6 1

A Project Report on
IMPLEMENTATION OF CAMOUFLAGE TECHNIQUE

BASED MULTIFUNCTIONAL ARMY ROBOT
Submitted in partial fulfilment of the requirement for the award of degree of
BACHELOR OF TECHNOLOGY
in
ELECTRONICS AND COMMUNICATION ENGINEERING
Submitted by
SK.RIZWANA AFREEN - 15FE1A04E1
SK.KHAJA MOIN - 15FE1A04D6
V.SAI CHAITANYA - 15FE1A04F7

T.SRIDHAR - 16FE5A0434
Under the esteemed guidance of

Mr.B.HARISH M.Tech.,
Assistant Professor
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

VIGNAN’S LARA INSTITUTE OF TECHNOLOGY & SCIENCE
(An ISO 9001:2008 Certified, Approved by AICTE, Affiliated to JNTU, KAKINADA)
VADLAMUDI-522213, GUNTUR Dist., ANDHRAPRADESH.
2015 - 2019
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
VIGNAN’S LARA INSTITUTE OF TECHNOLOGY & SCIENCE

(An ISO 9001:2008 Certified, Approved by AICTE, Affiliated to JNTU, KAKINADA)
VADLAMUDI-522213, GUNTUR Dist, ANDHRA PRADESH
CERTIFICATE
This is to certify that main project work entitled “IMPLEMENTATION OF

CAMOUFLAGE TECHNIQUE BASED MULTIFUNCTIONAL ARMY ROBOT” is a
bonafide work done by SK.RIZWANA AFREEN (15FE1A04E1), SK.KHAJA MOIN
(15FE1A04D6), V.SAI CHAITANYA (15FE1A04F7) and T.SRIDHAR (16FE5A0434),
under my guidance and submitted in partial fulfilment of requirement for award of degree of
Bachelor of Technology in Electronics and Communication Engineering by Jawaharlal
Nehru Technological University, Kakinada.
Project Guide Head of the Department
Mr. B. Harish., M.Tech., Mr. M. Suman., M.Tech.,

Assistant Professor Assistant Professor
External Examiner
ACKNOWLEDGEMENT
We are most thankful to our parents who stood as pillars of motivation and for the
way they influenced and moulded our lives.
We are more thankful to our chairman Dr. LAVU RATHAIAH who helped us to
have a technical incubation by providing the required infrastructure.
We are very much thankful to our principal Dr. K.PHANEENDRA KUMAR who
extended a timely help at each and every step of our academic career.
We are very thankful to our Head of the department Mr. M.SUMAN an amicable
person who supported us very much and helped to a maximum extent and made this project
successful.
We are very thankful to our beloved coordinators Mrs. P. V. N. LAKSHMI,

Mr. B. HARISH and Mr. S. NAGARAJU for inspiring all the way and arranging all the
facilities and resources needed for project. Their efforts in this respect are beyond the
preview of the acknowledgement.
We are heartily thankful to our project guide Mr. B.HARISH, Assistant Professor,
the person with vibrant knowledge and amicable by nature who laid a best guide lines and for
the efforts made by her to make the project a successful one.
Finally, we are thankful to each and every faculty members both technical and non -
technical, friends and all the persons who helped us directly or indirectly in making our
project a successful one.
Project Associates
SK.RIZWANA AFREEN (15FE1A04E1)

SK.KHAJA MOIN (15FE1A04D6)
V.SAI CHAITANYA (15FE1A04D6)
T.SRIDHAR (16FE5A0434)
DECLARATION
We hereby declare that the work described in this project work, entitled
“IMPLEMENTATION OF CAMOUFLAGE TECHNUQUE BASED MULTI
FUNCTIONAL ARMY ROBOT” which is submitted by us in partial fulfilment for the
award of Bachelor of Technology (B.Tech) in the Department of Electronics &
communication Engineering to the Vignan’s Lara Institute of Technology and science
affiliated to Jawaharlal Nehru Technological University Kakinada, Kakinada, Andhra
Pradesh, is the result of work done by us under the guidance of Mr. B.HARISH, Assistant
Professor, in the department ECE.
The work is original and has not been submitted for any Degree/Diploma of this or
any other university.
Signature
SK.RIZWANA AFREEN (15FE1A04E1)

SK.KHAJA MOIN (15FE1A04D6)
V.SAI CHAITANYA (15FE1A04F7)
T.SRIDHAR (16FE5A0434)
Place:Vadlamudi.
Date:
ABSTRACT
In today’s era, lot of expenses are made in the field of defence for the sake of adopting
primitive security measures for safeguarding the border from the trespassers. Some military
organizations utilizes robot in the risk prone areas which are very much effective and
efficient when compared to the army men. But these robots cannot hide their existence from
outside world and can be easily detected by enemies. In order to overcome this problem
camouflage technique based multifunctional army robot was implemented.
The main intention of this system is to get camouflaged to hide its existence from
the outside world and can quietly enter into enemy area and send us the information via
camera. The proposed architecture consists of Arduino Mega, NodeMCU, Color sensor,
LED,IR sensor, Gas sensor, DC motors.
Arduino Microcontroller will guide the output devices by taking the input signals
from the sensors. The color that is sensed by the color sensor as the robot moves according to
the command given to it through BLYNK tool, the LED will glow with suitable intensity and
match with ground color. After reacting with color filter on receiving light reflected by
ground, photodiode generates a signal which is analyzed in terms of frequencies and then it
gives the color of ground. The controllers are designed in the BLYNK app to manage the
movement which in turn drive the robot in any required direction. When IR sensor detects the
obstacle, the respective controller in BLYNK app switches to high state. Similarly when gas
is detected it will be shown by their respective controller in BLYNK app. Live video
streaming from the robot end is received using Alfred android app. Thus, the robot which
will change its color according to surrounding surfaces and can easily be hidden from
enemies to keep the information confidential and use of camera will help us to keep eye on
enemy territory.
i
INDEX
CONTENTS PAGE NO.
ABSTRACT i
LIST OF FIGURES v
LIST OF TABLES vi
ABSTRACT vii
CHAPTER 1: INTRODUCTION 1-3

1.1 Robot 1
1.2 Introduction to Camouflage technique 3
CHAPTER 2: LITERATURE SURVEY 4-5
2.1 Journals 4
CHAPTER 3: EXISTING SYSTEM 6-8
3.1 Objective 6
3.2 Block Diagram of Existing system 6
3.3 Description 7
3.4 Advantages 8
3.5 Disadvantages 8
3.6 Applications 8
CHAPTER 4: PROPOSED SYSTEM 9-10

4.1 Objective 9
4.2 Block Diagram 9
4.3 Working 10
4.4 Tools Required 10
4.5 Applications 10
CHAPTER 5: HARDWARE IMPLEMENTATION 11-37

5.1 Arduino Mega 2560 11
ii
5.1.1 Overview 11
5.1.2 Power 11
5.1.3 Memory 12
5.1.4 Input & Output 12
5.1.5 Communication 13
5.1.6 Programming 14
5.2 NodeMCU 14
5.2.1 Features 14
5.2.2 Pin out diagram 15
5.2.3 Specifications 15
5.2.4 ESP8266 16
5.2.4.1 Specifications 16
5.2.4.2 Pin out diagram 17
5.2.4.3 Pin description 17
5.2.4.4 Packaging and dimension 19
5.2.4.5 Functional description 19
5.2.4.5.1 MCU 19
5.2.4.5.2 Memory Organisation 19 .
5.3 TCS3200 Color sensor 20
5.3.1 Description 20
5.3.2 Functional Block diagram 21
5.3.3 Features 22
5.3.4 Terminal Functions 23
iii
5.3.5 Application Information 23
5.3.5.1 Power supply consideration 23
5.3.5.2 Input interface 23
5.3.5.3 Output interface 23
5.3.5.4 Power down 23
5.3.5.5 Photodiode type(color) selection 24
5.3.5.6 Output frequency scaling 24
5.3.5.7 Measuring the frequency 24
5.4 MQ135 Gas sensor 25
5.4.1 Pin configuration 26
5.4.2 Features 26
5.4.3 Selecting between sensor & module 27
5.4.4 Characteristics 28
5.4.5 Applications 28
5.5 IR sensor 28
5.5.1 Features 29
5.5.3 Pin configuration 29
5.6 RGB LED 30
5.6.1 Pin Configuration 31
5.6.3 Features 32
iv
5.7 L293D Motor driver IC 33
5.7.1 Pin diagram 34
5.7.2 Pin description 34
5.7.3 Features 35
CHAPTER 6: SOFTWARE IMPLEMENTATION 38-48
6.1 Arduino IDE 38
6.1.1 Connecting the arduino 39
6.1.2 Preparing the board 39
6.1.3 Loading the code 40
6.2 Embedded C 40
6.2.1 Introduction to Embedded C 40
6.2.2 Embedded systems programming 42
6.2.3 Difference between C & Embedded C 42
6.3 Blynk App 43
6.3.1 How Blynk App works? 43
6.3.2 Features 44
6.3.3 What do we need to Blynk? 45
6.3.4 Getting started with Blynk App 45
CHAPTER 7: RESULTS 49-53
CONCLUSION 54
FUTURE SCOPE 55
REFERENCES 56
APPENDIX 57-63
v
LIST OF FIGURES
Fig.No. Figure Name Page. No.
Fig. 3.1 Robotic section of Multipurpose Robot 6
Fig. 3.2 PC Section of Multipurpose Robot 7
Fig. 3.3 TV section of Multipurpose Robot 7
Fig. 4.1 Block diagram of Proposed system 9
Fig. 5.1 Arduino Mega 2560 11
Fig. 5.2 NodeMCU 14
Fig. 5.3 Pin out diagram 15
Fig. 5.4 ESP8266 16
Fig. 5.5 Pin out diagram 17
Fig. 5.6 TCS3200 20
Fig. 5.7 Top view of TCS3200 21
Fig. 5.8 Functional Block diagram 21
Fig. 5.9 MQ135 Gas sensor 25
Fig. 5.10 IR sensor 28
Fig. 5.11 RGB LED 30
Fig. 5.12 L293D IC 33
Fig. 5.13 Pin Diagram 34
Fig. 5.14 Circuit Diagram 36
Fig. 6.1 Arduino IDE page 38
Fig. 6.2 Communication between Blynk app and hardware 45
Fig. 6.3 Creating Blynk Account 46
vi
Fig. 6.4 Creating New project 46
Fig. 6.5 Selecting Hardware 47
Fig. 7.1 Army Robot 49
Fig. 7.2 Blynk App 49
Fig. 7.3 Red LED glows 50
Fig. 7.4 Green LED glows 50
Fig. 7.5 Blue LED glows 51
Fig. 7.6 Pink LED glows 51
Fig. 7.7 Yellow LED glows 52
Fig. 7.8 Obstacle detected 52
Fig. 7.9 Gas is detected 53
vii
LIST OF TABLES
Table No. Table Name Page. No.
Table 1.1 Specifications 15
Table 1.2 Pin descriptions of ESP8266 18
Table 1.3 Pin Mode of ESP8266 18
Table 1.4 Selectable options 22
Table 1.5 Terminal Functions 23
Table 1.6 Pin configuration of gas sensor 26
Table 1.7 Pin configuration of IR sensor 30
Table 1.8 Pin configuration of LED 31
Table 1.9 Pin description of L293D 34
Table 1.10 Operation 37
viii
ix
IMPLEMENTATION OF CAMOUFLAGE TECHNIQUE BASED MULTIFUNCTIONAL ARMY
ROBOT
CHAPTER-1
INTRODUCTION
1.1 Robot
Science is developing new technologies to ease human life. One such invention of this
technology is specialized robots in the field of Artificial Intelligence. The word robot means
“A machine capable of carrying out a complex series of actions automatically, especially one
programmable by a computer”. These robots help to make human life much easier especially
in dangerous areas & works.
One of the concern areas of today is the military. Military robots are specially used to
take the risky job which is difficult to be handled manually by humans. These robots act as
the assistant of a soldier. Today, many military organizations take the help of military robots
to perform risky jobs due to their accuracy of performing the jobs. The military has
recognized that automatic devices are far more efficient than the use of human soldiers, as
there is a reduced risk of mistakes and the devices can also be equipped with powerful
weapons. The military has recognized another advantage, too: more and more robots can do
dangerous work that was previously undertaken by humans. The use of robots for such tasks
makes a soldier’s work much more secure it can even saves lives.
There are different kinds of robots that are specifically employed for doing special tasks
in military applications. In military services, there are some areas in which some of the tasks
involve greater risk and danger, and therefore, those tasks must be performed without
military personnel, solely by the robots.
The military is unquestionably the first user of new technologies and developments, in
technique, and is also, very often, the booster for new developments, when it becomes
necessary to invent new technologies for military systems. Many basic technologies, which
were used in the military for the first time, have become part of the industrial robot today.
However, the definition of military robotics and industrial robotics is still very different. The
military has specific, robotized equipment, whereas, in industrial terms, the robot is more of
an intelligent, flexible, mass production machine. In the future, the use of industrial robots for
military applications will become ever more possible. Price and development of the technical
abilities of the modern robot will increase the interest of military users. The reasons for this
replacement are, as follows: quality, cost and humanization; however, using a different
approach in each field.
DEPARTMENT OF ECE, VLITS 1

