BAHIR DAR UNIVERSITY

BAHIR DAR INSTITUTE OF TECHNOLOGY

FACULTY OF ELECTRICAL AND COMPUTER ENGINEERING
ELECTRONICS AND COMMUNICATION ENGINEERING STREAM
TITLE: RF BASED DEFENSE SURVEILLANCE ROBOT

BY:

1 ASMARE MENGSTIE BDU1011630UR

2 ASNAKE TEFERA BDU 1011466UR
3 AYENEW BIRHANU BDU1011752UR
4 DERBEW TEGENEW BDU1011468UR
ADVISOR: Mr. DEMSU KEBEDE

A Project Submitted to the Faculty of Electrical and Computer Engineering of

Bahir Dar University in Partial Fulfillment of the Requirements for the
Degree of Bachelor of Science in Electrical Engineering [communication
systems and electronics Engineering]

SUBMISSION DATE: June, 04/2022 G.C

BAHIR DAR, ETHOPIA

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DECLARATION
We are Ayenew Birhanu, Derbew Tegenew, Asnake Tefera and Asmare Mengstie, hereby
declare that this semester project is prepared and submitted by us under the guidance and
supervision of our academic mentor Mr. Demsu K. We want to express that, we had successfully
performed all of the activities needed to propose this semester project. We ratified that this
project is original and our own.

Name of members Date (DD/MM/YY) Signature

1 Asmare Mengstie...................................._____//____//_____ ___________
2 Asnake Tefera..........................................____//____//_____ ____________
3 Ayenew Birhanu......................................____//____//_____ ____________
4 Derbew Tegenew.....................................____//____//_____ ____________
I students’ academic advisor also confirm that the students were under my supervision and the
project is original and their own.

Academic advisor Date (DD/MM/YY) Signature

Mr. Demsu k................................................._____//____//_____ __________

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ACKNOWLEDGMENT
First, we would like to thank the almighty God for everything who has done for us. Next, we
would like to express best excellence to our academic advisor Mr. Demsu K for his valuable
assistance and constructive comments. We would also appreciate the electronics and
communication chairman (Mr. Hailu D) for initiating us to select a best project title.

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ABSTRACT
In the military service camp, a minimum number of solder (may be one) is ordered to know the
appearance of enemy. This way of approach is dangerous for solder’s life before war. So, we will
design RF based defense surveillance robot in order to save human’s life right before the war
begins by announcing what is there. The surveillance robot is a machine that is controlled by
remote. It contains the transmitter and receiver sections. The transmitter section of the robot
contains four push buttons to control the robot over four directions, the Arduino Uno as
processor, RF transmitter module to transmit the commands to the receiver through the antenna.
The receiver section contains RF receiver module to receive the commands from the transmitter,
the Arduino Uno to process the received data, the two motor drivers to order the DC motors, the
CCD camera which rotates continuously and capture the surrounding area and transmit the
captured video and audio data to the receiver camera and then to computer device on which that
data is displayed. Those sections are communicating each other through radio frequency. So, the
main aim of this project is information gathering targeting at decreasing of dangers happening to
soldier’s life using RF based defense surveillance robot.

Keywords: CCD camera, motor driver (L293D), TV tunner card, Arduino Uno, DC motor

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Contents
DECLARATION ............................................................................................................................. i
ACKNOWLEDGMENT................................................................................................................. ii
ABSTRACT................................................................................................................................... iii
List of figures ................................................................................................................................. vi
List of tables.................................................................................................................................. vii
List of acronyms .......................................................................................................................... viii
CHAPTER ONE ............................................................................................................................. 1
INTRODUCTION .......................................................................................................................... 1
1.1. Background of the Project .................................................................................................... 1
1.2. Statement of the problem ..................................................................................................... 1
1.3. Objectives ............................................................................................................................. 2
1.3.1. General objective ........................................................................................................... 2
1.3.2. Specific objective .......................................................................................................... 2
1.4. Significance of RF based defense surveillance robot........................................................... 2
1.5. Methodology Used in this Project ........................................................................................ 3
1.6. Scope of the Project.............................................................................................................. 4
1.7. Organizations of the Project ................................................................................................. 4
CHAPTER TWO ............................................................................................................................ 5
LITERATURE REVIEW ............................................................................................................... 5
CHAPTER 3 ................................................................................................................................... 6
SYSTEM DESIGNS AND ANALYSIS ........................................................................................ 6
3.1. System components .............................................................................................................. 6
3.1.1. Arduino UNO ................................................................................................................ 7
3.1.2. 433 MHz RF transmitter and receiver modules............................................................. 8
3.1.3. CCD camera ................................................................................................................ 11
3.1.4. Motor driver (L293D) .................................................................................................. 12
3.1.5. Capture card or TV tuner card ..................................................................................... 13
3.1.6. Laptop .......................................................................................................................... 13

