ZigBeeControlledDumpsterRobot

CircuitDiagramDescription:

Fig:TransmitterSection

Zigbee controlled dumpsterrobotusingArduinoUNOis

composedofatransmittersectionandareceiversection.
Transmitter:
The transmitter section comprises of Arduino UNO , Xbee S1(ZigBee
module)andtwokeypadarrays.
Arduino UNO board forms the heart of the system equipped with
ATmega328P which is an 8 bit AVR RISC microcontroller. In this section,
D2 ,D3 ,D4 , D5 ,D6 and D7 whichare six digital I/O pinsof the board are
configuredasinputs.TheArduinoUNOispoweredbydcadapterofrating
12V,1A.Atmega328Prequiresapowersupplyof5Vwhichisprovidedbythe
regulatedpowersupplycircuitintheboard.
ArduinoUNOisconnectedwithexternalcrystaloscillatorsoastoavailthe
required clock frequency. The crystal oscillator in Arduino UNO board
operatesatafrequencyof16MHz.
XBeeS1istheZigBeemoduleusedforwirelessRFdatatransmission
betweendevices.Arduinosuppliespowerfrom3.3VpintoVcc pin(pin1)in
Xbee.RxorD0inArduinoUNOisconnectedtoDOUTpinofXBeemodulefor
effectivereceptionofdatafromXBeemoduletoArduinoUNO.Similarly,the
datasendfromArduinoUNOusingTxorD1pincanbereceivedintheDINpin
ofXBee.GNDpins(pin10inXBee)ofboththemodulesareshortedtogether.
Userinputscanbeprovidedwiththehelpofakeypadarraywhichsimply
workslikeapressbuttonswitch.Eachkeypadarrayconsistsoffoursetof
switchesandeachoneoracombinationoftwoswitchesareconfiguredfor
specific movement of the robot. Here, the system consists of six sets of
switches: S1,S2,S3,S4,S5 and S6 . One end of every switch is grounded in
common and the other end is connected to adigital input pin of Arduino
UNO.Here,itisconspicuousfromFigoftransmittersectionthatoneendof
switchS1isgroundedandtheotherendisconnectedtoD2.Similaristhecase
ofswitchesS2,S3,S4,S5andS6whereoneendofeachoftheseareconnectedto
D3,D4,D5,D6andD7andtheotherendisgrounded.
Normally, the switches are in high impedance state. Whenever a press is
generated,thepressedswitchwillbecomegrounded.Thiswillinitiatealogic
LOWtobepassedontothecorrespondingdigitalpinD 2D3,D4,D5,D6andD7.
ThisdatawillbesentthroughtheDINpinofXbeefortransmission.

Receiver:
 Fig:ReceiverSection
ThecircuitdiagramrepresentsthereceiversectionofZigBeecontrolled
dumpsterrobotusingArduinoUNO.ThecircuitcomprisesofArduinoUNO,
Xbees1,twomotordriverICs(L293D)andthreedcmotorstocontrolthe
wheelsoftherobot.
XBeeS1istheZigBeemoduleusedforwirelessRFdatatransmissionbetween
devices.Arduinosuppliespowerfrom3.3VpintoVcc pin(pin1)inXbee.Rx
orD0inArduinoUNOisconnectedtoDOUTpinofXBeemoduleforeffective
receptionofdatafromXBeemoduletoArduinoUNO.Similarly,thedatasend
fromArduinoUNOusingTxorD 1pincanbereceivedintheDINpinofXBee.
GNDpins(pin10inXBee)ofboththemodulesareshortedtogether.
 Fig:L293Dconnectionstomotors

L293D is a typical Dual Hbridge Motor Driver integrated circuit (IC)

whichallowsDCmotortodriveineitherdirection.L293Disa16pinICwhich
cancontrolasetoftwoDCmotorssimultaneouslyinany(clockwiseoranti
clockwise)direction.Hbridgeisacircuitwhichallowsthevoltagetobeflown
ineitherdirectiondependingontheinputappliedtothemotordriverIC.Ina
single L293D chip, there are two HBridge circuit inside the IC which can
rotatetwodcmotorsindependently.TherearetwoenablepinsonL293D.In
ordertodrivethemotorwithvaryingspeed,PWMinputscanbeprovidedto
thesepins.FordrivingthemotorwithrightHbridge,enablepinEN1needsto
behighandfortheleftHBridgemakeenablepinEN2high.Ifanyofthese
pins goes low, then the motor in the corresponding section will suspend
rotation.Thereare4inputpinsforL293D,C 1A,C1B(IN1,IN2)ontherightand
C2A,C2B(IN3,IN4)ontheleftasshowninfigdepictingL293Dconnectionsto
motors.Leftinputpinswillregulatetherotationofmotorconnectedacross
leftsideandrightinputformotorontherighthandside.Themotorsare
rotatedonthebasisoftheinputsprovidedacrosstheinputpinsasLOGIC0or
LOGIC1.
OneofthecontrolinputsareHIGHandtheotherisLOWresultsin
clockwiseoranticlockwiserotation.

BothpinsLOWresultinIdle[Norotation][HighImpedancestate]

BothpinsHIGHresultsinIdle[Norotation]

Inordertodrivethemotors1,2and3,twomotordrivercircuitsorL293Ds
areused.Motor1andmotor2areconnectedtoIC1andmotor3isconnected
toIC2.Itneedstobeprovidedwithasupply(V CCof12Vor9Vdependingon
themaximumsupplyvoltagerequirementofmotors).
The control signals are used to drive two motors which are depicted as
C1A,C1B(IN1,IN2)formotor1andC2A,C2B(IN3,IN4)formotor2.Pins11and
14aretheonestowhichmotor1isconnectedandpins3and6aretowhich
motor2isconnected(orOUT1andOUT2pinsareusedtoconnectmotor2
and OUT3 and OUT4 are used toconnect to motor 1.). Ground pins are
4,5,12and13whichareshortedwithGNDpinofArduino.EN1andEN2are
theenablepinsformotor1andmotor2areconnectedto5VpinofArduino.
Similarly,pins3and6aretowhichmotor3isconnectedinIC2andEN1is
theenablepinformotor3connectedto5VpinofArduino.
For the first L293D,controlsignals C1A andC1B aretakenfromD2 ,D3 and
C2A,C2BaretakenfromD4,D5ofArduinoUNO.ForthesecondL293D,control
signalsD1AandD1BaretakenfromD6andD7ofArduinoUNO.
With this system the dumpster is capable of providing
forward,backward,left,right,grabandreleaseoptionsbyusingthecombination
ofswitcharray.