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Military robots are related to very different applications and differ to those robots that
are used for industrial production, in a way that they do not produce things, but have to
interact in warfare. The concept, however, is the same; a device has to fulfill some tasks
automatically to qualify as a robot. In military terms, technology focuses on the control of
missiles and vehicles in order to have unmanned devices that are either tele-operated or that
find their way, automatically guided by laser beams or GPS satellites. Today, military robots
can be divided into several categories: guided missiles; military spacecraft; unmanned aerial
vehicles (UAV); unmanned ground vehicles (UGV); remotely operated vehicles (ROV); and
autonomous underwater vehicles (AUV).
The intercontinental ballistic missiles are very large type of rocket with guidance
systems. In fact, various combat situations require different types, depending on where the
missiles are launched, for what kind of aims they are determined and on how they fly – in a
ballistic curve or self-propelled. Two systems were used; laser-guided missiles and so-called
cruise missiles, which find their way by comparing the terrain with digital photographs of it.
From this point on, soldiers were able to control such missiles from a safe distance by
programming them before the take-off. Due to exact surveillance and precise laser marks, the
precision of the missiles was remarkably good.
In space, the military is present with satellites, which are basically robotic space crafts
that orbit around the earth. Such satellites perform a wide range of military purposes,
reaching from missile surveillance over navigation to intelligence gathering, which makes
them similar to a military scout that gets all the necessary information for further military
actions.
Unmanned vehicles are important instruments in modern warfare. The most widely
spread, the so-called drones, are predominantly used for surveillance. These small aircrafts
can take pictures of a region without being recognized as large planes. If an enemy shoots the
drone down, the loss is relatively small and, more importantly, does not harm any humans.
Both drones and unmanned ground vehicles can also be used as weapons. Soldiers can
control the bomb and gun carrying devices via satellite and do fear human casualties on their
own side.
ROV stands for remotely operated vehicle; ROVs are unoccupied, highly
maneuverable underwater robots operated by someone at the water surface. Remotely
operated vehicles, or ROVs, allow us to explore the ocean without actually being in the
ocean.These underwater robots are controlled by a person typically on a surface vessel, using

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a joystick in a similar way that you would play a video game. A group of cables, or tether,
connects the ROV to the ship, sending electrical signals back and forth between the operator
and the vehicle. Most ROVs are equipped with at least a still camera, video camera, and
lights, meaning that they can transmit images and video back to the ship.
Autonomous underwater vehicle (AUV) is a robot that travels underwater without

requiring input from an operator. AUVs constitute part of a larger group of undersea systems
known as unmanned underwater vehicles, a classification that includes non-
autonomous remotely operated underwater vehicles (ROVs) – controlled and powered from
the surface by an operator/pilot via an umbilical or using remote control. In military
applications an AUV is more often referred to as an unmanned undersea vehicle (UUV).
1.2 Introduction to Camouflage technique

Camouflage is the concealment of animals or objects of military interest by any combination
of methods that helps them to remain unnoticed. Camouflage involves deception, whether by
looking like the background or by resembling something else, which may be plainly visible to
observers.
No matter what robotic developments will enter military work, they all have a
common goal to minimize human losses on their side and increase efficiency. Technological
advances will always enable engineers to build new devices and, provided that they are
creative enough, there will be a lot of innovations within the sector of the military robot.
Use of Camouflage technique in military applications
The military will continue developing robots for their own purposes and will,
therefore, find new purposes over and over again. Technological advances enable the
developers to build new systems for more tasks.
With use of camouflage technique the robot can hide its existence from the outside
world. This makes difficult to be spotted by the unaided enemy eyes. Because of this feature
the robot cannot be easily detected by enemies. Thus it can be easily sent to strategic
locations for warfare and observation purpose. This robot can quietly enter into enemy area
and send us the information via camera.
Since human life is always valuable, this robot can be the substitution of soldiers in
war areas. It is inspired by creatures such as chameleon. Thus the Camouflaged robot is
solution for reducing human losses in military operations or terrorist attacks.

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CHAPTER 2
LITERATURE SURVEY
2.1 Journals
Unmanned multi-functional robot using zigbee adopter network for defense application
Now-a-days in military, there has been a huge development as compare to those
robots used in earlier times. Today, military ground robots & unmanned vehicles are used
worldwide. However, the significant growth of the current military robots comes as the
nature of combat changes in every region while the globally integrated enterprise replaces
nationalistic dominance. It can be said that military robot automation of the defense process
is the next wave of military evolution. This proposed system gives an exposure to design a
simple robot that can be used to do multifunction in defense. Manual control is also employed
to control the robot from the control room which is located far away from the border area.
The system uses non-commercial Zigbee standard for wireless communication . This system
is aimed towards the Zigbee technology up to 30 meters distance. This also helps on remote
bomb detonation and diffusion. In this proposed system, a military robot is designed to detect
the unknown person in border area, gag leakage detection, bomb detection and diffusion.
Zigbee wireless sensor network is used to send the data’s to the host system wirelessly. All
these functions are done automatically or manually with the help of Lab view software which
is to be installed in host system.
Camouflage Technique Based Multifunctional Army Robot

Nowadays, many expenses are made in the field of defense in adopting primitive
security measures to protect the border from the trespassers. Some military organizations take
the help of robot in the risk prone areas which are not that effective when done by army men.
These Army robots are confining with the camera, sensors, metal detector and video screen.
The aim is to design, manufacture and operate via a Smart phone, used as remote control
device can reproduce the color accordingly with the ground surface where it will be moving
on, hence being camouflaged to the outside world. On the one hand, in order to achieve these
goals, we used a LED matrix (RGB) which can diffuse uniform colors, coupled to sensors
that can precisely identify ground colors. This robot is designed in such a way that it can
reproduce the color independently at various areas each area being able to reproduce color
with specific spots of the ground surface which allow the robot to mock up as a checkerboard

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of multiple colors – the various colors it drives over. On the other hand, also created a system
which can receive and decipher information received from the Smart phone using Blue-tooth
to further pilot motors which in turn drive the robot in any required direction . Furthermore,
Camera is attached to show the real time data wireless through RF, Gas sensor to detect toxic
gas, Metal sensor to detect metal arm and weapons if any, PIR sensor to detect human
intruders or soldiers beneath the earth, LCD display to display the detected parameter. The
robot is being camouflaged and is controlled from afar an object. So, in the Defense sector,
such a Robot would allow the vehicles having large size to be camouflaged in fact,
Camouflage is essential in the army missions. Besides, in the Intelligence sector, we could
use spying robots like drones.
But use of Blue-tooth module has many disadvantages such as it can lose connection
in certain conditions, it has low bandwidth as compared to Wi-Fi, it allows only short range
communication between devices, security is a very key aspect as it can be hacked.
Camouflage Color Changing Robot For Military Purpose
Human life comes to risk at places where human being cannot survive, war fields,
high altitude areas, etc. As human’s life is always prior than anything else, the proposed robot
is substitution to human life wherein it acts as a security.
Camouflage robot is solution for reducing human losses in military operations or
terrorist attacks. They play major role in saving human lives. The proposed system analyzes
the surrounding area and also provides live footage to the observer. Camouflage Robot acts
as a virtual spy and can be sent into the strategic locations of military importance for
observation and warfare purpose. The proposed system consists of one colour sensor camera
as part of camouflaging feature and other camera for surveillance purpose. Colour sensor
camera senses the colour of surface and according to that robot will change its colour.
Because of this feature this robot can’t be easily detected by enemies and also used Wireless
transceiver for communication between transmitter and receiver. This robot can quietly enter
into enemy area and send us the information via camera. The movement of this robot is
wirelessly controlled computer. Since human life is always valuable, these robots are the
substitution of soldiers in war areas.

