3.3V pin supplies 3.3 volts of power. Most
of the simple components used with the Arduino run happily off of 5 or 3.3 volts. Analog (6):
The area of pins under the „Analog In‟ label (A0 through A5 on the UNO) is Analog In pins.
These pins can read the signal from an analog sensor (like a temperature sensor) and convert it
into a digital value that we can read. Digital (7): Across from the analog pins are the digital pins
(0 through 13 on the UNO). These pins can be used for both digital input (like telling if a button
is pushed) and digital output (like powering an LED). PWM (8): the digital pins (3, 5, 6, 9, 10,
and 11 on the UNO). These pins act as normal digital pins, but it can also be used for something
called Pulse-Width Modulation (PWM). AREF (Stands for Analog Reference) (9): Most of the
time you can leave this pin alone. It is sometimes used to set an external reference voltage
(between 0 and 5 Volts) as the upper limit for the analog input pins.

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Table 3. 4 Arduino Uno parameters

A) Functions and programs used in Arduino

Pin Mode: - Configures the specified pin to behave either as an input or an output Pin Mode
(pin, mode) pin the number of the pin whose mode you wish to set. Mode: either input or output.
Digital Read: - It reads the value from a specified digital pin, either HIGH or LOW. Digital
Read (pin) pin: the number of the digital pin you want to read (int)
Digital Write: - Write a HIGH or a LOW value to a digital pin
Analog Read: - It reads the value from the specified analog pin. The Arduino board contains a 6
channel, 10-bit analog to digital converter. This means that it will map input voltages between 0
and 5 volts into integer values between 0 and 1023. This yields a resolution between readings of:
5 volts / 1024 units or, 4.9 mV per unit.
Analog Write: - It writes an analog value (PWM wave) to a pin. After a call to analog Write, the
pin will generate a steady square wave of the specified duty cycle. The frequency of the PWM
signal is approximately 490 Hz. The Arduino IDE comes with a C / C++ library called “Wiring”
(from the project of the same name), which makes many common input/output operations much
easier. Arduino programs are written in C/C++, although users only need to define two functions
in order to make a runnable program: setup () – a function run once at the start of a program
which can be used for initializing settings, and loop () – a function called repeatedly until the
board is powered off. The code written in Arduino not be seen by a standard C++ compiler as a

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valid program, so when the user clicks the “Upload to I/O board” button in the IDE, a copy of
the code is written to a temporary file with an extra include header at the top and a very simple
main function at the bottom, to make it a valid C++ program. Since the IDE is pin oriented, we
can quickly achieve our desired logic and build a working model. [13]
3.1.3 Motor Driver IC
A motor driver IC is an integrated circuit chip which is usually used to control motors in
autonomous robots. Motor driver ICs act as an interface between microprocessors in robots and
the motors in the robot. The most commonly used motor driver IC’s are from the L293 series
such as L293D, L293NE, L298, etc. These ICs are designed to control 2 DC motors
simultaneously.

Table 3. 5 Main difference between L293D and L298

Characteristic L298 L293D

Continuous max output current per channel 2A 0.6A1A

Peak max. output current per channel(<100us) 3A 1A

Protection diode across motors Use externally Internally available

Here we prefer L293D as a rating of 600mA is good for driving small DC motors and protection
diodes are included in the IC itself. L293D has 16 pins, as shown below. [10]

Figure 3.5 L293D Pin Diagram

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The description of each pin is as follows:

Table 3. 6 LD293 Pin description

Pin Pin description

number
1 Enable 1-2, when this is HIGH the left part of the IC will work and when it is low
the left part won’t work. So, this is the Master Control pin for the left part of
IC

2 INPUT 1, when this pin is HIGH the current will flow though output 1
3 OUTPUT 1, this pin should be connected to one of the terminal of motor
4 GND, ground pin
5 GND, ground pin
6 OUTPUT 2, this pin should be connected to one of the terminal of motor
7 INPUT 2, when this pin is HIGH the current will flow though output 2
8 VC, this is the voltage which will be supplied to the motor. So, if you are driving
12 V DC motors then make sure that this pin is supplied with 12 V
9 Enable 3-4, when this is HIGH the right part of the IC will work and when it is low the
right
10 INPUT 3, when this pin is HIGH the current will flow though output 3
11 OUTPUT 3, this pin should be connected to one of the terminal of motor
12 GND, ground pins
13 GND, ground pins
14 OUTPUT 4, this pin should be connected to one of the terminal of motor
15 INPUT 4, when this pin is HIGH the current will flow though output 4
16 VSS, this is the power source to the IC. So, this pin should be supplied with 5 V

Motor Driver ICs are primarily used in autonomous robotics only. Also, most microprocessors
operate at low voltages and require a small amount of current to operate while the motors require
a relative higher voltages and current. Thus, current cannot be supplied to the motors from the
microprocessor. This is the primary need for the motor driver IC.