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3.2. General circuit designs and analysis .................................................................................. 14
3.2.1. Transmitter and receiver section software configuration ............................................ 14
3.2.2. Transmitter circuit and its working principle .............................................................. 16
3.2.3. Receiver circuit and its working principle ................................................................... 17
CHAPTER FOUR ......................................................................................................................... 18
RESULTS AND DISCUSSIONS ................................................................................................. 18
4.1. Schematic of overall circuit and discussion ....................................................................... 18
4.2. Simulation result ................................................................................................................ 18
CHAPTER FIVE .......................................................................................................................... 20
CONCLUSION AND RECOMMENDATIONS FOR FUTURE WORK ................................... 20
5.1. Conclusion.......................................................................................................................... 20
5.2 Recommendation ................................................................................................................. 20
Reference ...................................................................................................................................... 21
APPENDIX ................................................................................................................................... 22

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List of figures
Figure1.1. Methodology of the project ........................................................................................... 3
Figure3.1. Controller block diagram................................................................................................6
Figure3.2. Block diagram of robot .................................................................................................. 6
Figure3. 3. Block diagram of response receiver ............................................................................. 6
Figure3. 4. Arduino Uno structure .................................................................................................. 7
Figure3. 5. Transmitter structure .................................................................................................... 9
Figure3. 6. RF receiver structure .................................................................................................. 10
Figure3. 7. The transmitter and receiver CCD camera structure .................................................. 11
Figure3. 8. Pins of motor driver .................................................................................................... 13
Figure3. 9. Program algorithms for transmitter ............................................................................ 14
Figure3. 10. Program algorithm for receiver ................................................................................ 15
Figure3. 11. Simulation result of transmitter. ............................................................................... 16
Figure3. 12.Simulation result of receiver circuit .......................................................................... 17

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List of tables
Table3. 1. Specification in parameter of Arduino Uno ................................................................... 8
Table3. 2. Pin configuration of RF transmitter module .................................................................. 9
Table3. 3. Pin configuration of RF receiver module .................................................................... 10

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List of acronyms
ASK............................................................................Amplitude Shift Keying

CCD.............................................................................Charge Coupled Device

DTMF..........................................................................Dual Tone Multiple Frequency

EEPROM......................................................................Electrically Erasable programmable Read

Only Memory

LOS...............................................................................Line of Sight

NLOS............................................................................Non line of Sight

RF..................................................................................Radio Frequency

SRAM...........................................................................Static Random Access Memory

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CHAPTER ONE
INTRODUCTION

1.1. Background of the Project

A robot is a reprogrammable, multifunctional manipulator designed to move materials, parts,
tools or specialized devices through variable programmed motions for the performance of variety
of tasks. Basically, a robot consists of mechanical structure such as, a wheeled platform, arm or
other construction, capable of interacting with its environment. It uses sensors to sense the
environment and give useful feedback [1]. A robot has also systems to process sensory input in
the context of the current situation and instruct the device to perform actions in response to the
situation. Robots come in a tremendous variety of “size and flavors” such as manipulator, legged
robot, wheeled robot, autonomous underwater robot, unmanned aerial robot. The robot performs
jobs that are dangerous, boring, stressful or labor-intensive for humans. There are essential
characteristics that a robot must have and this might help us to decide what a robot is and what
not a robot is. It will also help us to decide what features we need to build a machine before it
can count as a robot [2]. Those characteristics includes: sensing, energy, efficiency, accuracy,
etc...