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CHAPTER 3
EXISTING SYSTEM
Design and Implementation of Multi Purpose Robot for Military
Application
3.1 Objective
The main objective of this sytem is to design a robot which is capable of detecting
human beings and land mines in its path and which is wirelessly controlled through PC using
Zigbee technology and the live images of the war field can be seen on the TV.
3.2 Block Diagram of existing system
Regulated Power Supply
RS232 Target
Zigbee
Interfacing system(LASER)
Motor DC
Metal detection sensor
Driver Motors
Micro
PIR Sensor Controller Crystal
PIC Oscillator
16F877A
Battery LED
9V Indicators
s
Buzzer
AV Video
Transmitt Camera
er
Fig. 3.1 Robotic section of Multipurpose Robot

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Battery 9V
PC RS232 Zigbee
Interfacing
Fig. 3.2 PC Section of Multipurpose Robot
Power Supply
TV AV Receiver
Fig. 3.3 TV Section of Multipurpose robot
3.3 Description
This prototype of military robot is used in war fields to know about the status of the
enemies around that area. It monitors the area in various positions with a camera by
controlling the Robot with the help of PC commands using Zigbee wireless communication.
This Robot makes use of a micro controller, which is programmed, with the help of
embedded C instructions. This Microcontroller is capable of communicating with input and
output modules. The controller is interfaced with dc motors, which are fixed to the Robot to
control the direction of the Robot. the robot moves according to the instructions given by
Computer.
Whenever the user presses a button in the PC, the data related to that button is sent
through Zigbee module interfaced to PC. This data will be received by the Zigbee module in
the robot system and feds this to Microcontroller which judges the relevant task to the
information received and acts accordingly.

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The Robot has PIR sensor which will detect the intruder or an unauthorized person.
Metal detection sensor is also present to detect any land mines present under the ground.
When a land mine is detected, the Robot will stop and displays a command “metal detected”
on the PC through Zigbee.
This robot also shoots using the laser light.The live images from the camera in the
robot system can be sent to TV through AV system.
3.4 Advantages
 Detection of metals in mines.

 This Robot can be operated from anywhere in the world.
 Fast response.
 Efficient and low cost design.
 Low power consumption.
 Wireless controlling of Robot through PC using Zigbee Technology.
3.5 Disadvantages
 Limited distance.
 Low range
 Setting up of communication between robot and rescue control unit
 Noisy wireless communication link between robot and control unit ultimately stopped
robot to function
3.6 Applications
 It can be used in places where humans cannot work.

 Mainly in military applications, robots play a vital role for detection of explosives.
 Can be used to detect metals.
 Can be used in mines.
 Security system.
 Remote surveillance for War fields.

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CHAPTER 4
PROPOSED SYSTEM
4.1 Objective
The main objective of the proposed system is to implement a robot which is based on
camouflage technology to minimize the number of human losses. It changes its color with
respect to surface. It can be controlled by smart phone using internet of things.
4.2 Block Diagram of proposed system
RGB
LED
DC Motor Motor DC
motor driver driver Motor
circuit ciruit
r
Color
Arduino Mega sensor
IR
2560
sensor
Node
MCU
Gas
sensor
Camera Power supply
Fig. 4.1 Block diagram of proposed system
Block diagram consists of Arduino Mega, Node MCU, Color sensor, IR sensor, Gas sensor,
RGB LED , DC motors, Driver circuit, Power supply and Camera. And BLYNK APP which

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is used to control the movement of the robot and even the output parameters are displayed
using the BLYNK Platform.
4.3 Working
1. The movement of robot is controlled by the 4 controllers in BLYNK platform.
2. The color sensor detects the surface color and the Arduino mega controller of robot then
will process the received data and will turn on the LED according to the color received.
3. When IR sensor detects the obstacle, the respective controller in BLYNK app switches to
high state. Similarly when gas detected it will be shown by the respective controller.
4. Live video streaming from the robot end is received using app.
4.4 Tools Required
Hardware Tools:
 Arduino Mega
 Node MCU
 Color sensor
 IR sensor
 Gas sensor
 RGB LED
 Driver motor circuit
 DC Motors
Software Tools:
 Arduino IDE software
 BLYNK APP
4.5 Applications
 Used in high altitude areas where human cannot survive

 Army field
 Authorized areas
 At places such as where there can be threats from intruders or terrorists.
 Wild life photography

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CHAPTER 5
HARDWARE IMPLEMENTATION
5.1 Arduino mega 2560
Fig. 5.1 Arduino Mega 2560
5.1.1 Overview
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560

(datasheet). It has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16
analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, 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 a AC to-DC adapter or battery to get started. The Mega is compatible with most shields
designed for the Arduino Duemilanove or Diecimila.
5.1.2 Power
The Arduino Mega can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by
plugging a 2.1mm center-positive plug into the board's power jack. Leads from a battery can
be inserted in the Gnd and Vin pin headers of the POWER connector. The board can operate
on an external supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may

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supply less than five volts and the board may be unstable. If using more than 12V, the voltage
regulator may overheat and damage the board. The recommended range is 7 to 12 volts. The
Mega2560 differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.
The power pins are as follows
● VIN The input voltage to the Arduino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source). You can
supply voltage through this pin, or, if supplying voltage via the power jack, access it through
this pin.
5.1.3 Memory
The ATmega2560 has 256 KB of flash memory for storing code (of which 8 KB is
used for the boot loader), 8 KB of SRAM and 4 KB of EEPROM
5.1.4 Input and Output
Each of the 54 digital pins on the Mega can be used as an input or output, using
pinMode() , digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by
default) of 20-50 kOhms. In addition, some pins have specialized functions:
● Serial: 0 (RX) and 1 (TX); Serial 1: 19 (RX) and 18 (TX); Serial 2: 17 (RX) and 16 (TX);
Serial 3: 15 (RX) and 14 (TX). Used to receive (RX) and transmit (TX) TTL serial data. Pins
0 and 1 are also connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial
chip.
● External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19 (interrupt 4), 20
(interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an interrupt on a
low value, a rising or falling edge, or a change in value. See the attachInterrupt() function for
details.
● PWM: 0 to 13. Provide 8-bit PWM output with the analogWrite() function.

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● SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI communication
using the SPI library. The SPI pins are also broken out on the ICSP header, which is
physically compatible with the Uno, Duemilanove and Diecimila.
● LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.
● I2C: 20 (SDA) and 21 (SCL). Support I2C (TWI) communication using the Wire library
(documentation on the Wiring website). Note that these pins are not in the same location as
the I2C pins on the Duemilanove or Diecimila.
The Mega2560 has 16 analog inputs, each of which provide 10 bits of resolution (i.e. 1024
different values). By default they measure from ground to 5 volts, though is it possible to
change the upper end of their range using the AREF pin and analogReference() function.
There are a couple of other pins on the board:
● AREF Reference voltage for the analog inputs. Used with analogReference()
● Reset Bring this line LOW to reset the microcontroller. Typically used to add a reset button
5.1.5 Communication
The Arduino Mega2560 has a number of facilities for communicating with a

computer, another Arduino, or other microcontrollers. The ATmega2560 provides four
hardware UARTs for TTL (5V) serial communication. An ATmega8U2 on the board
channels one of these over USB and provides a virtual com port to software on the computer
(Windows machines will need a .inf file, but OSX and Linux machines will recognize the
board as a COM port automatically. The Arduino software includes a serial monitor which
allows simple textual data to be sent to and from the board. The RX and TX LEDs on the
board will flash when data is being transmitted via the ATmega8U2 chip and USB
connection to the computer (but not for serial communication on pins 0 and 1). A Software
Serial library allows for serial communication on any of the Mega2560's digital pins. The
ATmega2560 also supports I2C (TWI) and SPI communication. The Arduino software
includes a Wire library to simplify use of the I2C bus; see the documentation on the Wiring
website for details. For SPI communication, use the SPI library.

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5.1.6 Programming
The Arduino Mega can be programmed with the Arduino software (download). For
details, see the reference and tutorials. The ATmega2560 on the Arduino Mega comes pre
burned with a boot loader that allows you to upload new code to it without the use of an
external hardware programmer. It communicates using the original STK500 protocol
(reference, C header files). You can also bypass the boot loader and program the
microcontroller through the ICSP (InCircuit Serial Programming) header; see these
instructions for details
5.2 Node MCU
Fig. 5.2 NodeMCU
NodeMCU is an open source IoT platform. It includes firmware which runs on the
ESP8266 Wi-Fi SoC from Espressif Systems, and hardware which is based on the ESP-12
module. The term “NodeMCU” by default refers to the firmware rather than the DevKit. The
firmware uses the Lua scripting language. It is based on the eLua project, and built on the
Espressif Non-OS SDK for ESP8266. It uses many open source projects, such as lua-cjson,
and spiffs. This module comes with a built in USB connector and a rich assortment of pin-
outs. With a micro USB cable, you can connect NodeMCU devkit to your laptop and flash it
without any trouble, just like Arduino. It is also immediately breadboard friendly.
5.2.1 Features
 Version: DevKit v1.0 Breadboard Friendly Light Weight and small size. 3.3V
operated, can be USB powered.

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 Uses wireless protocol 802.11b/g/n. Built-in wireless connectivity capabilities.