Why 4 grounds in the IC? The motor driver IC deals with heavy currents. Due to so much
current flow the IC gets heated. So, we need a heat sink to reduce the heating. Therefore, there

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are 4 ground pins. When we solder the pins on PCB, we get a huge metallic area between the
grounds where the heat can be released.

Why Capacitors? The DC motor is an inductive load. So, it develops a back EMF when
supplied by a voltage. There can be fluctuations of voltage while using the motor say when
suddenly we take a reverse while the motor was moving in some direction. At this point the
fluctuation in voltage is quite high and this can damage the IC. Thus, we use four capacitors that
help to dampen the extreme variation in current. [10]

3.1.4 DC Motor
Robot motors enable a robot to move. Without them a robot could not be called a robot. Electric
motors are only some part of all actuators available. Nevertheless, they are most commonly used
in hobbyist robot applications. Motors and actuators are the devices which make the robot
movable. Motors and actuators convert electrical energy into physical motion/mechanical
energy. The vast majority of actuators produce either rotational or linear motion.

There are literally dozens of types of electric motors (and many more if you count gasoline and
other fueled engines), but for amateur robotics, the choice comes down to these three:

In a continuous DC motor, application of power causes the shaft to rotate continually. The
shaft stops only when the power is removed, of if the motor is stalled because it can no longer
drive the load attached to it.

In a stepping motor, applying power causes the shaft to rotate a few degrees, then stop.
Continuous rotation of the shaft requires that the power be pulsed to the motor. As with
continuous DC motors, there are sub-types of stepping motors. Permanent magnet steppers are
the ones you’ll likely encounter, and they are also the easiest to use.

A special “subset” of continuous motors is the servo motor, which in typical cases combines a
continuous DC motor with a “feedback loop” to ensure accurate positioning. There are many,
many types of servo motors; a common form is the kind used in model and hobby radio-
controlled cars and planes.

Since it can be powered by by batteries, low operating voltages are typically preferred since
fewer cells are required to obtain the specified voltage, we choose a 12v continuous DC motor
can assist with include the operating current, speed, torque, and power. [15]

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3.2. System Description and Operation

3.2.1 System Description
The system of the DTMF controlled robotic vehicle consists of different circuits, which are used
to take the input signals from the remote cell phone and transmit the signal to the Microcontroller
and also there is a circuit that is designed with the L293D motor driver to control the motor
operation in different direction.

As shown below in figure 3.6, the connection between different parts of the project in the
following block diagram, the basic working principle of the overall system can be divided in to
three main different sections.

Figure 3. 5 Block diagram of the system

Mainly we can state the system by dividing in as follows;
A. Remote Section: - This section’s main component is DTMF. The contemporary keypad is
laid out in a 3×4grid, although the original DTMF keypad had an additional column for four
now-defunct menu selector keys. When used to dial a telephone number, pressing a single key
will produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies. The row in

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 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

which the key appears determines the low frequency, and the column determines the high
frequency [1].

For example, pressing the '1' key will result in a sound composed of both a 697 and a 1209 hertz
(Hz) tone. The original keypads had levers inside, so each button activated two contacts. The
multiple tones are the reason for calling the system multi frequency. These tones are then
decoded by the switching center to determine which key was pressed.
In simple words by adding or mixing two or more frequencies we generate DTMF tone. In given
figure we can see two groups of different frequencies. When one upper and one lower
frequencies mix together then a tone is created which is called Dual Tone Multiple Frequency.
The generated signal can be expressed mathematically as follows: [1]

Equation 3. 1 generated signal can be expressed mathematically.

Where: AH, AL: are the amplitudes f H: high frequency range f L: low frequency range

Each key has a specific Tone frequency. For example, if the "5" key is pressed then generated
frequency tone is 770 + 1336 = 2106 Hz. The key "1" is pressed then frequency of 697 + 1209 =
1906 Hz. Here we get a tone from the cellphone by using aux wire to DTMF Decoder IC namely
HT8870 which decodes the tone into digital signal of 4bit.