1.2. Statement of the problem

In ancient times, people used a human and birds like crow for spying purpose. Most of the time,
militaries use humans as a spy to identify the situation of an enemy using different techniques
which helps to draft a target full controlling mechanism. So, this situation makes them to be
exposed to danger. In addition to this, when humans serve as spy in military area, there is a delay
of information. Until the spy soldier comes back to his/her camp, the enemies might change their
location and plan. As a result, the information that will be given by the spy soldier to his/her
members may be unreliable. So as to solve those problems, we come up with the idea of RF
based defense surveillance robot.

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1.3. Objectives
1.3.1. General objective
The main objective of this project is to simulate and assemble RF based defense surveillance
robot for spying purpose.

1.3.2. Specific objective

➢ To make schematic circuit of RF transmitter and receiver using proteus
➢ To develop Arduino program
➢ To simulate the circuits, we have developed by using protues
➢ To study about RF based wireless communication

1.4. Significance of RF based defense surveillance robot

RF based defense surveillance robot enables us to know the information about the location and
the type of weapons the enemy has. As we know information is the major weapon to attack the
illegal terrorists so, RF based defense surveillance robot will have a significant role in battle
fields. I.e. the country that has RF based defense surveillance robot can attack the enemy without
losing its soldiers. Generally, this project will have very important advantages for stability of
once country interns of:
➢ Collecting information from the enemy territory and monitor that information at a
far secured area and safely devises a plan for the counter attack.
➢ Tracking locations of terrorist organization and then plan a military mode to
attack them at a suitable time.
➢ Making a surveillance of attacked war field areas where human beings cannot
reach.
➢ Assisting human being with robot as a guardian at a boarder.
➢ To safeguard the life of our military.
➢ Collecting relevant information at a short instant of time.

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1.5. Methodology Used in this Project

Methodology means performing the flows needed to undertake in order to achieve the goal of the
project.
Literature review

Collect all things needed to make

robot
Check functionality of materials

Develop circuits and Arduino program

Run and Simulate program and circuits

respectively

Is any error Yes

displayed?

No
Assemble the robot chaises and motor
together

Check the assembly

Control the robot by remote and Capture video by CCD

camera

Does the
Robot function
No
perfectly?

Yes

End

Figure1.1. Methodology of the project

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1.6. Scope of the Project

The project is limited to a certain area from the military camp to till the robot moves within RF
signal range. It operates in a short area of distance only on day time.
1.7. Organizations of the Project
This project is organized with five chapters. The first chapter is an introduction which generally
includes the introduction of the project, statements of problem, objectives of the project, and
finally the significance and the scope of the project. The second chapter contains the lists of the
literatures that we have reviewed their strengths and weaknesses. The third chapter includes the
general system design and analysis of the system. This chapter contains the hard ware and
software requirements for our system and the pin descriptions of the hardware components. The
fourth chapter is about simulation result of circuits and discussion about it. Chapter five contains
conclusion and recommendation about future work.

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CHAPTER TWO
LITERATURE REVIEW
There are many researches related to RF based Defense Surveillance Robot. We have read the
researches written by Sandeep, et al and Kauretal and identify their weakness and solve it by our
project. 1) Sandeep, et al. Presented “Surveillance Security Robot with Automatic Patrolling
Vehicle”. This robot can only climb up staircases but not move down staircases. It works only on
line of sight [3]. Kauretal presented “Pipeline Inspection and Bore well Rescue Robot”. He used
a wired system to control the process and unable to pass through obstacles. By using those good
ideas and draw backs of those well-known scientists about defense surveillance robot, we are
motivated to design relatively effective RF based defense surveillance robot. Our robot will have
the ability to both climb up and down the staircases [4]. It can also run on any type of
dismantling surface and it will have better camera for live video. We are going to use wireless
system and RF as a medium to control the robot. The program is designed in such a way it enable
the user to control the robot movement by pressing the icon direction on the remote. The main
program is developed by using Arduino Uno to control the motor driver and interface with it.
Therefore, our project extends the operated range less far and solves many problems as
compared to those Bluetooth controlled robot. Our project focuses on how to control the attack
of terrorism and how to improve the security to a nation [5].

