(Cover Page of Report)

CREATIVE COMPUTING PROJECT REPORT

Title
Gesture Controlled Robot

Project Report Contents

Percentage Contents of
Sr. Report Remarks
Contents
No
.

Title

5%
Index Detail Index

1
Chapter 1
Introduction 20 % Scope of Project

2
Chapter 2

3 Objectives of Project 10 %
 Chapter 3
Block Diagram /
Flow Chart Algorithm
4 10 %
Chapter 4 Write Code of your
5 System Design project
System schematic and specification
Chapter 5
6 35 %
Methodology
Implementation
Chapter 6 Conclusion,
7 Conclusion 20 % Usefulness to

Future Scope

Gesture Controlled Robot

Index

● Objective & Introduction of our project

● Hardware Components
● Working in 3 stages
● Final Result and Codes
● Circuit Diagram
● Future scope/conclusion
● Thank you and references
 Chapter 1. Introduction

The concept behind our gesture controlled prototype is that the motion
of the robot car can be controlled by the orientation of palm
 Chapter 2 .Objectives of the project

This is our small attempt at exploring the replacement of steering wheel

in a car or any moving machine with the simple gestures of our hand
using arduino as our main component.
Chapter 3. Block Diagram
1. ADXL335 (Accelerometer)
2. RF-433 Transmitter and Receiver

-Transmitter Circuit
-Receiver Circuit
4. Combining everything

-Final Circuit diagram of arduino Uno and receiver connected to motor

-Final Circuit diagram of Arduino Nano and Transmitter connected to accelerometer
 Chapter 4. System design, System Schematic and specification

- A test code to understand working of ADXL335 is as follows:

void setup()

pinMode(A0,INPUT); //x-axis is connected to A0

pinMode(A1,INPUT); //y-axis is connected to A1

pinMode(A2,INPUT); //z-axis is connected to A2

Serial.begin(9600); //To print data to Serial Monitor

void loop()

Serial.print(" X= ");

Serial.println(analogRead(A0));

Serial.print(" Y= ");

Serial.println(analogRead(A1));

Serial.print(" Z= ");

Serial.println(analogRead(A2));

delay(1000);

}
 - An example of AFMotor library is as given:

#include <AFMotor.h>

AF_DCMotor motor(4);

//Attach motor wires to point Motor 4 on shield

void setup()

Serial.begin(9600);

// set up Serial library at 9600 bps

Serial.println("Motor test!");

// turn on motor

motor.setSpeed(200);

motor.run(RELEASE);

void loop()

uint8_t i;

Serial.print("tick");

motor.run(FORWARD);

for (i=0; i<255; i++)

motor.setSpeed(i);

delay(10);

for (i=255; i!=0; i--)

motor.setSpeed(i);

delay(10);

}
 Serial.print("tock");

motor.run(BACKWARD);

for (i=0; i<255; i++) {

motor.setSpeed(i);

delay(10);

for (i=255; i!=0; i--) {

motor.setSpeed(i);

delay(10);

Serial.print("tech");

motor.run(RELEASE);

delay(1000);

The Final Code

For Arduino Nano:

int x_axis = 0;

int y_axis = 0;

int forward = 9;

int backward = 10;

int right = 11;

int left = 12;

void setup()
{

pinMode(A0, INPUT); //X-Axis

pinMode(A3, OUTPUT); //Y-Axis

pinMode(forward, OUTPUT); //HIGH to move Forward

pinMode(backward, OUTPUT); //HIGH to move Backward

pinMode(right, OUTPUT); //HIGH to move Right

pinMode(left, OUTPUT); //HIGH to move Left

Serial.begin(9600);

void loop()

x_axis = analogRead(A0);

y_axis = analogRead(A3);

Serial.print(" X = ");

Serial.println(x_axis);

Serial.print(" Y = ");

Serial.println(y_axis);

if (y_axis >= 390)

Serial.println("Forward");

digitalWrite(forward, HIGH);

else

if (y_axis <= 310)

Serial.println("BACK");

digitalWrite(backward, HIGH);

}
 else

if (x_axis >= 380)

Serial.println("RIGHT");

digitalWrite(right, HIGH);

else

if (x_axis <= 320)

Serial.println("LEFT");

digitalWrite(left, HIGH);

Serial.println(" ");

delay(200);

if (x_axis > 320 && x_axis < 380 && y_axis > 310 && y_axis < 390)

digitalWrite(forward, LOW);

digitalWrite(backward, LOW);

digitalWrite(right, LOW);

digitalWrite(left, LOW);

For Arduino Uno:

#include<AFMotor.h>

AF_DCMotor motor_right(3);

AF_DCMotor motor_left(4);

int forward=0;

int backward=0;

int right=0;

int left=0;

void setup()

pinMode(A2,INPUT);

pinMode(A3,INPUT);

pinMode(A4,INPUT);

pinMode(A5,INPUT);