 Built-in PCB antenna on the ESP-12E chip.
 Capable of PWM, I2C, SPI, UART, 1-wire, 1 analog pin. Uses CP2102 USB Serial
Communication interface module.
 Arduino IDE compatible (extension board manager required).
 Supports Arduino C programming language.
5.2.2 Pin out diagram
Fig. 5.3 Pin out diagram

5.2.3 Specifications
Table 1.1: Specifications
Wireless Standard IEEE 802.11 b/g/n
Frequency Range 2.412 - 2.484 GHz
Power Transmission 802.11b : +16 ± 2 dBm (at 11 Mbps)
802.11g : +14 ± 2 dBm (at 54 Mbps)
802.11n : +13 ± 2 dBM (at HT20,MCS7)
Receiving Sensitivity 802.11b : -93 dBm (at 11 Mbps, CCK)
802.11g : -85 dBm (at 54 Mbps, OFDM)
802.11n : -82 dBm (at HT20, MCS7)

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Wireless Form On-board PCB Antenna

IO Capability UART, I2C, PWM, GPIO, 1 ADC
Electrical Characteristic 3.3 V Operated
15 mA output current per GPIO pin
12 - 200 mA working current Less than
200uA standby current
Operating Temperature -40 to +125 ºC
Serial Transmission 110 - 921600 bps, TCP Client 5
Security Type WEP / WPA-PSK
Encryption Type WEP64 / WEP128 / TKIP / AES
5.2.4 ESP8266
Fig. 5.4 ESP8266

The ESP8266 is the name of a micro controller designed by Espressif Systems. The
ESP8266 itself is a self-contained WiFi networking solution offering as a bridge from
existing micro controller to WiFi and is also capable of running self-contained applications.
5.2.4.1 Specifations
 Voltage:3.3V.
 Wi-Fi Direct (P2P), soft-AP.
 Current consumption: 10uA~170mA.
 Flash memory attachable: 16MB max (512K normal).
 Integrated TCP/IP protocol stack.
 Processor: Tensilica L106 32-bit.

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 Processor speed: 80~160MHz.

 RAM: 32K + 80K.
 GPIOs: 17 (multiplexed with other functions).
 Analog to Digital: 1 input with 1024 step resolution.
 +19.5dBm output power in 802.11b mode
 802.11 support: b/g/n.
 Maximum concurrent TCP connections: 5
5.2.4.2 Pin out diagram
Fig. 5.5 Pin out diagram
5.2.4.3 Pin descriptions

There are altogether 22 pin counts, the definitions of which are described in Table
below.

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Table 1.2: Pin descriptions of ESP8266

NO PIN NAME FUNCTION
1 RST Reset the module
2 ADC A/D Conversion result Input voltage range 0-1v,scope:0-
1024
3 EN Chip enable pin, Active high
4 IO16 Can be used to wake up the cheapest form deep sleep mode
5 IO14 GPIO14;HSPI_CLK
6 IO12 GPIO12;HSPI_MISO
7 IO13 GPIO13;HSPI_MOSI;UART0_CTS
8 VCC 3.3V power supply(VDD)
9 CS0 Chip selection
10 MISO Slave output Main input
11 IO9 GPIO9
12 IO10 GBIO10
13 MOSI Main output slave input
14 SCLK Clock
15 GND GND
16 IO15 GPIO15;MTDO;HSPICS;UART0_RTS
17 IO2 GPIO0
18 1O0 GPIO4
19 IO4 GPIO5
20 IO5 UART0_RXD;GPIO3
21 RXD UART_TXD;GPIO3
22 TXD UART0_TXD;GPIO1
Table 1.3 : Pin Mode of ESP8266

MODE GPIO15 GPIO0 GPIO2
UART Low Low High
Flash boot Low High High

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5.2.4.4 Packaging and dimension

The external size of the module is 16mm*24mm*3mm, as is illustrated in Figure 3
below. The type of flash integrated in this module is an SPI flash, the capacity of which is 4
MB, and the package size of which is SOP-210mil. The antenna applied on this module is a
3DBi PCB-on-board antenna.
5.2.4.5 Functional description
5.2.4.5.1 MCU
ESP8266EX is embedded with Tensilica L106 32-bit micro controller (MCU), which
features extra low power consumption and 16-bit RSIC. The CPU clock speed is 80MHz. It
can also reach a maximum value of 160MHz. ESP8266EX is often integrated with external
sensors and other specific devices through its GPIOs; codes for such applications are
provided in examples in the SDK.
5.2.4.5.2 Memory organization
Internal SRAM and ROM
ESP8266EX WiFi SoC is embedded with memory controller, including SRAM and
ROM. MCU can visit the memory units through iBus, dBus, and AHB interfaces. All
memory units can be visited upon request, while a memory arbiter will decide the running
sequence according to the time when these requests are received by the processor. According
to our current version of SDK provided, SRAM space that is available to users is assigned as
below: ▪RAM size < 36kB, that is to say, when ESP8266EX is working under the station
mode and is connected to the router, programmable space accessible to user in heap and data
section is around 36kB.)
▪ There is no programmable ROM in the SoC, therefore, user program must be stored in an
external SPI flash.
External SPI Flash
This module is mounted with an 4 MB external SPI flash to store user programs. If
larger definable storage space is required, a SPI flash with larger memory size is preferred.
Theoretically speaking, up to 16 MB memory capacity can be supported. Suggested SPI
Flash memory capacity:
▪OTA is disabled: the minimum flash memory that can be supported is 512 kB;
▪OTA is enabled: the minimum flash memory that can be supported is 1 MB.

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Several SPI modes can be supported, including Standard SPI, Dual SPI, and Quad SPI.
Therefore, please choose the correct SPI mode when you are downloading into the flash,
otherwise firm wares/programs that you downloaded may not work in the right way.
5.3 TCS3200 Color sensor
Fig. 5.6 TCS3200

5.3.1 Description
The TCS3200 and TCS3210 are programmable color light-to-frequency converters
that combine configurable silicon photodiodes and a current-to-frequency converter on a
single monolithic CMOS integrated circuit. The output is a square wave (50% duty cycle)
with frequency directly proportional to light intensity (irradiance).
The full-scale output frequency can be scaled by one of three preset values via two
control input pins. Digital inputs and digital output allow direct interface to a microcontroller
or other logic circuitry. Output enable (OE) places the output in the high-impedance state for
multiple-unit sharing of a microcontroller input line.
In the TCS3200, the light-to-frequency converter reads an 8 x 8 array of photodiodes.
Sixteen photodiodes have blue filters, 16 photodiodes have green filters, 16 photodiodes have
red filters, and 16 photodiodes are clear with no filters.
The four types (colors) of photodiodes are inter digitated to minimize the effect of
non-uniformity of incident irradiance. All photodiodes of the same color are connected in
parallel. Pins S2 and S3 are used to select which group of photodiodes (red, green, blue,
clear) are active. Photodiodes are 110 μm x 110 μm in size and are on 134-μm centers.

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Fig.5.7 Top view of TCS3200
5.3.2 Functional Block Diagram
Output
Light Photodiode Current-to-Frequency

Array converter
S2 S3 S0 S1 𝑂𝐸
Fig. 5.8 Functional Block diagram

The TCS230 senses color light with the help of an 8 x 8 array of photodiodes. Then
using a Current-to-Frequency Converter the readings from the photodiodes are converted into
a square wave with a frequency directly proportional to the light intensity. Finally, using the
Arduino Board we can read the square wave output and get the results for the color.
If we take a closer look at the sensor we can see how it detects various colors. The
photodiodes have three different color filters. Sixteen of them have red filters, another 16
have green filters, another 16 have blue filters and the other 16 photodiodes are clear with no
filters.
Each 16 photodiodes are connected in parallel, so using the two control pins S2 and
S3 we can select which of them will be read. So for example, if we want to detect red color,
we can just use the 16 red filtered photodiodes by setting the two pins to low logic level
according to the table.

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Table 1.4 : Selectable options

S0 S1 OUTPUT FREQUENCY SCALING (f0)
L L Power down
L H 2%
H L 20%
H H 100%
S2 S3 PHOTODIODE TYPE
L L Red
L H Blue
H L Clear(no filter)
H H Green
The sensor has two more control pins, S0 and S1 which are used for scaling the output
frequency. The frequency can be scaled to three different preset values of 100 %, 20 % or
2%. This frequency-scaling function allows the output of the sensor to be optimized for
various frequency counters or microcontrollers.
5.3.3 Features
 High-Resolution Conversion of Light Intensity to Frequency
 Programmable Color and Full-Scale Output Frequency
 Communicates Directly With a Microcontroller
 Single-Supply Operation (2.7 V to 5.5 V)
 Power Down Feature
 Nonlinearity Error Typically 0.2% at 50 kHz
 Stable 200 ppm/°C Temperature Coefficient
 Low-Profile Lead (Pb) Free and RoHS Compliant Surface-Mount Package

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5.3.4 Terminal Functions
Table 1.5: Terminal functions

TERMINAL
NAME NO I/O DESCRIPTION
GND 4 Power supply ground. All voltages
- are referenced to GND.
OE 3 I Enable for f0 (active low).
OUT 6 O Output frequency (f0)
S0,S1 1,2 I Output frequency scaling selection
inputs.
S2,S3 7,8 I Photodiode type selection inputs.
VDD 5 - Supply voltage
5.3.5 APPLICATION INFORMATION
5.3.5.1 Power supply considerations
Power-supply lines must be decoupled by a 0.01-μF to 0.1-μF capacitor with short
leads mounted close to the device package.
5.3.5.2 Input interface
A low-impedance electrical connection between the device OE pin and the device
GND pin is required for improved noise immunity. All input pins must be either driven by a
logic signal or connected to VDD or GND — they should not be left unconnected (floating).
5.3.5.3 Output interface
The output of the device is designed to drive a standard TTL or CMOS logic input
over short distances. If lines greater than 12 inches are used on the output, a buffer or line
driver is recommended. A high state on Output Enable (OE) places the output in a high-
impedance state for multiple-unit sharing of a microcontroller input line.
5.3.5.4 Power down
Powering down the sensor using S0/S1 (L/L) will cause the output to be held in a
high-impedance state. This is similar to the behavior of the output enable pin, however
powering down the sensor saves significantly more power than disabling the sensor with the
output enable pin.