B. Control Section: - ATmega16 is used for controlling the complete process of this mobile
phone controlled robot. ATmega16 reads commands sent by DTMF Decoder and compare with
defined code or pattern. If commands match, the microcontroller sends respective command to
driver section.
C. Driver Section: - This section consists motor driver and two DC motors. Motor driver is used
for driving motors because microcontroller does not supply enough voltage and current to motor.
So, we add a motor driver circuit to get enough voltage and current for motor. By collecting
commands from ATmega16, motor driver drive motor according to commands [1]- [3].

The L293D IC receives signals from the microprocessor and transmits the relative signal to the
motors. It has two voltage pins, one of which is used to draw current for the working of the
L293D and the other is used to apply voltage to the motors. The L293D switches it output signal

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according to the input received from the microprocessor. For Example: If the microprocessor
sends a 1(digital high) to the Input Pin of L293D, then the L293D transmits a 1(digital high) to
the motor from its Output Pin. An important thing to note is that the L293D simply transmits the
signal it receives. It does not change the signal in any case.

The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the controlling of a motor.
There are 2 INPUT pins, 2 OUTPUT pins and 1 ENABLE pin for each motor. L293D consist of
two H-bridge. H-bridge is the simplest circuit for controlling a low current rated motor. The
Theory for working of a H-bridge is given below.

H-bridge is given this name because it can be modelled as four switches on the corners of ‘H’.
The basic diagram of H-bridge is given below [10]:

Figure 3. 6 H-bridge motor diver

In the given diagram, the arrow on the left points to the higher potential side of the input voltage
of the circuit. Now if the switches S1 & S4 are kept in a closed position while the switches S2 &
S3 are kept in a open position meaning that the circuit gets shorted across the switches S1 & S4.
This creates a path for the current to flow, starting from the V input to switch S1 to the motor,
then to switch S4 and then the exiting from the circuit. This flow of the current would make the
motor turn in one direction. The direction of motion of the motor can be clockwise or anti-
clockwise, this is because the rotation of the motor depends upon the connection of the terminals
of the motor with the switches. [10]

For simplicity, let’s assume that in this condition the motor rotates in a clockwise direction.

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Now, when S3 and S2 are closed then and S1 and S4 are kept open then the current flows from
the other direction and the motor will now definitely rotate in counter-clockwise direction.

When S1 and S3 are closed and S2 and S4 are open then the ‘STALL’ condition will occur (The
motor will break).

Table 3. 7 H-bridge motor diver working

Closed Switches Open Switches Voltage across motor Motion

Ni1 S1, S2,S3,S4 0V No motion

S1, S4 S2, S3 12V(say) Clockwise

S2, S3 S1, S4 -12V Anti-clockwise

S1, S3 S2, S4 0V Brake

Stall Condition: When the motor is applied positive voltage on both sides then the voltage from
both the sides brings the motor shaft to a halt. [10]

Now, depending upon the values of the Input and Enable the motors will rotate in either
clockwise or anticlockwise direction with full speed (when Enable is HIGH) or with less speed
(when Enable is provided with PWM).

Let us assume for Left Motor when Enable is HIGH and Input 1 and Input 2 are HIGH and LOW
respectively then the motor will move in clockwise direction.

So, the behavior of the motor depending on the input conditions of motor driver will be as
follows:

Table 3. 8 direction of motor based on driver input

Input 1 Input 2 Enable 1,2 Result
0 0 1 Stop
0 1 1 Anti- clockwise rotation
1 0 1 Clockwise rotation
1 1 1 Stop
0 1 50% duty cycle Anti-clockwise rotation with half speed
1 0 50% duty cycle Clockwise rotation with half speed

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3.2.2 Overall Operation

Now to operate the robot, we need to make a call to the cell phone attached to the robot on the
receiver side. Moreover, we should note, that the call is only possible if the operator on the
transmitter side knows the cell phone number of the other phone. Any GSM enabled phone can
be used as the transmitter; which sends the DTMF tones through the existing GSM network.

The tones are received by the receiver phone accordingly. One thing to keep in mind is that the
cell phone at the receiver side should be kept in auto answer mode, so that the call can be taken
after a single ring. The DTMF tones which are received are fed to the robot through the headset
of the cell phone.

