The software program is written in Arduino programming language. We programmed a fresh ATmega328 microcontroller with the help of Arduino IDE 1.0.5 and an Arduino Uno board.
First, we have to load bootloader code into the microcontroller. For that, we used Arduino Uno for in-system programming (ISP) given in the IDE, by selecting File → Examples → Arduino ISP. Once the bootloader is uploaded into the microcontroller, gesture.ino code of this project can be uploaded.
Construction and testing
An actual-size, single-side PCB layout of the transmitter circuit is shown in Fig. 5 and its component layout in Fig. 6. An actual-size, single-side PCB layout of the receiver circuit is shown in Fig. 7 and its component layout in Fig. 8.
The transmitter section can be held in your palm or on the other side (refer Fig. 9). The receiver module is mounted on the robot.
Mount all components on the PCBs shown here to minimise assembly errors. Fix the receiver PCB and 4.5V battery on the chassis of the robot. Fix two motors, along with wheels, at the rear side of the robot and a castor wheel on the front. After uploading the main code into the microcontroller, remove it from the Arduino Uno board and insert it into the populated transmitter PCB.
Now, switch-on the power supplies in the transmitter as well as receiver circuits. Attach the transmitter circuit to your hand and move your hand forwards, backwards and sideways. Directions of the robot movement are given in Table I. The robot will stop if you keep your palm horizontal, parallel to the Earth’s surface.
For troubleshooting, first verify that voltages at various test points are as per Table II.
Aquib Javed Khan is pursuing B.Tech from Orissa Engineering College, Bhubaneswar. He is interested in mechatronics systems