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5.3.5.5 Photodiode type (color) selection

The type of photodiode (blue, green, red, or clear) used by the device is controlled by
two logic inputs, S2 and S3.
5.3.5.6 Output frequency scaling
Output-frequency scaling is controlled by two logic inputs, S0 and S1. The internal
light-to-frequency converter generates a fixed-pulse width pulse train. Scaling is
accomplished by internally connecting the pulse-train output of the converter to a series of
frequency dividers. Divided outputs are 50%-duty cycle square waves with relative frequency
values of 100%, 20%, and 2%. Because division of the output frequency is accomplished by
counting pulses of the principal internal frequency, the final-output period represents an
average of the multiple periods of the principle frequency.
The output-scaling counter registers are cleared upon the next pulse of the principal
frequency after any transition of the S0, S1, S2, S3, and OE lines. The output goes high upon
the next subsequent pulse of the principal frequency, beginning a new valid period. This
minimizes the time delay between a change on the input lines and the resulting new output
period. The response time to an input programming change or to an irradiance step change is
one period of new frequency plus 1 μs. The scaled output changes both the full-scale
frequency and the dark frequency by the selected scale factor.
The frequency-scaling function allows the output range to be optimized for a variety
of measurement techniques. The scaled-down outputs may be used where only a slower
frequency counter is available, such as low-cost microcontroller, or where period
measurement techniques are used.
5.3.5.7 Measuring the frequency
The choice of interface and measurement technique depends on the desired resolution and
data acquisition rate. For maximum data-acquisition rate, period-measurement techniques are
used.
Output data can be collected at a rate of twice the output frequency or one data point
every microsecond for full-scale output. Period measurement requires the use of a fast
reference clock with available resolution directly related to reference clock rate. Output
scaling can be used to increase the resolution for a given clock rate or to maximize resolution
as the light input changes. Period measurement is used to measure rapidly varying light levels
or to make a very fast measurement of a constant light source.
Maximum resolution and accuracy may be obtained using frequency-measurement,
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pulse-accumulation, or integration techniques. Frequency measurements provide the added

benefit of averaging out random- or high-frequency variations (jitter) resulting from noise in
the light signal. Resolution is limited mainly by available counter registers and allowable
measurement time. Frequency measurement is well suited for slowly varying or constant light
levels and for reading average light levels over short periods of time. Integration (the
accumulation of pulses over a very long period of time) can be used to measure exposure, the
amount of light present in an area over a given time period.
5.4 MQ135 Gas sensor
Fig. 5.9 MQ135 Gas sensor
The air quality sensor is also a MQ-135 sensor for detecting venomous gases that are
present in the air in homes and offices. The gas sensor layer of the sensor unit is made up of
tin dioxide (SnO2); it has lower conductivity compare to clean hair and due to air pollution
the conductivity is increases. The air quality sensor detects ammonia, nitrogen oxide, smoke,
CO2 and other harmful gases. The air quality sensor has a small potentiometer that permits
the adjustment of the load resistance of the sensor circuit. The 5V power supply is used for
air quality sensor.
The air quality sensor is a signal output indicator instruction. It has two outputs:
analog output and TTL output. The TTL output is low signal light which can be accessed
through the IO ports on the Microcontroller. The analog output is an concentration, i.e.
increasing voltage is directly proportional to increasing concentration. This sensor has a long
life and reliable stability as well.

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5.4.1 Pin configuration

Table 1.6: Pin configuration of Gas sensor
PIN NO PIN NAME PIN CONFIGURATION
For module
Used to power the sensor,
1 Vcc generally the operating
voltage is +5V
Used to connect the
2 Ground module to system ground
You can also use this

sensor to get digital output
3 Digital out from this pin, by setting a
threshold value using the
potentiometer
This pin outputs 0-5v
4 Analog out analog voltage based on
the intensity of the gas
For sensor
Out of the two H pins, one
1 H-pins pin is connected to supply
and the other to ground
The A pins and B pins are
2 A-pins interchangeable. These
pins will be tied to the
Supply voltage.
A pins and B pins are
interchangeable. One pin
3 B-pins
will act as output while the
other will be pulled to
ground
5.4.2 Features
 Wide detecting scope

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 Fast response and High sensitivity

 Stable and long life
 Operating Voltage is +5V
 Detect/Measure NH3, NOx, alcohol, Benzene, smoke, CO2, etc.
 Analog output voltage: 0V to 5V
 Digital output voltage: 0V or 5V (TTL Logic)
 Preheat duration 20 seconds
 Can be used as a Digital or analog sensor
 The Sensitivity of Digital pin can be varied using the potentiometer
5.4.3 Selecting between sensor and module
When it comes to measuring or detecting a particular Gas the MQ series Gas sensors
are the most inexpensive and commonly used ones. MQ135 is available as a module or as
just the sensor alone. If you are trying to only detect (not measuring PPM) the presence of a
gas then you can buy it as a module since it comes with an op-amp comparator and a digital
output pin. But if you planning to measure the PPM of a gas it is recommend buying the
sensor alone without module.
Where to use MQ-135 Gas sensor
The MQ-135 Gas sensors are used in air quality control equipments and are suitable
for detecting or measuring of NH3, NOx, Alcohol, Benzene, Smoke, CO2. The MQ-135
sensor module comes with a Digital Pin which makes this sensor to operate even without a
microcontroller and that comes in handy when you are only trying to detect one particular
gas. If you need to measure the gases in PPM the analog pin need to be used. The analog pin
is TTL driven and works on 5V and so can be used with most common microcontrollers.
If you are looking for a sensor to detect or measure common air quality gases such as CO2,
Smoke, NH3, NOx, Alcohol, Benzene then this sensor might be the right choice for you.
How to use MQ-135 Sensors to detect gases
You can either use the digital pin or the analog pin to do this. Simply power the
module with 5V and you should notice the power LED on the module to glow and when no
gas it detected the output LED will remain turned off meaning the digital output pin will be

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0V. Remember that these sensors have to be kept on for pre-heating time (mentioned in
features above) before you can actually work with it. Now, introduce the sensor to the gas
you want to detect and you should see the output LED to go high along with the digital pin, if
not use the potentiometer until the output gets high. Now every time your sensor gets
introduced to this gas at this particular concentration the digital pin will go high (5V) else
will remain low (0V).
You can also use the analog pin to achieve the same thing. Read the analog values (0-
5V) using a microcontroller, this value will be directly proportional to the concentration of
the gas to which the sensor detects. You can experiment with this values and check how the
sensor reacts to different concentration of gas and develop your program accordingly.
5.4.4 Characteristics
 Good sensitivity to harmful gases in wide range.

 It has long life and low cost.
 Possesses high sensitivity to ammonia, benzene, sulfide gases.
 It is a simple drive circuit.
5.4.5 Applications
 Used to detect leakage/excess of gases like Ammonia, nitrogen oxide, alcohols,

aromatic compounds, sulfide and smoke.
 Air quality monitors.
 Domestic air pollution detection
 Industrial pollution detection
 Portable air pollution detection
5.5 IR SENSOR
Fig. 5.10 IR sensor

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An infrared sensor is an electronic device, that emits in order to sense some aspects of
the surroundings. An IR sensor can measure the heat of an object as well as detects the
motion. These types of sensors measures only infrared radiation, rather than emitting it that is
called as a passive IR sensor. Usually in the infrared spectrum, all the objects radiate some
form of thermal radiations. These types of radiations are invisible to our eyes, that can be
detected by an infrared sensor .The emitter is simply an IR LED (Light Emitting Diode) and
the detector is simply an IR photodiode which is sensitive to IR light of the same wavelength
as that emitted by the IR LED. When IR light falls on the photodiode, The resistances and
these output voltages, change in proportion to the magnitude of the IR light received.
The basic concept of IR(infrared) obstacle detection is to transmit the IR

signal(radiation) in a direction and a signal is received at the IR receiver when the IR
radiation bounces back from a surface of the object.
5.5.1 Features
 There is an obstacle, the green indicator light on the circuit board

 Digital output signal
 Detection distance: 2 ~ 30cm
 Detection angle: 35 ° Degree
 Comparator chip: LM393
 Adjustable detection distance range via potentiometer:
o Clockwise: Increase detection distance
o Counter-clockwise: Reduce detection distance
 Working voltage: 3 - 5V DC
 Output type: Digital switching output (0 and 1)
 3mm screw holes for easy mounting
 Board size: 3.2 x 1.4cm

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Table 1.7 :Pin description
Pin, Control
Description
Indicator
Vcc 3.3 to 5 Vdc Supply Input
Gnd Ground Input
Out Output that goes low when obstacle is in range
Power LED Illuminates when power is applied
Obstacle LED Illuminates when obstacle is detected
Adjust detection distance. CCW decreases distance.
Distance Adjust
CW increases distance.
IR Emitter Infrared emitter LED
Infrared receiver that receives signal transmitted by Infrared
IR Receiver
emitter.
5.5.4 Applications
 Radiation Thermometers
 Flame Monitors
 Moisture Analyzers
 Gas Analyzers
5.6 RGB LED
Fig. 5.11 RGB LED

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Table 1.8: Pin configuration of LED
PIN NO PIN NAME DESCRIPTION

1 R This terminal used for
glowing LED in Red color
2 Gnd Common Cathode terminal
(Ground)
3 G This terminal used for
glowing LED in Green color
4 B This terminal used for
glowing LED in Blue color
 Low Thermal Resistance

 No UV rays
 Super High flux Output and High luminance
 Forward Current for Red, Blue and Green color: 20mA
 Forward Voltage
o Red: 2v (typical)
o Blue: 3.2(typical)
o Green: 3.2(typical)
 Luminous Intensity
o Red: 800 mcd
o Blue: 4000 mcd
o Green: 900 mcd
 Wavelength
o Red: 625 nm
o Blue: 520 nm
o Green: 467.5 nm
 Operating Temperature: -25 ℃ to 85 ℃
 Storage Temperature: -30 ℃ to 85 ℃

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Where RGB LED are Used?
A RGB LED is commonly used component in electronics, generally, as it is used for

indication purpose. You can use RGB LED in various projects like portable flashlight, LED
indicator etc. An RGB LED can also be used for work according to condition like for
condition 1st Red will glow, for condition 2nd green will glow and for condition 3rd blue will
glow. We can use three different LED to perform the same task but this will increase the size
of circuit and took more space on PCB.
5.6.3 Features
 Uniform light output.

