FINAL YEAR PROJECT REPORT

68-WIRELESS WRIST
CONTROLLED ROBOT
B.S. COMPUTER ENGINEERING, BATCH 2012

PROJECT ADVISOR
MR. DANISH JAMIL
LECTURER
SSUET

SUBMITTED BY
AZHAR ALI

2012-CE-330

HASNAIN JAVED

2012-CE-338

JUNAID ABID

2012-CE-341

SAJID KHAN

2012-CE-346

BEHZAD ATIQUE

2012-CE-361

DEPARTMENT OF COMPUTER ENGINEERING

Sir Syed University of Engineering and Technology
University Road, Karachi 75300
January, 2016

ABSTRACT
To control a robot with the wrist motions such as four wrist motions, flexion, extension,
pronation and supination will drive the robot in forward, reverse, left turn and right turn
respectively. In addition, the speed of the robot can also be increased and decreased depending
upon the orientation of the accelerometer. The main objective to be achieved with this project
is being able to control the movements of a robot wirelessly, keeping in mind that this
development could be deployed later in an electronic wheelchair which is a study that is being
developed parallel to this one and is being moved through a wired controller, but the ultimate
goal is to be wireless. To achieve this, in this study we used RF transmitters and receivers and
ATmega328p microcontrollers, which is widely used for programming the data transmission.
ADXL335 accelerometer is used to control the direction of the robot. The robot could be
controlled by parallel port LPT (Line Printer Terminal) However, it cannot not allow a free
movement, because the LPT connected to the computer was limited in distance and it depended
on the length of the parallel port cable. Having in mind giving greater autonomy and scope to
the robot, it was implemented in the system an ATmega device with RF module.

ACKNOWLEDGEMENT

All praises and thanks to Al-Mighty ALLAH, the most merciful, the most gracious, the
source of knowledge and wisdom endowed to mankind, who conferred us with the power of
mind and capability to take this project to the exciting ocean of knowledge. All respects are
for our most beloved Holy Prophet Hazrat MUHAMMAD (Peace Be Upon Him),
whose personality will always be source of guidance for humanity.
Acknowledgement is due to Sir Syed University of Engineering and Technology for support
of this Project, a highly appreciated achievement for us in the undergraduate level.
We wish to express our appreciation to our Sir Danish Jamil who served as our major
advisor. We would like to express our heartiest gratitude for their keen guidance, sincere
help and friendly manner which inspires us to do well in the project and makes it a reality.
Many people, especially our classmates and team members itself, have made valuable
comment suggestions on this proposal which gave us an inspiration to improve our project.
We thank all the people for their help directly and indirectly to complete our project.

ii

Sir Syed University Of Engineering & Technology

University Road, Karachi-75300, Pakistan.

Tel: 4988000-2, 4982393, 474583, Fax: (92-21) 4982393

http://www.ssuet.edu.pk

CERTIFICATE OF COMPLETION
This is to certify that the following students
AZHAR ALI
HASNAIN JAVED
JUNAID ABID
SAJID KHAN
BEHZAD ATIQUE

2012-CE-330
2012-CE-338
2012-CE-341
2012-CE-346
2012-CE-361

Have successfully completed their final year project named

WIRELESS WRIST CONTROLLED ROBOT

In the partial fulfillment of the Degree of Bachelor of Science in Computer
Engineering

MR. DANISH JAMIL

LECTURER
SSUET

iii

INTRODUCTION OF GROUP MEMBER

Azhar Ali
2012-CE-330
Cell: 0312-3488425
Task: Documentation

HASNAIN JAWED
2012-CE-338
Cell: 0302-2552220
Task: Programming

JUNAID ABID
2012-CE-341
Cell: 0301-5706195
Task: Documentation
iv

SAJID KHAN
2012-CE-346
Cell: 0344-9258036
Task: Mechanical

BEHZAD ATIQUE
2012-CE-361
Cell: 0315-7474937
Task: Electronics

TABLE OF CONTENTS
ABSTRACT ........................................................................................................................i
ACKNOWLEDGEMENT ..................................................................................................ii
CERTIFICATE ..................................................................................................................iii
INTRODUCTION TO GROUP MEMBERS ................................................................... iv
TABLE OF CONTENTS ....................................................................................................vi
LIST OF FIGURES.......................................................................................................... viii
LIST OF TABLES ............................................................................................................. ix
ABBREVIATIONS..............................................................................................................x
1.

INTRODUCTION ................................................................................................................1
1.1 Motivation .....................................................................................................................2
1.2 Problem Statement ........................................................................................................3
1.3 Organization of Thesis ..................................................................................................4

2.

LITERATURE REVIEW .....................................................................................................5

3.