The robot can be controlled from mobile attached to the DTMF circuit by pressing its keys and
from any other mobile by calling to the mobile attached with DTMF circuit and pressing keys
from the calling mobile keypad. The microcontroller will read the 4-bit BCD output signal of
DTMF decoder and it will process it to know which key of the mobile keypad is pressed. After
knowing which key of the mobile keypad is pressed, the microcontroller will send the required
control signal to the DC motor driver (L293D) of the robot to drive the robot in the desired
direction [1]- [5].

The general system operation is controlled by the program loaded on the microcontroller, which
is developed based on the following flow chart.

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Figure 3. 7 Flow chart of operation system

 When we press ‘8’ by remote phone, robot start to moving forward and moving continues
forward until next command comes.
 When we press ‘2’ by remote phone, robot change his state and start moving backward.
 When we press ‘4’, Robot get turn right.
 When we press ‘6’, robot turned to left.
 And for stopping robot we press any other key.

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CHAPTER FOUR
4. RESULTS AND DISCUSSIONS
4.1. Software simulation results
The following software’s are used for this project to check the simulation and some part
hardware.
 proteus
 Atmel studio 6.1
 Arduino
 MATLAB
A) In GUI MATLAB generates DTMF
DTMF (dual tone multi frequency) is the signal to the phone company that you generate when
you press an ordinary telephone's touch keys. The sounds used for touch tone dialing are
referred to as DTMF (Dual Tone Multiple Frequencies) tones. Each number (as well as the "#"
and "*") is represented by a pair of tones. For instance, the number "1" is represented by the
frequencies 1209 Hz and 697 Hz.
The following table shows the DTMF frequencies and the corresponding keys.

Figure 4. 1 Phone keypad

For example, in order to generate the DTMF tone for "1", you mix a pure 697 Hz signal with a
pure 1209 Hz signal.

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GUIs (also known as graphical user interfaces or UIs) provide point-and-click control of
software applications, eliminating the need to learn a language or type commands in order to run
the application. Create Apps with Graphical User Interfaces in MATLAB. The GUI typically
contains controls such as menus, toolbars, buttons, and sliders. Many MATLAB products, such
as Curve Fitting Toolbox™, Signal Processing Toolbox™, and Control System Toolbox™
include apps with custom user interfaces.

In ours project generates DTMF by MATLAB by using two pure sine waves combine for form
the DTMF Tone, using upper and lower frequency generates and formulating sine wave. And
also display GUI MATLAB, like this

Figure 4. 2 Graphical user interface

B) Simulating the circuit diagram on proteus
Here we have selected Proteus software to design the circuit and its procedure are as follows:
1) Basic Schematic Entry
2) C- programming using Atmel Studio
3) Run the simulation in proteus
After uploading the hex file, we run the whole simulation in proteus software.in this project two
types of simulating based on the keypad and push-button acts an input.
1. Simulation when pushbutton act as input
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Since there is no DTMF Decoder IC in Proteus simulation software, for simulation and
demonstration purpose only we forced to use push buttons to replace the binary digital value
which is generated by the decoder after receiving tone signal from the receiving side mobile
phone through microphone. This input circuit consists of RC circuits that are connected to the
cell phone headset wire to transmit the received tone on the receiver cell phone to the DTMF
decoder. The circuit which connects the receiving phone to the DTMF decoder. It transmits
DTMF tone frequency to the decoder IC. So, the four buttons are connected to Pins 14-17 of
Atmega16 Microcontroller which are internally pulled-up (using code). The other terminals of the
buttons are connected to ground. Atmega16 Microcontroller is used for controlling the complete
process of this mobile phone controlled robot. The Atmega16 Microcontroller reads commands
sent by DTMF Decoder and compare with defined code or pattern. If commands match, the
microcontroller sends respective command to driver section. Outputs from port pins the
microcontroller are fed to inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor
driver L293D, respectively, to drive two geared DC motors. The microcontroller output is not
sufficient to drive the DC motors, so current drivers are required for motor rotation.
When the system is powered ON, Atmega16 Microcontroller waits for the button to be pressed. If
the forward direction button (button connected to pin 14) is pressed, the Atmega16 Microcontroller
drives input 1 of motor driver IC and a logic high to input 3 and. Hence, the motor starts rotating in
forward direction. Similarly, if the reverse direction button is pressed, Atmega16 Microcontroller
drives input 2 of L293D Motor Driver IC and input 4 of L293D is given a logic high. Hence, the
motor starts rotating in reverse directions.
Table 4. 1 Input value of motor

number Input IN1 Input IN2 Input IN3 Input IN4 Move the motor

Button 1 1 0 1 0 forward
Button 2 0 1 0 1 Backward
Button 3 1 0 1 1 Right
Button 4 1 1 1 0 left