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CHAPTER 3
SYSTEM DESIGNS AND ANALYSIS
3.1. System components
The project has two sections, the transmitter section and the receiver section. The two sections
are shown in the following block diagram. Antenna

Switch Arduino Uno RF transmitter

Figure3.1. Controller block diagram

Antenna

RF receiver Arduino Motor Motor

Uno driver

Antenna
Motor Motor driver CCD RF
camera transmitter
Figure3.2. Block diagram of robot

Antenna

Laptop Capture D card Camera receiver

Figure3. 3. Block diagram of response receiver

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The main materials/components needed to do this project are listed below.

3.1.1. Arduino UNO

Microcontroller board, Arduino Uno has 14 pins for digital input/output where there are 6 pins
that can be used as PWM outputs. It has also 6 analog inputs, 16MHz ceramic resonator, a USB
connection, a power jack, an ICSP header and a reset button. It contains everything needed to
support the microcontroller, simply connect it to a computer with a USB cable or power it with
an AC-DC adapter or battery to get started. In memory specification, the ATmega328 can store
code where it has 32kB of flash memory where its 0.5kB is used by boot loader, 2kB of SRAM
and 1kB of EEPROM.

Figure3. 4. Arduino Uno structure

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Table3. 1. Specification in parameter of Arduino Uno

No Specifications Values
1 Operating voltage 5v

2 No of digital input/ output pins 14

3 Analogue input/output pins 6

4 Flash memory 32kb

5 SRAM 2kb

6 EEPRAM 1 kb

3.1.2. 433 MHz RF transmitter and receiver modules

The 433 RF transmitter and receiver modules is a pair of small RF electronic modules used to
send and receive radio signals between any two devices. The transmitter module can only send
the data from transmitter end and the receiver can only module receive that data at the receiver
end. I.e. the data can always be transmitted from one end to another and not the other way
around [6].
A) RF transmitter: A small radio frequency transmitter can easily transmit RF wave and can do
modulation (specifically, ASK) that wave to carry the data along. RF transmitter should be
placed or joined next to the Arduino. Thus, Arduino provides data to the module which can be
transmitted by using this RF transmitter module. When transmitting logic is zero, no power is
supplied by transmitter whenever carrier frequency is fully suppressed. But, for transmitting
logic one, it consumes power about 4.5mA with 3V. The RF transmitter uses Encoder that
receives parallel data. So that the Encoder encodes these parallel signals in to serial data. The RF
transmits this serial data from the encoder to the RF receiver. It is recommended to always use a
continuous wave frequency transmitter. As a result we do not need to modulate RF waves.

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Antenna

Figure3. 5. Transmitter structure

The RF transmitter module consists of three pins. Namely: VCC, Data and Ground as shown the
table below;
Table3. 2. Pin configuration of RF transmitter module

Pin number Pin name Pin description

1 VCC Used to power RF transmitter module and uses 3v to 12 v
2 Data It takes data from microcontroller or encoder and broadcast it via the
antenna
3 Ground Connected to the ground of the circuit
4 ANT Antenna pin it is not necessary but, it is recommended to send data
into longer distance

B) RF receiver: The major function of the RF receiver is receiving the modulated signal that is
transmitted by RF transmitter. After receiving the signal, RF receiver demodulates it to allow RF
communication between two ends .The RF receiver uses decoder that accepts the serial data from
the RF transmitter and decodes it to give the output. But, when no signal is received it stays
standby mode and consumes very less current which is less than 1 micro ampere.