METHOD AND MATERIAL..............................................................................................6

3.1 Functional description of robot .....................................................................................6
3.2 Functional block diagram ..............................................................................................7
3.3 Setup of RF transmitter .................................................................................................8
3.4 Setup of RF receiver ......................................................................................................8
3.5 Ranges set for robots movements ..................................................................................9
3.6 Speed control of the robot .............................................................................................9
3.7 ADC specifications .......................................................................................................9
3.8 Design of the H-bridge ................................................................................................10
3.8.1 Circuit diagram ............................................................................................ 10
3.8.2 Logic table ...................................................................................................11
3.8.3 H-Bridge PCB layout ...................................................................................12

4.

TESTING ...........................................................................................................................13
4.1 Results .........................................................................................................................13
4.2 Labview software results .............................................................................................13
4.2.1 Block diagram ..............................................................................................13
4.2.2 Front panel ...................................................................................................14
4.3 Complete hardware .....................................................................................................14
4.4 Current Consumptions.................................................................................................15
vi

4.4.1 Transmitter ...................................................................................................15

4.4.2 Receiver .......................................................................................................15
5.

CONCLUSION AND FUTURE WORK ...........................................................................16

5.1 Conclusion...................................................................................................................16
5.2 Recommendations for future work ..............................................................................16
REFERENCES...................................................................................................................17
APPENDICES ...................................................................................................................18
Appendix A Costing ..........................................................................................18
Appendix B Gantt Chart....................................................................................25
Appendix C Data Sheet .....................................................................................25

vii

LIST OF FIGURES
3.1

Figure 3.1: Hand movements and robot direction ..6

3.2

Figure 3.2: Block diagram of the project ....7

3.3

Figure 3.3: Transmitter circuit diagram...8

3.4

Figure 3.4: Receiver circuit diagram ..8

3.5

Figure 3.5: H-Bridge circuit diagram 10

3.6

Figure 3.6: H-bridge PCB layout ..11

4.1

Figure 4.1: Labview block diagram ..12

4.2

Figure 4.2: Labview front panel 13

4.3

Figure 4.3: Complete hardware .13

4.4

Figure 4.4: Robot front view .14

4.5

Figure 4.5: Robot side view ..14

5.1

Figure 5.1: Schematic of an accelerometer ...20

5.2

Figure 5.2: ADXL335 block diagram ...22

5.3

Figure 5.3: Pin configuration of RF transmitter & receiver ..25

viii

LIST OF TABLES
3.1

Table 3.1: Ranges of x, y, z 9

3.2

Table 3.2: Speed control of the robot ..9

3.3

Table 3.3: Motor logic table ..11

5.1

Table 5.1: RF transmitter pin description .26

5.2

Table 5.2: RF receiver pin description ..26

ix

ABBREVIATIONS
ADC

Analog-to-Digital Convertor

ASK

Amplitude Shift Keying

EEPROM

Electrically Erasable Programmable Read-Only Memory

LED

Light Emitting Diodes

MOSFET

Metal-Oxide-Semiconductor Field-Effect Transistor

PWM

Pulse Width Modulation

QFN

Quad Flat No-leads package

RF

Radio Frequency

RPM

Revolutions Per Minute

SRAM

Static Random-Access Memory

TQFP

Quad flat package

USART

Universal Asynchronous Receiver/Transmitter

Chapter # 1
Introduction

Wireless Wrist Controlled Robot

CHAPTER 1
INTRODUCTION
Robots attempt to solve problems and accomplish tasks that are either unsafe or inconvenient for
humans, and if we as cordless creatures often cannot do these tasks, restraining a robot with wires
will require a human in close proximity following the robot. Although tethered robots have been
successful in some missions such as in deep-sea exploration with a tethered submersible & the
Djei robot used to explore the Pyramids of Giza, however this tethering creates significant
locomotive and explorative restrictions.
Robots for the foreseeable future will be controlled either with a physical tether wire or a wireless
communications link. In most applications, a wireless link is preferable since it offers the robot
increased range and flexibility in navigation.
Mobility promises to be the next frontier in flexible robotics. While fixed robots will always have
a place in manufacturing, augmenting traditional robots with mobile robots promises additional
flexibility to end-users in new applications. These applications include medical and surgical uses,
personal assistance, security, warehouse and distribution applications, as well as ocean and space
exploration.
We see increased interest in mobile robotics across all industries. The ability of one mobile robot
to service several locations and perform a greatly expanded range of tasks offers a great appeal for
specialized applications [5].
Nowadays everything is starting to become wireless just because it is more effective and less of a
hassle to deal with multiple wires. What started it all was the development of Bluetooth, the ability
to transfer information such as phone calls, and music from one device to another without the
worry of wires.
In the world of robotics, a robot that is plugged in versus and robot that is wireless, the plugged in