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Figure 4. 3 Simulated circuit using button and ATmega16

2. simulation by keypad acts as an input

This technical improvement together with the need for high performance robots created faster,
more accurate and more intelligent robots using new robots control devices, new drives and
advanced control algorithms.
4X4 Keypad Controlled DC Motor with ATmega16 Project is a kind of DC Motor Control where
the DC Motor is controlled by pressing predefined keys of a 4X4 Keypad. The DC Motor can
be started or stopped by pressing predefined keys of the 4X4 Keypad. Also, the direction of the
DC Motor can also be changed from clockwise to anticlockwise and vice versa when the DC
Motor is in running state. The direction change keys will not work when the motor is in stopped
condition.
In this project, we will learn How to design a 4X4 Keypad Controlled Wheel Chair with Atmel
studio 6.1 ATmega16 Microcontroller for Physically Handicapped. Here, we will use the 4X4
keypad as the input device to drive the wheel chair in different direction.
The ATmega16 microcontroller will read the 4X4 keypad output. After reading the 4X4 keypad
output, the ATmega16 microcontroller will process the keypad output value to find pressed key

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value. According to the pressed key value, the ATmega16 microcontroller will send the required
signal to the DC motor driver (L293D) of the wheel chair to drive the wheel chair in the desired
direction.
The control keys for the wheel chair are 2, 8, 4, 6 and others to drive the wheel chair in forward,
backward, left, right direction and to stop it respectively. Now, press different keys of the 4X4
keypad and drive your wheel chair as you want.
Table 4. 2 Direction of motor
Control Keys Wheel Chair Direction
8 Forward
2 Backward
4 Right
6 Left
others Stop

DC Motor Driver is a L293D based motor driver interface board from Atmel studio 6.1. The
main aim of interfacing DC motor with any microcontroller is to control the direction and speed
of a DC motor. But due to high voltage and current requirement of DC motors, it cannot be
interfaced directly with microcontrollers. For to interface DC motor with any microcontroller, we
need a motor driver. Motor driver is basically a current amplifier which takes a low-current
signal from the microcontroller and gives out a proportionally higher current signal which can
control and drive a motor. L293D is a dual H-Bridge motor driver IC. With one L293D IC we
can interface two DC motors which can be controlled in both clockwise and counter clockwise
direction.

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Figure 4. 4 Simulated circuit using keypad and ATmega16

3. Simulation when pushbutton act as input Using Arduino Uno
The working of the project is very simple and is explained here. Two buttons are used in this
project, one each for forward and reverse direction of the motor. The two buttons are connected
to Pins 13 and 12 of Arduino which are internally pulled-up (using code). The other terminals of
the buttons are connected to ground and hence when the button is pressed, the microcontroller
detects LOW (logic 0). The output of the POT is an analog signal and hence it is connected to
analog pin of the Arduino. Based on the analog voltage value from the POT, the speed of the
motor is varied. For this to happen, we need to use the concept of PWM in the circuit. The inputs
to the motor driver IC must be in the form of a PWM signal and hence are connected to Pins 11
and 10 of Arduino respectively, which are capable of generating PWM signals. When the system
is powered ON, Arduino waits for the button to be pressed. If the forward direction button is
pressed, the Arduino drives input 1 of motor driver IC (Pin 2) with PWM signal and a logic low
to input 2 (Pin 3). Hence, the motor starts rotating in forward direction. Similarly, if the reverse

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direction button is pressed, Arduino drives input 2 (Pin 3) of L293D Motor Driver IC with the
PWM signal and input 1 (pin 2) of L293D is given a logic low. Hence, the motor starts rotating
in reverse directions. The speed of the motor in either direction can be controlled using the POT
as it controls the duty cycle of the output PWM signal.