 Low power consumption.
 I.C. compatible.
 Long life solderability.
 Common Cathode. Descriptions
 The Red source colour devices are made with AlGaInP on GaAs substrate.
 The Green source colour devices are made with InGaN on sic.
 The Blue source colour devices are made with InGaA1N on sic.
Usage Notes
 The ultra bright LED is an electrostatic sensitive device, so static electricity and surge
will damage the LED.
 It is required to wear a wrist-band when handling the LED. All device, equipment,
machinery, desk and ground must be properly grounded.
 When using LED, it must use a protective resistor in series with DC current about
20mA.
5.6.4 Applications
 Industrial Application
 Portable Flashlight/ torchlight
 Light guides
 Decorative Lighting

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 LCD backlight
 Multi-color Light
 Status indicators.
 Commercial use.
 Advertising signs.
5.7 L293D Motor driver IC
Fig. 5.12 L293D IC
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as
current amplifiers since they take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and reverse
direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7
and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will
rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to
start operating. When an enable input is high, the associated driver gets enabled. As a result,
the outputs become active and work in phase with their inputs. Similarly, when the enable
input is low, that driver is disabled, and their outputs are off and in the high-impedance.

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5.7.1 Pin diagram
Fig. 5.13 Pin diagram
5.7.2 Pin description
Table 1.9: Pin description of L293D
Pin No Name Function
1 Enable1,2 Enable pin for motor1;active high
2 Input 1 Input 1 for motor1
3 Output 1 Output1for motor1
4 Ground Ground(0v)
5 Ground Ground(0v)
6 Output 2 Output 2 for Motor 1
7 Input 2 Input 2 for Motor1
8 VCC 2 Supply voltage for Motors;9-12v (up to

36V)

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9 Enable 3,4 Enable pin for Motor2;active high
10 Input 3 Input1 for Motor1
11 Output 3 Output 1 for Motor1
12 Ground Ground(0v)
13 Ground Ground(0V)
14 Output 4 Output for Motor1
15 Input 4 Input2 for Motor 1
16 Vcc1 Supply voltage;5V(up to 36V)
5.7.3 Features
 Can be used to run Two DC motors with the same IC.

 Speed and Direction control is possible
 Motor voltage Vcc2 (Vs): 4.5V to 36V
 Maximum Peak motor current: 1.2A
 Maximum Continuous Motor Current: 600mA
 Supply Voltage to Vcc1(vss): 4.5V to 7V
 Transition time: 300ns (at 5Vand 24V)
 Automatic Thermal shutdown is available
 Available in 16-pin DIP, TSSOP, SOIC packages
Where to use L293D IC
The L293D is a popular 16-Pin Motor Driver IC. As the name suggests it is mainly
used to drive motors. A single L293D IC is capable of running two DC motors at the same
time; also the direction of these two motors can be controlled independently. So if you have
motors which has operating voltage less than 36V and operating current less than 600mA,
which are to be controlled by digital circuits like Op-Amp, 555 timers, digital gates or even
Micron rollers like Arduino, PIC, ARM etc.. this IC will be the right choice for you.

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How to use a L293D Motor Driver IC
Using this L293D motor driver IC is very simple. The IC works on the principle
of Half H-Bridge, let us not go too deep into what H-Bridge means, but for now just know
that H bridge is a set up which is used to run motors both in clock wise and anti clockwise
direction. As said earlier this IC is capable of running two motors at the any direction at the
same time, the circuit to achieve the same is shown below.
Fig.5.14 Circuit diagram
All the Ground pins should be grounded. There are two power pins for this IC, one is
the Vss(Vcc1) which provides the voltage for the IC to work, this must be connected to +5V.
The other is Vs(Vcc2) which provides voltage for the motors to run, based on the
specification of your motor you can connect this pin to anywhere between 4.5V to 36V, here
I have connected to +12V.
The Enable pins (Enable 1,2 and Enable 3,4) are used to Enable Input pins for Motor
1 and Motor 2 respectively. Since in most cases we will be using both the motors both the
pins are held high by default by connecting to +5V supply. The input pins Input 1,2 are used
to control the motor 1 and Input pins 3,4 are used to control the Motor 2. The input pins are
connected to the any Digital circuit or microcontroller to control the speed and direction of
the motor. You can toggle the input pins based on the following table to control your motor.

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Table 1.10: Operation
Input 1=HIGH(5V) Output1= HIGH Motor 1 rotates in Clock wise

Direction
Input 2 =LOW(0V) Output 2= LOW
Input 3= HIGH(5V) Output 1 = HIGH Motor 2 rotates in Clock wise

Direction
Input 4=LOW(0V) Output 2 = LOW
Input 1 = LOW (0V) Output 1 = LOW Motor 1 rotates in Anti-

Clock wise Direction
Input 2 = HIGH (5V) Output 2 = HIGH
Input 3 = LOW(0V) Output 1 = LOW Motor 2 rotates in Anti -

Clock wise Direction
Input 4 = HIGH(5V) Output 2 = HIGH
Input 1 = HIGH (5V) Output 1= HIGH Motor 1 stays still
Input 3 = HIGH (5V) Output 1 = LOW Motor 2 stays still
5.7.4 Applications
 Used to drive high current Motors using Digital Circuits

 Can be used to drive Stepper motors
 High current LED’s can be driven

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CHAPTER 6
SOFTWARE IMPLEMENTATION
6.1 Arduino IDE
The Arduino IDE is incredibly minimalistic, yet it provides a near-complete

environment for most Arduino-based projects. The top menu bar has the standard options,
including “File” (new, load save, etc.), “Edit” (font, copy, paste, etc.), “Sketch” (for
compiling and programming), “Tools” (useful options for testing projects), and “Help”.
The middle section of the IDE is a simple text editor that where you can enter the
program code. The bottom section of the IDE is dedicated to an output window that is
used to see the status of the compilation, how much memory has been used, any errors
that were found in the program, and various other useful message
Fig. 6.1 Arduino IDE page
Projects made using the Arduino are called sketches, and such sketches are
usually written in a cut-down version of C++ (a number of C++ features are not
included). Because programming a microcontroller is somewhat different from
programming a computer, there are a number of device-specific libraries (e.g., changing

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pin modes, output data on pins, reading analog values, and timers). This sometimes
confuses users who think Arduino is programmed in an “Arduino language.” However,
the Arduino is, in fact, programmed in C++. It just uses unique libraries for the device.
To begin, download the Arduino IDE from the Arduino website. Make sure to
select the right version for your Operating System (OS). For a full getting started guide for
each OS, please refer to the Arduino guide. Once the arduino.zip file has been downloaded,
extract the file to a folder somewhere on your computer. There is no install - simply open the
folder and double click the .exe.
Note: If you are running Windows 8, you will likely see "The driver is not digitally signed"
when installing the driver. To install it, you must first disable driver signature enforcement.
6.1.1 Connecting the arduino
Connecting an Arduino board to your PC is quite simple. On Windows:
1. Plug in the USB cable - one end to the PC, and one end to the Arduino board.
2. When prompted, select "Browse my computer for driver" and then select the folder to
which you extracted your original Arduino IDE download.
3. You may receive an error that the board is not a Microsoft certified device - select “Install
anyway.”
4. Your board should now be ready for programming.
When programming your Arduino board it is important to know what COM port the Arduino
is using on your PC. On Windows, navigate to Start->Devices and Printers, and look for the
Arduino. The COM port will be displayed underneath.
Alternatively, the message telling you that the Arduino has been connected successfully in
the lower-left hand corner of your screen usually specifies the COM port is it using.
6.1.2 Preparing the board
Before loading any code to your Arduino board, you must first open the IDE. Double
click the Arduino .exe file that you downloaded earlier. A blank program, or "sketch," should
open.

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The Blink example is the easiest way to test any Arduino board. Within the Arduino
window, it can be found under File->Examples->Basics->Blink.
Before the code can be uploaded to your board, two important steps are required.
1. Select your Arduino from the list under Tools->Board. The standard board used in RBE
1001, 2001, and 2002 is the Arduino Mega 2560, so select the "Arduino Mega 2560 or Mega
ADK" option in the dropdown.
2. Select the communication port, or COM port, by going to Tools->Serial Port.
If you noted the COM port your Arduino board is using, it should be listed in the dropdown
menu. If not, your board has not finished installing or needs to be reconnected.
6.1.3 Loading the code
The upper left of the Arduino window has two buttons: A checkmark to Verify your
code, and a right-facing arrow to Upload it. Press the right arrow button to compile and
upload the Blink example to your Arduino board.
The black bar at the bottom of the Arduino window is reserved for messages
indicating the success or failure of code uploading. A "Completed Successfully" message
should appear once the code is done uploading to your board. If an error message appears
instead, check that you selected the correct board and COM port in the Tools menu, and
check your physical connections.
If uploaded successfully, the LED on your board should blink on/off once every
second. Most Arduino boards have an LED prewired to pin 13.
It is very important that you do not use pins 0 or 1 while loading code. It is
recommended that you do not use those pins ever.
Arduino code is loaded over a serial port to the controller. Older models use
an FTDI chip which deals with all the USB specifics. Newer models have either a small AVR
that mimics the FTDI chip or a built-in USB-to-serial port on the AVR micro-controller
itself.
6.2 Embedded C
6.2.1 Introduction to Embedded C

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Looking around, we find ourselves to be surrounded by various types of embedded

systems. Be it a digital camera or a mobile phone or a washing machine, all of them has some
kind of processor functioning inside it. Associated with each processor is the embedded
software. If hardware forms the body of an embedded system, embedded processor acts as the
brain, and embedded software forms its soul. It is the embedded software which primarily
governs the functioning of embedded systems.
During infancy years of microprocessor based systems, programs were developed
using assemblers and fused into the EPROMs. There used to be no mechanism to find what
the program was doing. LEDs, switches, etc. were used to check correct execution of the
program. Some ‘very fortunate’ developers had In-circuit Simulators (ICEs), but they were
too costly and were not quite reliable as well.
As time progressed, use of microprocessor-specific assembly-only as the programming
language reduced and embedded systems moved onto C as the embedded programming
language of choice. C is the most widely used programming language for embedded
processors/controllers. Assembly is also used but mainly to implement those portions of the
code where very high timing accuracy, code size efficiency, etc. are prime requirements.
Initially C was developed by Kernighan and Ritchie to fit into the space of 8K and to
write (portable) operating systems. Originally it was implemented on UNIX operating
systems. As it was intended for operating systems development, it can manipulate memory
addresses. Also, it allowed programmers to write very compact codes. This has given it the
reputation as the language of choice for hackers too.
As assembly language programs are specific to a processor, assembly language didn’t
offer portability across systems. To overcome this disadvantage, several high level languages,
including C, came up. Some other languages like PLM, Modula-2, Pascal, etc. also came but
couldn’t find wide acceptance. Amongst those, C got wide acceptance for not only embedded
systems, but also for desktop applications. Even though C might have lost its sheen as
mainstream language for general purpose applications, it still is having a strong-hold in
embedded programming. Due to the wide acceptance of C in the embedded systems, various
kinds of support tools like compilers & cross-compilers, ICE, etc. came up and all this
facilitated development of embedded systems using C.
Subsequent sections will discuss what is Embedded C, features of C language,
similarities and difference between C and embedded C, and features of embedded C
programming