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Node

Antenna

Figure3. 6. RF receiver structure

Table3. 3. Pin configuration of RF receiver module

Pin number Pin name Pin description

1 VCC Used to power up the RF receiver module. The supply voltage of
receiver is 5v
2 Data Received data can be obtained from this pin
3 Data It serves the same (any one can be used)
4 Ground Connect it with GND of the circuit

C) Antenna: The antenna that we use in this project should be in the ranges of RF modules. It
is obvious that without antenna we can only communicate up to one meter more often. The better
antenna for both the transmitter and receiver could be made up of a simple piece of 22 or 24
gauge solid wires. It is better to use a fraction of wire rather than random length. The fraction of
wire could be one half or quarter wave length of the signal that is desired to be transmitted. Since
we are using a fixed frequency of 433 MHz of RF module, we are able to calculate its length.
L = one half-wave length
Or
L =one quarter-wavelength
Wavelength = C/F
So, wavelength = 3*10^8 m/s/(433 MHz)
= 0.6928 m
Or 69.28cm
Let us use length of quarter-wave length in this project

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So, L = 69.28cm/4 = 17.32cm
Gain of the antenna
The gain of the antenna is:
G = 4*pi*Ae/ (Wave length) ^2
Where Ae; is the effective aperture related to the physical size of the antenna. Transmission
through RF is better than Infrared (IR) because of several reasons: Signals through RF can travel
larger distances making it suitable for long range applications. Most of the time, IR operates in
the line-of-sight mode (LOS) while RF signal can travel in non-line of sight mode (NLOS). RF
transmission is more powerful and reliable than IR transmission. RF communication uses a
particular frequency unlike IR signals that uses multiple frequencies that are affected by other IR
emitting sources [7].

3.1.3. CCD camera

The wireless charge-coupled devices (CCDs) have both audio and video system for capturing
video about the surrounding environment [8]. CCDs are very efficient, generally capturing about
70% of incident light, unlike photographic film which only responds to about 2% of incident
light. This camera can rotate in all direction which helped by the motor driver. It has a resolution
of 1024x800. The recording and saving process needs capture card since no USB port is used.
The CCD camera gets power from the lead acid battery by +12V. It can give live videos to the
user through computer device. The main advantage of CCD camera is that it provides a low
noise and high-quality image at highly pixilated resolution.

Figure3. 7. The transmitter and receiver CCD camera structure

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3.1.4. Motor driver (L293D)

L293D motor driver is an electronic power circuit or is a typical motor driver that allows motor
speed and direction to be controlled. The L293D is a quad, high current, half-H driver which is
designed to produce two-way drive currents of up to 600mA at voltage range of 4.5V to 36V.
This makes it easier to drive the DC motors. The L293D is also an H-bridge motor driver which
is the most common method to drive DC motors in both clockwise and counter-clockwise
direction. An H-bridge is a simple circuit built up of bipolar junction transistors (BJT) or with
field effect transistors (FET) or even it can be bought as integrated package that is L293D motor
driver. Motor drivers are used mostly by Autonomous robots. Controllers and Arduino UNOs
use low currents to operate unlike the motors operating at relatively high currents. So, the
Microprocessor, Arduino Uno cannot supply such high voltages and currents to control the
motors. This implies, we need motor drivers to fulfill these requirements for compensation.
L293D is an IC motor driver that takes control of signals from the Arduino Uno and transmits
compensated or relative voltage or current to the derived motors. L293D yields the output signals
respective of the input signals from the Arduino Uno. In other words, L293D simply transmits
the signal it receives from the Arduino Uno or microprocessor without altering the signal in the
form. L293D has four inputs and four output pins that comprises of two DC motors and one
stepper motor. The L293D motor driver has 16 pins. From those pins, pin 3, 6, 11, 14 are
connected to the dc motors and pin 2, 7, 10, 15 are connected to the Arduino and also pin 1,16,8
is connected to the power supply. It has two enable pins (pin 1 and pin 9). To drive a motor, pin
1 and pin 9 needs to be high. For driving the motor with left H-bridge we need to enable pin 1 to
high and for right H-bridge we need to make pin 9 to high. We can simply connect pin 16VCC
(5V) to pin 1 and pin 9 to make them high. The other remaining pins are connected to ground
[9].

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Figure3. 8. Pins of motor driver

3.1.5. Capture card or TV tuner card

Since, there is no USB port in this camera so that the saving and recording process of the project
needs a special device which is capture card. Capture card allows our PC to function as personal
video recorder/digital video recorder. Easy cap is one of types of capture card or TV tuner card.
The USB 2.0 part of the Easy Cap video and audio adapter can capture high-quality video and
audio file live by using USB 2.0 interface.