Figure 4. 5 Simulated circuit using button and Arduino

4.2 Hardware Implementation

In our project hardware implementation, we have seen how the DTMF decoder takes a DTMF
signal as an input and decoded it and shows the corresponding key as a four bit output and this
four output determine the motion and direction of the motor in which we want to drive the motor.
When we presses different keys, we get different sound as well as different tones but the
different sound we get by pressing different keys are may difficult to interpret by human ears
rather by DTMF decoder.
The four bit outputs are given by the four LED, when we press different keys; we get different
position of light in the LED.
We have design an amplifier (741 op-amp) on the breadboard before the DTMF decoder and this
amplifiers is used to amplify the sound created by every key and gives the amplified sound to the
DTMF decoder.
We have used two cellphone, one is to call which is sitting remotely and the second cellphone
one is attached to the DTMF decoder and this cellphone should be auto-answering mode in a

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sense after one or two ring the phone then it pick up automatically and receive the instruction
and forward to the DTMF decoder.

4.3 Discussions
We had observed from the above simulations and hardware are that: -

1. In ours project generates DTMF by MATLAB by using two pure sine waves combine for form
the DTMF Tone, using upper and lower frequency generates and formulating sine wave.

2. When the system is powered ON, Atmega16 Microcontroller waits for the button to be pressed.
If the forward direction button (button 1) is pressed, the Atmega16 Microcontroller drives input 1
of motor driver IC and a logic high to input 3 and. Hence, the motor starts rotating in forward
direction. Similarly, if the reverse direction button is pressed, Atmega16 Microcontroller drives
input 2 of L293D Motor Driver IC and input 4 of L293D is given a logic high. Hence, the motor
starts rotating in reverse directions.

3. The ATmega16 microcontroller will read the 4X4 keypad output. After reading the 4X4
keypad output, the ATmega16 microcontroller will process the keypad output value to find
pressed key value. According to the pressed key value, the ATmega16 microcontroller will send

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the required signal to the DC motor driver (L293D) of the wheel chair to drive the wheel chair in
the desired direction.
4. This project on Arduino and simulation. Two buttons are used in this project, one each for
forward and reverse direction of the motor. The two buttons are connected to Pins 13 and 12 of
Arduino which are internally pulled-up (using code). The other terminals of the buttons are
connected to ground and hence when the button is pressed, the microcontroller detects LOW
(logic 0). The output of the POT is an analog signal and hence it is connected to analog pin of the
Arduino.
5. In this Hardware implementation, a small DC Motor is controlled with an Arduino and a
Motor Driver IC where both the speed of the motor and the direction of rotation are controlled.
The Hardware implementation shown here controls a single DC motor but can be extended to
control two motors with independent speed and direction controls. The speed of the motor in
either direction can be controlled using the POT as it controls the duty cycle of the output PWM
signal.

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CHAPTER 5
5. CONCLUSION AND RECOMMENDATIONS
5.1 Conclusion
By developing this robotic vehicle, we have overcome the drawbacks of RF communication
which have a limited range whereas this car can be controlled from anywhere just using this
DTMF technology. By developing a cell phone operated robotic car, we have overcome the
drawbacks of the conventionally used RF circuits. In these project with the use of a mobile
phone for robotic control can overcome these limitations. It provides the advantages of robust
control, working range as large as the coverage area of the service provider, no interference with
other controllers and up to twelve controls. Although the appearance and capabilities of robots
vary vastly, all robots share the features of a mechanical, movable structure under some form of
control.

5.2 Recommendations for Future work

Since every good engineering design innovations, projects and researches is not done without
limitations, we recommended that:
 IR sensors can be used to automatically detect & avoid obstacles if the wheelchair goes
beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from a
distant place.
 Project can be modified in order to password protect the robot so that it can be operated 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 and increases security to a great extent.
 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 highwater 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.

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References
[1] Awab Fakih, Jovita Serrao, “Cell Phone Operated Robotic Car.”, International Journal of
Scientific & Engineering Research, ISSN 2229-5518.
[2] Gupta, Sabuj Das, Arman Riaz Ochi, Mohammad Sakib Hossain, and Nahid Alam Siddique.
"Designing & Implementation of Mobile Operated Toy Car by DTMF.", International Journal of
Scientific& Research Publications, Vol.-3, Issue1, 2013.ISSN 2250-3153.
[3] Jadhav, Ashish, Mahesh Kumbhar, and Meenakshi Pawar. "Cell Phone Controlled Ground
Combat Vehicle.", International Journal of Computer and Communication Engineering, Vol. 1,
No. 2, July 2012.
[4] Banerji, Sourangsu. "Design and Implementation of an Unmanned Vehicle using a GSM
network with Microcontrollers.", International Journal of Science, Engineering and Technology
Research 2.2 (2013): pp-367374.
[5] Amritanshu S., Hrishikesh N., “GSM Calling based Multi-tasking Robot vehicle with
Password protection”, International Journal of Advanced Research in Computer Science and
Software Engineering, Volume 4, Issue 1, January 2014, pp 812-815.
[6] http://www.etsi.org/technologies‐clusters/technologies/fixed‐line‐access/dtmf

[7] http://www.datasheetdir.com/NATIONAL-DM74LS373+Latches.