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6.2.2 Embedded systems programming

Embedded systems programming is different from developing applications on a
desktop computers. Key characteristics of an embedded system, when compared to PCs, are
as follows:
· Embedded devices have resource constraints(limited ROM, limited RAM, limited
stack space, less processing power)
· Components used in embedded system and PCs are different; embedded systems
typically uses smaller, less power consuming components. Embedded systems are more tied
to the hardware.
Two salient features of Embedded Programming are code speed and code size. Code
speed is governed by the processing power, timing constraints, whereas code size is governed
by available program memory and use of programming language. Goal of embedded system
programming is to get maximum features in minimum space and minimum time.
Embedded systems are programmed using different type of languages:
 Machine Code
 Low level language, i.e., assembly
 High level language like C, C++, Java, Ada, etc.
 Application level language like Visual Basic, scripts, Access, etc.
Assembly language maps mnemonic words with the binary machine codes that the
processor uses to code the instructions. Assembly language seems to be an obvious choice for
programming embedded devices. However, use of assembly language is restricted to
developing efficient codes in terms of size and speed. Also, assembly codes lead to higher
software development costs and code portability is not there. Developing small codes are not
much of a problem, but large programs/projects become increasingly difficult to manage in
assembly language. Finding good assembly programmers has also become difficult
nowadays. Hence high level languages are preferred for embedded systems programming.
6.2.3 Difference between c and embedded c
Though C and embedded C appear different and are used in different contexts, they
have more similarities than the differences. Most of the constructs are same; the difference
lies in their applications.
C is used for desktop computers, while embedded C is for microcontroller based
applications. Accordingly, C has the luxury to use resources of a desktop PC like memory,
OS, etc. While programming on desktop systems, we need not bother about memory.
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However, embedded C has to use with the limited resources (RAM, ROM, I/Os) on an
embedded processor. Thus, program code must fit into the available program memory. If
code exceeds the limit, the system is likely to crash.
Compilers for C (ANSI C) typically generate OS dependent executables. Embedded
C requires compilers to create files to be downloaded to the microcontrollers/microprocessors
where it needs to run. Embedded compilers give access to all resources which is not provided
in compilers for desktop computer applications.
Embedded systems often have the real-time constraints, which is usually not there
with desktop computer applications.
Embedded systems often do not have a console, which is available in case of desktop
applications.
So, what basically is different while programming with embedded C is the mindset; for
embedded applications, we need to optimally use the resources, make the program code
efficient, and satisfy real time constraints, if any. All this is done using the basic constructs,
syntaxes, and function libraries of ‘C’.
6.3 Bynk app
Blynk is a Platform with iOS and Android apps to control Arduino, Raspberry Pi and
the likes over the Internet. It's a digital dashboard where you can build a graphic interface for
your project by simply dragging and dropping widgets.It's really simple to set everything up.
Blynk is not tied to some specific board or shield. Instead, it's supporting hardware of
your choice. Whether your Arduino or Raspberry Pi is linked to the Internet over Wi-Fi,
Ethernet or this new ESP8266 chip, Blynk will get you online and ready for the Internet Of
Your Things.
6.3.1 How blynk app works ?
Blynk was designed for the Internet of Things. It can control hardware remotely, it
can display sensor data, it can store data, visualize it and do many other cool things.
There are three major components in the platform:
 Blynk App - allows to you create amazing interfaces for your projects using various
widgets we provide.

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 Blynk Server - responsible for all the communications between the smartphone and
hardware. You can use our Blynk Cloud or run your private Blynk server locally. It’s
open-source, could easily handle thousands of devices and can even be launched on a
Raspberry Pi.
 Blynk Libraries - for all the popular hardware platforms - enable communication with the
server and process all the incoming and out coming commands.
Now imagine every time you press a Button in the Blynk app, the message travel to the
Blynk Cloud, where it finds its way to your hardware. It works the same in the opposite
direction and everything happens in a blynk of an eye
6.3.2 Features
 Similar API & UI for all supported hardware & devices

 Connection to the cloud using:
 WiFi
 Bluetooth and BLE
 Ethernet
 USB (Serial)
 GSM
 Set of easy-to-use Widgets
 Direct pin manipulation with no code writing
 Easy to integrate and add new functionality using virtual pins
 History data monitoring via Super Chart widget
 Device-to-Device communication using Bridge Widget
 Sending emails, tweets, push notifications, etc.
 new features are constantly added

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Fig. 6.2 Communication between blynk app and hardware
6.3.3 What do I need to Blynk ?
1. Hardware.
An Arduino, Raspberry Pi, or a similar development kit.
Blynk works over the Internet. This means that the hardware you choose should be
able to connect to the internet. Some of the boards, like Arduino Uno will need an Ethernet or
Wi-Fi Shield to communicate, others are already Internet-enabled: like the ESP8266,
Raspberri Pi with WiFi dongle, Particle Photon or SparkFun Blynk Board. But even if you
don’t have a shield, you can connect it over USB to your laptop or desktop (it’s a bit more
complicated for newbies, but we got you covered). What’s cool, is that the list of
hardware that works with Blynk is huge and will keep on growing.
2. A Smartphone.
The Blynk App is a well designed interface builder. It works on both iOS and Android
6.3.4 Getting started with the blynk app
1.Create a blynk account
After you download the Blynk App, you’ll need to create a New Blynk account. This account
is separate from the accounts used for the Blynk Forums, in case you already have one.
We recommend using a real email address because it will simplify things later

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Fig. 6.3 Creating Blynk account
Why do I need to create an account?

An account is needed to save your projects and have access to them from multiple
devices from anywhere. It’s also a security measure.
2.Create a new project
After you’ve successfully logged into your account, start by creating a new project.
Fig. 6.4 Creating New project
3.Choose your hardware
Select the hardware model you will use. Check out the list of supported hardware!

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Fig. 6.5 Select hardware
4. Auth token
Auth Token is a unique identifier which is needed to connect your hardware to your
smartphone. Every new project you create will have its own Auth Token. You’ll get Auth
Token automatically on your email after project creation. You can also copy it manually.
Click on devices section and selected required device And you’ll see token :
It’s very convenient to send it over e-mail. Press the e-mail button and the token will
be sent to the e-mail address you used for registration. You can also tap on the Token line and
it will be copied to the clipboard.
Now press the “Create” button.
5. Add a widget
Tap anywhere on the canvas to open the widget box. All the available widgets are
located here. Now pick a button.
Drag-n-Drop - Tap and hold the Widget to drag it to the new position.
Widget Settings - Each Widget has it’s own settings. Tap on the widget to get to them.
The most important parameter to set is PIN
6. RUN the project

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When you are done with the Settings - press the PLAY button. This will switch you
from EDIT mode to PLAY mode where you can interact with the hardware. While in PLAY
mode, you won’t be able to drag or set up new widgets, press STOP and get back to EDIT
mode.

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CHAPTER 7
RESULTS
The entire setup was shown in the below figure
Fig. 7.1 Army Robot
Fig. 7.2 Blynk app

The required setup shows a robot which consists of Arduino mega board, NodeMCU,
Color sensor, IR sensor, Gas sensor, RGB LED,DC motors. And to control the movement of
the robot BLYNK APP is used which shown in Fig. 6.2.The output parameters obtained by
sensors can be read in BLYNK app.

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The color is sensed by the color sensor as the robot moves according to the command
given to it through BLYNK tool, the LED will glow with suitable intensity and match with
ground color. After reacting with color filter on receiving light reflected by ground,
photodiode generates a signal which is analyzed in terms of frequencies and then it gives the
color of ground.
It reproduces the colours (RED,GREEN,BLUE,PINK,YELLOW) accordingly with

the ground surface where it will be moving on with the help of colour sensor as shown in the
below figures.
Fig. 7.3 Red LED glows
Fig. 7.4 Green LED glows

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Fig. 7.5 Blue LED glows
Fig. 7.6 Pink LED glows

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Fig. 7.7 Yellow LED glows
Controlling of robot is done by using the widget JOYSTICK in BLYNK APP

and when IR sensor detects the obstacle, the respective controller in BLYNK app
switches to high state and similarly when Gas sensor detects any dangerous gas ,the
respective controller in BLYNK APP switches to high state.
Fig. 7.8 Obstacle detected

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In the above figure it shows that the obstacle is detected and since no gas is
detected the controller in BLYNK app is in low state.
Fig. 7.9 Gas detected
When dangerous gas is detected the controller in in BLYNK app switches to

HIGH state which is shown in the above figure.

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CONCLUSION
Thus, the proposed system is a substitution to human life. As Human life is always
more prioritize this proposed robot helps to act as a security system and also a life savior.
This system plays an important role of keeping eye on the war field areas and captures the
surroundings. As it is based on the Chameleons color changing effect, the robot changes its
color according to the surrounding environment and is hidden from the enemy’s insight.
Moreover, the camouflaging feature makes it difficult to detect the robot by naked human
eye. The constructed robot is also equipped with wireless camera that will help us to keep eye
on enemy territory and also captures live footage of the surrounding area so that we can
monitorize and analyze the war field’s territory. This proposed system gives an exposure to
design a simple robot that can be used to do multifunction in defense. Manual control is also
employed to control the robot from the mobile using BLYNK APP which is located far away
from the border area. If any obstacle is detected and dangerous gas is detected output
parameters obtained by sensor is monitored and read in BLYNK app which is an open source
platform.