3.1.6. Laptop
Laptop is a device used to display the audio and video that captured by the CCD camera. This
device is operated by a user externally and announces and also prepares the troops with the
information he/she gets from the live data. So, that the troops draft a strategically place and plan
to attack at target.

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3.2. General circuit designs and analysis

3.2.1. Transmitter and receiver section software configuration
The basic C programming language is used for the development of Arduino Uno. The software
configuration of this section is shown below.

Start

Initialize port

Define I/O pins

Assign the variable

User instruction

Press button

Is command
sent to
receiver?

No Yes

End

Figure3. 9. Program algorithms for transmitter

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Start

Initialize and assign variables

Check the serial data

Is the command
received?

Yes No

IsYes
it forward Forward motion
command?
Yes

No

Is it backward
Backward motion
command? Yes

No

Is it leftward
Left motion
command? Yes

No

No
Is it rightward
Yes Right motion
command?
No

End

Figure3. 10. Program algorithm for receiver

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3.2.2. Transmitter circuit and its working principle

The transmitter section consists four press buttons which is used for controlling the robot as
forward, backward, left, and right movement. To move the robot forward, it sends the high value
to the Arduino Uno port PD2 by pressing the first button. To move the robot backward, it sends
the high value to the Arduino Uno port PD3 by pressing the second button. To move the robot
left, it sends the high value to the Arduino Uno port PD6 by pressing the third button. To move
the robot right, it sends the high value to the Arduino Uno port PD7 by pressing the fourth
button. Those user commands are recorded to the Arduino Uno and then send these commands to
the RF transmitter module. The RF transmitter module sends the commands to the robot as radio
frequencies via its antenna. A 12V battery is used to supply the power to the whole transmitter
circuit. The circuit is shown below.

Figure3. 11. Simulation result of transmitter.

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3.2.3. Receiver circuit and its working principle

For the system, remote is used as the main controller. It sends the signals to the receiver to
operate the motors from the motor driver. If the receiver receives data 1, the robot moves
forward direction. If the receiver receives data 2, it moves backward direction. If it receives data
3, the robot moves to left direction. If it receives data 4, the robot moves to the right. The camera
motors always rotate at slow speed and captures the surrounding of the place. After capturing, it
transmits to the camera receiver, which is connected to TV or laptop and then display the video
on it. The circuit for the receiver section is shown below.

Figure3. 12.Simulation result of receiver circuit

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CHAPTER FOUR
RESULTS AND DISCUSSIONS
4.1. Schematic of overall circuit and discussion
The project contains the transmitter and the receiver sections. The two sections communicate
each other by the transmitter and the receiver radio frequency modules. It is impossible to
simulate the whole circuit because the two sections communicate wirelessly. Therefore, as an
assumption the robot receives the command which is transmitted from the transmitter or the
control circuit, and then we can simulate the receiver section by using proteus software. The
circuit is shown below.

Figure4. 1. General Circuit.

4.2. Simulation result

From the circuit, the simulation result is done by using proteus professional software. After the
program compiled, the compiled code sent to the Arduino to load the Arduino with no error. The
program is successful complication and the circuit is checked. When press the first button, the
two motors move forward direction. When press the second button the two motors move to
backward direction. When press the third button rotate the right motor only. When press the fourth

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rotate the left motor only. The camera motor rotates always when any button is pressed. Therefore,
the simulation is done successfully.

Figure4. 2. Simulation Result for leftward Movement

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CHAPTER FIVE
CONCLUSION AND RECOMMENDATIONS FOR FUTURE WORK
5.1. Conclusion
As conclusion, this defense surveillance robot has been done in such a way; it is used to transmit
both audio and video to the receiver user. From the remote the movement of the robot is
controlled by the user. The robot will move to desired destination and spy images around the
robot. As the robot starts to move, the camera motor rotates 360 degrees slowly and the camera
captures the surrounding and transmits to the receiver station. The user can check and
recommend from the computer.

