International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072

JOYSTICK CONTROLLED WHEELCHAIR

Trinayan Saharia1, Jyotika Bauri2, Mrs. Chayanika Bhagabati3

1,2Student, Department of Electronics and Communication Engineering

3Assistant Professor, Department of Electronics and Communication Engineering
Assam down town University, Assam, India
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Abstract: A joystick control wheelchair is very rotating in forward direction. When the pot is turned
important for the physically challenged people. They back to middle position, the motor will stop. Now as the
cannot move anywhere like a normal person. For this pot is turned slightly reverse, the motor starts rotating in
reason they always depend on the other people. But the reverse direction . To stop motor again, the pot is turned
joystick control wheelchair can removed this problem and back to middle position. Thus ,the motors move forward
help them to move anywhere. The movement of wheelchair or reverse and right and left as the pot is turned forward
can be control manually by the joystick. The command is or reverse and right or left. To implement these
implemented by using joystick and then the command is functionalities a software program is embedded into
sent to the Arduino board where the controller internal FLASH of ATMega328P micro controller. The
ATMega328p will process the command. After processing two DC motors are controlled by L293D IC and Ardunio
the controller send the command in the form of digital ATMega328P according to the instruction of the Joystick.
signal to the motor driving IC and the motor driving IC
control the movement of wheelchair. 3. Block Diagram

Key Words: Analog joystick, Arduino ATMega328p, The command is implemented by using joystick and then
L293D IC, DC Motor the command is sent to the microcontroller where the
controller ATMega328p will execute the command. After
1. Introduction executing, the controller send the command in the form
of digital signal to the motor driving IC(L293D) and the
The wheelchair is very useful for physically handicapped motor driving IC control the movement of the two dc
people. By using robotics and intelligent system motors. Thus the dc motor rotates according to the
technologies the powered wheelchair can be designed. command of the joystick.
The joystick control wheelchair is very easy to operate.
By using the joystick the physically challenged person
can control the movement of wheelchair. In this project
,we have employed microcontroller to monitor and
control the system. In public gathering , specially in
hospital the wheelchair is widely used.

2. Working Principle

Initially joystick is turned to exact middle position. Till

the joystick is kept at middle position the motor will be
stop. When the joystick is moved the potentiometer
encodes analog voltage values and transfers it to the
Arduino board through the analog data pin. The Arduino
take these analog values and send it to an ADC(Analog to
digital converter).The ADC convert the analog value to
digital signal .The digital signal is sent to the motor
driving IC(L293D) via digital data output pin. L293D
contains two inbuilt H-bridge driver circuits. In its
common mode of operation, two DC motors can be
driven simultaneously, both in forward or reverse and
right or left direction. The motor operations of two Fig.1:Block diagram of joystick control wheelchair
motors can be controlled by input logic at pins 2 & 7 and
10 & 15. As joystick is slightly turned forward the
voltage input at ADC increases and the motor starts

2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 235
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072

3.1 Analog Joystick ATMega328P chip has an analog-to-digital converter

(ADC) inside of it.

3.3 L293D IC

Fig.2 Analog Joystick

An analog joystick, sometimes called a control stick

joystick or thumb stick is an input device for an
controller that is used for two dimensional input. An
analog joystick is similar to two potentiometers one for Fig.4 L293D IC
the vertical movement(Y-axis) and other for the
horizontal movement(X-axis). The joystick also comes L293D contains two inbuilt H-bridge driver circuits. In
with an select switch. It can be very handy for retro its common mode of operation, two DC motors can be
gaming, robot control or RC cars. driven simultaneously, both in forward and reverse
direction. Enable pins 1 and 9 (corresponding to the two
3.2 Arduino ATMega 328P motors) must be high for motors to start operating .Pin
no (2, 7, 10, 15) of L239D IC is connected to Pin no (14,
15, 16, 17) of the microcontroller respectively.

Table-1: Truth table for robot Movement

Movement of
Sr.No. IN1 IN2 IN3 IN4 robot
1 0 1 1 0 Reverse
2 1 0 0 1 Forward
3 1 1 1 1 Stop
4 1 0 1 0 Left
5 0 1 0 1 Right

3.4 Dc Motors

Two DC motors are used to move the wheelchair in

different direction such as Forward, Reverse, Left, and
Fig.3 Arduino ATMega 328P Right. Microcontroller is used to control these motors.
L293D is a dual bridge driver IC is used for driving the
ATMega 328P IC has 28 pins out of which, 20 of the pins DC motors.
function as I/O ports. This means they can function as an
input to the circuit or as output. Whether they are input
or output is set in the software. 14 of the pins are digital
pins, of which 6 can function to give PWM output. 6 of
the pins are for analog input/output.Two of the pins are
for the crystal oscillator. This is to provide a clock pulse
for the Atmega chip. The chip needs power so 2 of the
pins, Vcc and GND, provide it power so that it can
operate. The ATMega328P is a low-power chip, so it only
needs between 1.8-5.5V of power to operate. The

2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 236
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072

4. Circuit Diagram 6. Conclusion

We have designed this wheelchair for the physically

disabled people those who cannot walk, so that they can
easily handle it with their hands by using the Joystick.
But for those people who cannot move their legs as well
as hands, the voice recognition control wheelchair or the
image processing wheelchair can resolve this issue. We
can also add an sensor unit to the circuit so that it can
detect the obstacle in its path.

7. Refferences

[1] WORKING PRINCIPLE OF ARDUINO AND USING IT

AS A TOOL FOR STUDY AND RESEARCH by L.Louis,
IJCACS, Vol.1, No.2, April 2016, pp.21-29
[2] Automatic wheelchair for physically disabled
persons by Prof. R.S.Nipankar, V. Gaikwad, C. Choudhari,
R. Gosavi, V.Harne, IJARECE, Volume 2, Issue 4, April
2013, ISSN: 2278 909X, pp.466-474
[3] www.engineersgarage.com/electronic_circuits.
Fig.5: Circuit diagram of joystick control wheelchair [4]https://www.google.co.in/webhp?sourceid=chrome-
instant&ion=1&espv=2&ie=UTF-
5. Result And Discussion 8#q=motorized%%20robot
[5]http://www.electricaltechnology.org/2014/10/IC74
All the programming is done by the Ardunio IDE and the 04-electronic-project.htmlk
program is loaded in to the Arduino board. The joystick [6] Simon monk, , Programming Arduino, 2nd Edition,
gives a facilitated control over the wheelchair. After PHI, pp-407,408,409.
interfacing of all components according to the circuit
diagram we get the desired output .We have successfully
completed our project. In our project we have used a
joystick, an Ardunio ATMega328P Controller, L293D IC ,
two DC motors and and 9v battery.

5.1 Model Figure

2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 237