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FUTURE SCOPE
Implementation of the real time camouflage feature to the proposed robot design,
there is scope to improve the system by configuring it with multicolor camouflaging and to
give a feature of autonomy to the proposed design of the robot. With the use of color sensing
camera, all colors can be detected properly. Target is acquired in better accuracy by the use of
finer quality and more precise position sensing devices. Observation and firing platforms are
enabled by wireless data transfer to and from the control station and needs to be separated by
greater distances. Reliability, accuracy, and speed of multiple complex and complicated
activities can be achieved by quantitative and qualitative increase of the sensors. Enhance the
efficiency of power (and / or energy consumption). Functional complexity and increasing the
effectiveness by development of control software and hardware.

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REFERENCES
[1] Premkumar. M “UNMANNED MULTI-FUNCTIONAL ROBOT USING ZIGBEE
ADOPTER NETWORK FOR DEFENSE APPLICATION” International Journal of
Advanced Research in Computer Engineering & Technology (IJARCET) Volume 2, Issue 1,
January 2013.
[2] Akash Ravindran and Akshay Premkumar “CAMOFLAGE TECHNOLOGY”
International Journal of Emerging Technology in Computer Science & Electronics
(IJETCSE) ISSN: 0976-1353 Volume 8 Issue 1 – APRIL 2014.
[3] P. Hymavathi, T.Jyothi “Surveillance Alive Human Detection Robot using X-bee
Technology” SSRG International Journal of Electronics and Communication Engineering
(SSRG-IJECE) – volume issue 4 June 2014.
[4] Dipak Patil, Himali Patil, Abhijeet Patil, Sunil Kalal “Camouflage Technique Based
Multifunctional Army Robot” International Journal of Advanced Research in Electronics and
Communication Engineering (IJARECE) Volume 4, Issue 2, February 2015.
[5] Yadnika Warang, Tejali Mahadik, Supriya Ojha, Asha Rawath “Camouflage Robot-A
Colour Changing Spy Robot” IJARIIE-ISSN (O) - 2395- 4396, Vol-3 Issue-2, 2017.
[6]. Vivek Khot, Ravindra Joshi, Aashay Chavan, Sanket Dhumal “Camouflaged Colour
Changing Robot for Military Purpose” International Journal of Advanced Research in
Computer Science and Software Engineering, Volume 5, Issue 3, March 2015 ISSN: 2277
128X.
[7]. PRATUSH G.: “GSM Controlled Topple Resistant Spy Robot” .In: IEEE Transaction,
2013,No.978-0-76955146-3/1.
[8] Robotics: K . S. Fu, R. C. Gonzalez, C.S.G. Lee, book published by Tata Mc- Graw Hill,
2008, 1st eds, ISBN: 9780070265103( rf transmission).
[9] Vivek Khot, Ravindra Joshi, Aashay Chavan, Sanket Dhumal ,“Camouflaged Colour
Changing Robot for Military Purpose”, International Journal of Advanced Research in
Computer Science and Software Engineering, Volume 5, Issue 3, March 2015.
[10] Yadnika Warang, Tejali Mahadik, Supriya Ojha, Asha Rawat,“Camouflage Robot-A
Colour Changing Spy Robot”, International Journal of Advance Research and Innovative
Ideas in Education, Vol-3 Issue-2 2017.

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APPENDIX
CODE AT RECEIVER:
#define BLYNK_PRINT Serial
#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>
#define Right1 D1
#define Right2 D2
#define Left1 D5
#define Left2 D6
#define OBST D4
#define GAS D0
char auth[] = "18f24d353c2e42b1a651f5971684cda1";
char ssid[] = "Sri";
char pass[] = "12345678";
void moveControl(int x, int y)
{
if(y>220) // FORWARD DIRECTION
{
digitalWrite(Right1,HIGH);
digitalWrite(Right2,LOW);
digitalWrite(Left1,HIGH);
digitalWrite(Left2,LOW);
}
// move BACK
else if(y<30)
{
}
// LEFT DIRECTION
else if(x<30)
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{
}
//RIGHT DIRECTION
else if(x>220)
{
}
// STOP CONDITION
else
{
}}
void setup()
{
Serial.begin(9600);
delay(500);
Serial.println("L293 MOTOR DRIVER CONTROL");
Blynk.begin(auth, ssid, pass);
1111111// initial settings for motors off and direction forward
pinMode(Right1, OUTPUT);
pinMode(Left1, OUTPUT);
pinMode(Right2, OUTPUT);
pinMode(Left2, OUTPUT);

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pinMode(OBST, INPUT);
pinMode(GAS, INPUT);
digitalWrite(OBST, HIGH);
digitalWrite(GAS, HIGH);
digitalWrite(Right1, LOW);
digitalWrite(Left1, LOW);
digitalWrite(Right2, LOW);
digitalWrite(Left2 , LOW);
}
void loop()
{
if(digitalRead(GAS))
Blynk.virtualWrite(V2, 0);
else
if(digitalRead(OBST))
else
Blynk.run();
}
BLYNK_WRITE(V1)
{
int x = param[0].asInt();
int y = param[1].asInt();
moveControl(x,y);
}
CODE AT THE TRANSMITTER:
/*
// TCS230 color recognition sensor
// Sensor connection pins to Arduino are shown in comments
Color Sensor Arduino
----------- --------

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VCC 5V
GND GND
s0 8
s1 9
s2 12
s3 11
OUT 10
OE GND
*/
const int s0 = 8;
const int s1 = 9;
const int s2 = 12;
const int s3 = 11;
const int out = 10;
// LED pins connected to Arduino
int redLed = 2;
int greenLed = 4;
int blueLed = 3;
// Variables
int red = 0;
int green = 0;
int blue = 0;
void setup()
{
Serial.begin(9600);
pinMode(s0, OUTPUT);
pinMode(out, INPUT);
pinMode(redLed, OUTPUT);
pinMode(greenLed, OUTPUT);
pinMode(blueLed, OUTPUT);

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digitalWrite(s0, HIGH);
}
void loop()
{
//Serial.print("R Intensity:");
//Serial.print(red, DEC);
//Serial.print(" G Intensity: ");
//Serial.print(green, DEC);
//Serial.print(" B Intensity : ");
//Serial.print(blue, DEC);
//Serial.println();
color();
if (red < blue && red < green && red >10 && red <30 )
{
Serial.println(" - (Red Color)");
digitalWrite(redLed, HIGH); // Turn RED LED ON
digitalWrite(greenLed, LOW);
digitalWrite(blueLed, LOW);
}
else if (blue < red && blue < green && blue<10)
{
Serial.println(" - (Blue Color)");
digitalWrite(redLed, LOW);
digitalWrite(blueLed, HIGH); // Turn BLUE LED ON
}
else if (green < red && green <20)
{
Serial.println(" - (Green Color)");
digitalWrite(greenLed, HIGH); // Turn GREEN LED ON

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}
else if (red<7 && green<7 && blue<15)
{
Serial.println(" - (Yellow Color)");
digitalWrite(redLed, HIGH);
digitalWrite(greenLed, HIGH); // Turn GREEN LED ON
}
else if (red < 8 && green >=10 && blue < 8)
{
Serial.println(" - (Pink Color)");
digitalWrite(redLed, HIGH);
digitalWrite(greenLed, LOW); // Turn GREEN LED ON
digitalWrite(blueLed, HIGH);
}
else if (red >170 && green >170 && blue>170)
{
}
else{
Serial.println();
}
delay(1000);
}
void color()
{
digitalWrite(s2, LOW);
digitalWrite(s3, LOW);
//count OUT, pRed, RED
red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);

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//count OUT, pBLUE, BLUE

blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
//count OUT, pGreen, GREEN
green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
}

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A Project Report on

IMPLEMENTATION OF CAMOUFLAGE TECHNIQUE

V.SAI CHAITANYA - 15FE1A04F7

Under the esteemed guidance of

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

VIGNAN’S LARA INSTITUTE OF TECHNOLOGY & SCIENCE

VADLAMUDI-522213, GUNTUR Dist, ANDHRA PRADESH

This is to certify that main project work entitled “IMPLEMENTATION OF

Project Guide Head of the Department

Mr. B. Harish., M.Tech., Mr. M. Suman., M.Tech.,

We are very thankful to our beloved coordinators Mrs. P. V. N. LAKSHMI,

SK.RIZWANA AFREEN (15FE1A04E1)

SK.RIZWANA AFREEN (15FE1A04E1)

CHAPTER 1: INTRODUCTION 1-3

1.2 Introduction to Camouflage technique 3

CHAPTER 2: LITERATURE SURVEY 4-5

CHAPTER 3: EXISTING SYSTEM 6-8

3.2 Block Diagram of Existing system 6

CHAPTER 4: PROPOSED SYSTEM 9-10

4.2 Block Diagram 9

4.4 Tools Required 10

CHAPTER 5: HARDWARE IMPLEMENTATION 11-37

5.1.4 Input & Output 12

5.2.2 Pin out diagram 15

5.2.4.2 Pin out diagram 17

5.2.4.3 Pin description 17

5.2.4.4 Packaging and dimension 19

5.2.4.5 Functional description 19

5.2.4.5.2 Memory Organisation 19 .

5.3 TCS3200 Color sensor 20

5.3.2 Functional Block diagram 21

5.3.4 Terminal Functions 23

5.3.5.1 Power supply consideration 23

5.3.5.2 Input interface 23

5.3.5.3 Output interface 23

5.3.5.4 Power down 23

5.3.5.5 Photodiode type(color) selection 24

5.3.5.6 Output frequency scaling 24

5.3.5.7 Measuring the frequency 24

5.4 MQ135 Gas sensor 25

5.4.1 Pin configuration 26

5.4.3 Selecting between sensor & module 27

5.5.3 Pin configuration 29

5.6 RGB LED 30

5.6.1 Pin Configuration 31

5.7.1 Pin diagram 34

5.7.2 Pin description 34

CHAPTER 6: SOFTWARE IMPLEMENTATION 38-48

6.1 Arduino IDE 38

6.1.1 Connecting the arduino 39

6.1.2 Preparing the board 39

6.1.3 Loading the code 40

6.2.1 Introduction to Embedded C 40

6.2.2 Embedded systems programming 42

6.2.3 Difference between C & Embedded C 42

6.3 Blynk App 43

6.3.1 How Blynk App works? 43

6.3.3 What do we need to Blynk? 45

6.3.4 Getting started with Blynk App 45

CHAPTER 7: RESULTS 49-53

Fig.No. Figure Name Page. No.

Fig. 3.1 Robotic section of Multipurpose Robot 6