Serial.begin(9600);

motor_right.setSpeed(255);

motor_left.setSpeed(255);

motor_right.run(RELEASE);

motor_left.run(RELEASE);

void loop()

forward=digitalRead(A0);

backward=digitalRead(A1);

right=digitalRead(A2);

left=digitalRead(A3);

if(forward==HIGH)

motor_right.run(FORWARD);

motor_left.run(FORWARD);
 Serial.println("Forward");

if(backward==HIGH)

motor_right.run(BACKWARD);

motor_left.run(BACKWARD);

Serial.println("Reverse");

if(right==HIGH)

motor_right.run(FORWARD);

motor_left.run(RELEASE);

Serial.println("RIGHT");

if(left==HIGH)

motor_right.run(RELEASE);

motor_left.run(FORWARD);

Serial.println("LEFT");

if(left==LOW&&right==LOW&&forward==LOW&&backward==LOW)

motor_right.run(RELEASE);

motor_left.run(RELEASE);

delay(100);

}
 Chapter 5. Methodology and Implementations

1. ADXL335 (Accelerometer)

The function of the accelerometer is simple: to sense the orientation of the wrist. The
accelerometer measures acceleration including the acceleration due to gravity 'g' as well. Thus
we can use the accelerometer to sense the orientation of the wrist by measuring the component of
'g' in any particular axis of ADXL335 as shown in figure below:
Due to tilt of hand, the X and/or Y axis' angle with vertical changes and hence a component of 'g'
acceleration acts upon them as well which can be measured and thus indicates the orientation of
the hand. The ADXL335 can measure up to 3g of acceleration and is interfaced with Arduino by
connecting it's axis pins to Analog pins of Arduino. The accelerometer outputs voltage values
proportional to acceleration. In this project, Accelerometer is connected to Arduino Nano and is
attached to the palm. The ADXL335 outputs voltage in range from 0 to Vcc (Applied voltage
usually 3.3V) and is read by Arduino's Analog pins. Thus for the user, we get a value in range
from 0 to 1024 (10-bit ADC). The different orientation yields a different analog value for each
axis which is then mapped to different robot movements.

2. RF-433 Transmitter and Receiver

The function of RF module is simple: to transmit command data from wrist Arduino Nano to the
motor controlling Arduino Uno. The RF module uses Radio waves at 433hz frequency and thus
the name RF-433. They use Amplitude Modulation to send data, but not getting into much
technicalities and keeping things simple, they will be used to transmit command to the robot, that
is: move forward, backward, right or left. And in case of no data, stand still. They work well up
to 10 meter range.

Now to understand how to implement RF module in our project, let's work on the transmitter and
receiver circuits sequentially.

- Transmitter Circuit

The transmitter circuit consist of two parts: the Transmitter RF and the Encoder HT12E. The
Transmitter consist of one data pin, one antenna, one ground and power. It is the work of HT12E
encoder to provide data to the transmitter. The encoder consists of 4 data pins whose data can be
sent. We will use these 4 data pins to represent the four motions, a HIGH on these pins
individually will represent one of the four motions and a LOW on all represents stand still.
The left hand pins (A0-A7) are the address pins and define the pair which will exchange data
(Transmitter and Receiver having same addresses will only share data). We will set A0-A7 as
LOW (Grounded).

The Data In pins are connected to Arduino digital pins (in this project 6 to 9) and they will
output the command data as:

Digital Pin Command (When HIGH)

9 Forward

10 Reverse

11 Left

12 Right

We will digitalWrite the digital pins as HIGH based upon the input from ADXL335 to perform
the required motion.

- Receiver Circuit

The receiver circuit is completely similar to the transmitter circuit as shown, but instead of data
pins going as output from Arduino, in this case they will be read as inputs to take in the
command for Arduino Uno and run the motors as required

To simplify, you can connect the LED in series at pin 17 with a 1K resistor instead of the
complex circuit as shown to indicate proper connection with the transmitter.
4. Combining Everything

The last and the final part includes combining all the above parts together to form the complete
robot that follows the commands of the hand!

Since the motor shield uses almost all the digital pins, we'll use the analog pins of Arduino Uno
to read the Receiver Data.

The motor shield handles the connections to the motors. Connect a 9V battery to the power input
to the shield.

Chapter 6. Conclusion
We think that this gesture based technique can be used to control cars and help the user to have
an easy drive in the future. With hand gestures we could also control speed of the car and hence
eliminate the clutch as well, so as there is less pressure on the engine

Future scope

● Gesture recognition to record the sign language hand movements of deaf people.
● Building hardware and software that allows the user to interact with a digital interface,
such as a smart TV, by sensing finger movements and hand gestures.
● Gaming