[8] Miessner, “On the Early History of Radio Guidance”, 1964.

[9] https://www.engineersgarage.com/electronic- . components/atmega16-microcontroller
[10] DC-Motor Driver circuits, May 19, 2012.
[11] WWW. SPECIALITY ANSWERING SERVICE. NET “WHAT IS DTMF TONE?”.
[12] CM8870L70 datasheet, CM8870 application circuit, pdf.
[13] Digital.csic.es/bitstream/10261/127788/7/D-c-%20Arduino%20uno.pdf.
[14] http://documentslide.com/documents/literature-review-of-dtmf.html.
[15] www.metmotors.com/brief-overview-of-a-12v-dc-motor/

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Appendix
A. code for ATmega16
#include <avr/io.h>
int main()
{
unsigned int key;// variable key declaration
DDRD=0x00; // port D declerd as input
DDRB=0X0F; // port B declerd as output
while (1) //start of infinity loop
{
key=PIND;

switch (key)
{
case 0x01: //if I/P is 0x01
{
PORTB=0x01; //move Forward
break;
}
case 0x02: //if I/P is 0x02
{
PORTB=0X05; //move Backward
break;
}
case 0x04: //if I/P is 0x04
{
PORTB=0X02; // turn Right
break;
}
case 0x08: //if I/P is 0x08
{
PORTB=0X08; //turn Left
break;
}
case 0x00: //if I/P is 0x00
{

PORTB=0x00; //Robot will Stop

break;

}
}
return 0;
}

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B. Code for Ardinou Uno

const int potPin = A0;
const int fwdbuttonPin = 13;
const int bckbuttonPin = 12;
const int pin1 = 11;
const int pin2 = 10;
int potValue = 0;
int motorValue = 0;
int fwdbuttonState = 0;
int bckbuttonState = 0;
void setup()
{
pinMode(fwdbuttonPin, INPUT_PULLUP);
pinMode(bckbuttonPin, INPUT_PULLUP);
pinMode (pin1, OUTPUT);
pinMode (pin2, OUTPUT);
}
void loop()
{
potValue = analogRead(potPin);
motorValue = map(potValue, 0, 1023, 0, 255);
fwdbuttonState = digitalRead(fwdbuttonPin);
bckbuttonState = digitalRead(bckbuttonPin);
if (fwdbuttonState == LOW)
{
analogWrite(pin1, motorValue);
digitalWrite (pin2, LOW);
}
else if (bckbuttonState == LOW)
{
analogWrite(pin2, motorValue);
digitalWrite (pin1, LOW);
}
else
{
digitalWrite (pin1, LOW);
digitalWrite (pin2, LOW);
}
}

C. Final code for proteus

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#include <avr/io.h>

int main()
{
DDRA=0x00;
DDRC=0xFF;
while(1)
{
If (PINA==0b00010001) //if 8 is pressed then move FORWARD
{
PORTC=0b00001001;
}
If (PINA==0b00011001) // if 2 is pressed then move BACKWARD
{
PORTC=0b00000110;
}
If (PINA==0b00010110) // if 6 is pressed then move the RIGHT
{
PORTC=0b00000101;
}
If (PINA==0b00010100) // if 4 is pressed then move LEFT
{
PORTC=0b00001010;
}
If (PINA==0b00000001) // if move FORWARD
{
PORTC=0b00000101;
}

else
}

A. Code matlab
function varargout = dtmf(varargin)
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @dtmf_OpeningFcn, ...
'gui_OutputFcn', @dtmf_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
function dtmf_OpeningFcn(hObject, eventdata, handles, varargin)
handles.output = hObject;

guidata(hObject, handles);

function varargout = dtmf_OutputFcn(hObject, eventdata, handles)

varargout{1} = handles.output;

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function edit1_Callback(hObject, eventdata, handles)

function edit1_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function edit2_Callback(hObject, eventdata, handles)
function edit2_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function pushbutton13_Callback(hObject, eventdata, handles)

t=[0:0.000125:.05];
fs=8000;
f1=697;f2=1209;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;
sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));

axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;