5.2 Recommendation
The project focuses only on a limited range of working areas, limited frequency and limited control
using radio frequency (RF) range circuits. As per future, we recommend for the others to extend this
project to large working areas, large frequency range and robust control using Dual tone Multiple-
frequency (DTMF) which is controlled by mobile phone.

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Reference
[1]. Ad Hoc, project report, 2D1426 Robotics and Autonomous, system.
[2]. International journal of scientific engineering and technology research, vol.04, issue.17
june-2015, 3099-3106.

[3]. [IJESAT] international journal of engineering science & advanced technology Volume-2,
Issue-3, 546 – 549. 2)

[4]. Sandeep, et al. Presented, “Surveillance Security Robot with Automatic Patrolling Vehicle”
international journal of engineering science and advanced technology volume-2 issue-3,546-549.

[5].Kauretal presented, “Pipeline Inspection and Bore well Rescue Robot” international joural of
advanced research in electronics and instrumentation engineering vol.4 issue may 5, 2015.

[6]. http://www.etechnophiles.com
[7]. M. Selvam, “smart phone based robot control for surveillance application”.

[8]. M. Balamurugan, “wireless surveillance robot with motion detection and live video
transmission”.

[9]. Prof. Y. M. Naik, Chiranjivi, M. Deshphade, Ravijar, R.Shah “Arduino controlled spy
Robot”.

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APPENDIX
// TRANSMITTER CODE
#include <LiquidCrystal.h>
LiquidCrystal lcd(13,12,8,6,5,4);
const int potPin = A0;
const int fwdbuttonPin = A1;
const int bckbuttonPin = A2;
const int rwdbuttonPin = A3;
const int lwdbuttonPin = A4;
const int RFtxpin=0;
int potValue = 0;
int fwdbuttonState = 0;
int bckbuttonState = 0;
int rwdbuttonState = 0;
int lwdbuttonState = 0;
int DATA1 = LOW;
int DATA2=LOW;
int DATA3=LOW;
int DATA4=LOW;
void setup()
{
lcd.begin(16,2);
lcd.setCursor(0,0);
lcd.print("SPY ROBOT");
lcd.setCursor(0,1);
lcd.print("BY BIT STUDENTS");
delay(1500);
pinMode(fwdbuttonPin, INPUT_PULLUP);
pinMode(bckbuttonPin, INPUT_PULLUP);
pinMode(rwdbuttonPin, INPUT_PULLUP);
pinMode(lwdbuttonPin, INPUT_PULLUP);

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 Semester project 2014 E.C
pinMode (RFtxpin, OUTPUT);
}
void loop() {
potValue = analogRead(potPin);
fwdbuttonState = digitalRead(fwdbuttonPin);
bckbuttonState = digitalRead(bckbuttonPin);
rwdbuttonState = digitalRead(rwdbuttonPin);
lwdbuttonState = digitalRead(lwdbuttonPin);
if (fwdbuttonState == LOW)
{
digitalWrite (RFtxpin, DATA1);
lcd.clear();
lcd.setCursor(0,0);
lcd.print(" MOVING ");
lcd.setCursor(0,1);
lcd.print(" FORWARDING RFtx DATA1 ");
delay(500);
lcd.clear();
}
else if (bckbuttonState == LOW)
{
digitalWrite (RFtxpin, DATA2);
lcd.clear();
lcd.setCursor(0,0);
lcd.print(" MOVING ");
lcd.setCursor(0,1);
lcd.print(" BACKWARDING RFtx DATA2 ");
delay(500);
lcd.clear();
}
else if (rwdbuttonState == LOW)

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 Semester project 2014 E.C
{
digitalWrite (RFtxpin, DATA3);
lcd.clear();
lcd.setCursor(0,0);
lcd.print(" MOVING TO ");
lcd.setCursor(0,1);
lcd.print("RIGHT RFtx DATA3");
delay(500);
lcd.clear();
}
else if (lwdbuttonState == LOW)
{
digitalWrite (RFtxpin, DATA4);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("MOVING TO ");
lcd.setCursor(0,1);
lcd.print("LEFT RFtx DATA4");
delay(500);
lcd.clear();
}
}

BAHIR DAR UNIVERSITY Page 24