WCU Page 51
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=1;
set(handles.text1,'String',...
num2str(r));

function pushbutton14_Callback(hObject, eventdata, handles)

t=[0:0.000125:.05];
fs=8000;
f1=770;f2=1336;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));

axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=2;
set(handles.text1,'String',...
num2str(r));
function pushbutton15_Callback(hObject, eventdata, handles)

WCU Page 52
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

t=[0:0.000125:.05];
fs=8000;
f1=697;f2=1477;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));

axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=3;
set(handles.text1,'String',...
num2str(r));
function pushbutton16_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=697;f2=1633;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);

WCU Page 53
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));

axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='A';
set(handles.text1,'String',...
num2str(r));
function pushbutton9_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=770;f2=1209;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);

WCU Page 54
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=4;
set(handles.text1,'String',...
num2str(r));
function pushbutton10_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=770;f2=1336;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));

axes(handles.axes1);
plot(yfilt1);grid;

WCU Page 55
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

title('Filtered Low Freq. Signal');

xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=5;
set(handles.text1,'String',...
num2str(r));
function pushbutton11_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=770;f2=1477;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);

WCU Page 56
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=6;
set(handles.text1,'String',...
num2str(r));
function pushbutton12_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=770;f2=1633;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');

WCU Page 57
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='B';
set(handles.text1,'String',...
num2str(r));
function pushbutton5_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=852;f2=1209;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=7;
set(handles.text1,'String',...
num2str(r));
function pushbutton1_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=852;f2=1336;

WCU Page 58
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='*';
set(handles.text1,'String',...
num2str(r));
function pushbutton6_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=852;f2=1477;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;

WCU Page 59
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=8;
set(handles.text1,'String',...
num2str(r));
function pushbutton7_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=852;f2=1633;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);

WCU Page 60
 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=9;
set(handles.text1,'String',...
num2str(r));
function pushbutton8_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=941;f2=1209;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');

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 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='C';
set(handles.text1,'String',...
num2str(r));
function pushbutton2_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=941;f2=1336;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);

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 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r=0;
set(handles.text1,'String',...
num2str(r));
function pushbutton3_Callback(hObject, eventdata, handles)
t=[0:0.000125:.05];
fs=8000;
f1=941;f2=1477;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='#';
set(handles.text1,'String',...
num2str(r));
function pushbutton4_Callback(hObject, eventdata, handles)

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 CELL PHONE CONTROLLED ROBOTIC VEHICLES USING DTMF

t=[0:0.000125:.05];
fs=8000;
f1=941;f2=1633;
y1=.25*sin(2*pi*f1*t);
y2=.25*sin(2*pi*f2*t);
y=y1+y2;sound(y,fs)
axes(handles.axes3);
plot(t,y);
set(handles.axes3,'XMinorTick','on');
title('DTMF Input');xlabel('Time');
ylabel('Amplitude');grid;
rmain=2048*2;rmag=1024*2;
cn=9;cr=0.5;
cl=.25;ch=.28;
[b,a]=cheby1(cn,cr,cl);
yfilt1=filter(b,a,y);
h2=fft(yfilt1,rmain);
hmag2=abs(h2(1:rmag));
[b1,a1]=cheby1(cn,cr,ch,'high');
yfilt2=filter(b1,a1,y);
h3=fft(yfilt2,rmain);
hmag3=abs(h3(1:rmag));
axes(handles.axes1);
plot(yfilt1);grid;
title('Filtered Low Freq. Signal');
xlabel('Time');ylabel('Amplitude');
axes(handles.axes2);
plot(yfilt2);grid;
title('Filtered High Freq. Signal');
xlabel('Time');ylabel('Amplitude');
hlow=fft(yfilt1,rmain);
hmaglow=abs(hlow);
axes(handles.axes4);
plot(hmaglow(1:rmag));
title('FFT Low Pass');grid;
xlabel('Time');ylabel('Amplitude');
hhigh=fft(yfilt2,rmain);
hmaghigh=abs(hhigh);
axes(handles.axes5);
plot(hmaghigh(1:rmag));
title('FFT High Pass');grid;
xlabel('Time');ylabel('Amplitude');
m=max(abs(hmag2));n=max(abs(hmag3));
o=find(m==hmag2);p=find(n==hmag3);
r='D';
set(handles.text1,'String',...
num2str(r));

WCU Page 64