Wireless Wrist Controlled Robot

robot can only do so much since it is restricted by a wire, so mobility is cut down as well as
effectiveness to carry out the task. Now, when looking at the wireless robot, so many more options
open up. Instead of worrying how far the wire can go or what events can the robot do companies
are instead focused on how to program the robot to overcome obstacles in the house such as stairs,
doors, furniture and so on.
1.1 Motivation
The field of Robotics is one of the most fascinating areas of research in the world. Right now,
hundreds of universities, corporations, and governments are spending billions researching and
developing intelligent robotic systems for use in automation, military, medicine, electronics, food
and beverage, service and a host of other industries. There is no doubt that robotic systems will
play a major role in shaping the future of the world and as research and industry merge, progress
in robotics technology will advance several times beyond the current level. This progress will be
driven by a need to not only make life easier for consumers, but also to improve communities and
even nations as a whole. The market for wireless robots and robotic systems far exceeds the current
utilization and as technology advances, the use of robots will be incorporated primarily or
indirectly in almost all fields. Of course the most interesting application is use of mobile and
communicative robotic systems in everyday life. The possibilities are limited only by human
creativity and intellectthe driving force that can turn this industry into the forerunner for an
autonomous robot assisted future. Two of the most important areas for furthering the wide scale
adaption of robotics are autonomous mobility and wireless communications. The field of
endeavor by which robotic systems communicate wirelessly is known as Wireless Robotics.
Advances in the field of Wireless Robotics are necessary to further the growth of robotic systems
and their use in everyday life. Research and development in this field needs to progress more
rapidly in order to see faster adoption of robots in everyday life. One way to stimulate this growth
is by leveraging expertise on a global scale. But for people to cooperate in a global environment
and be able to design systems without running into compatibility issues, standards are necessary
[3].
It is currently being investigated and put on the market many wireless products because of the
large development of this type of communication technologies. Mobile robotics is no stranger to
this fact; the benefits of joining the wireless communication technologies with the developments
2

Wireless Wrist Controlled Robot

in mobile robots are clear as we can appreciate. Nowadays, a large number of universities work
with these devices, including many people without knowledge in electronics who use them, for the
simplicity to artistic, textiles, musical and botanical projects, among others. This is because its
range is very varied, ranging from robotics, sensors, audios and monitoring to navigation and
action systems.
1.2 Problem Statement
The scope of this project is to introduce the Wireless Robotics field and explore the technical
challenges and requirement in different application domain such as industrial automation, home
automation, healthcare application, military applications and Emergency or Human Inaccessible
task application. This document also addresses the communication requirements arrived from
various types of communications and navigations present in wireless robots [8].
Mobility promises to be the next frontier in flexible robotics. While fixed robots will always have
a place in manufacturing, augmenting traditional robots with mobile robots promises additional
flexibility to end-users in new applications. These applications include medical and surgical uses,
personal assistance, security, warehouse and distribution applications, as well as ocean and space
exploration.
We see increased interest in mobile robotics across all industries. The ability of one mobile robot
to service several locations and perform a greatly expanded range of tasks offers a great appeal
for specialized applications [5].
Nowadays everything is starting to become wireless just because it is more effective and less of
a hassle to deal with multiple wires. What started it all was the development of Bluetooth, the
ability to transfer information such as phone calls, and music from one device to another without
the worry of wires.
In the world of robotics, a robot that is plugged in versus and robot that is wireless, the plugged
in robot can only do so much since it is restricted by a wire, so mobility is cut down as well as
effectiveness to carry out the task. Now, when looking at the wireless robot, so many more options

Wireless Wrist Controlled Robot

open up. Instead of worrying how far the wire can go or what events can the robot do companies
are instead focused on how to program the robot to overcome obstacles in the house such as stairs,
doors, furniture and so on. Also with a wired robot, you really cant use that particular for multiple
reasons.

1.3 Organization of Thesis

This document contains the details of a Wireless Wrist Controlled Robot, which is done by using
ADXL335 accelerometer, RF modules and 2 self designed H-bridges. In this report chapter 2 is
about the discussion of different research papers on wireless robots. Chapter 3 is about the design
and procedures we followed to achieve our task. This chapter describes the logics for robot
movements, speed levels of the robot, circuit design of the robot and glove, logic table of the Hbridge & ADC specifications. Chapter 4 is about the results of the project and finally Chapter 5
contains the conclusion and further improvements in the project.

Chapter # 2
Literature
Review

Wireless Wrist Controlled Robot

CHAPTER 2
LITERATURE REVIEW
In 2009, a paper was published by Chia Ching Ooi, Christian Schindelhauer in which the problem
of optimizing energy for communication and motion is investigated. They considered a single
mobile robot with continuous high bandwidth wireless communication, e.g. caused by a
multimedia application like video surveillance. This robot is connected to radio base station(s),
and moves with constant speed from a given starting point on the plane to a target point. The task
is to find the best path such that the energy consumption for mobility and the communication is
optimized. They introduced efficient approximation algorithms to find the optimal path given the
starting point, the target point and the position of the radio stations. We exemplify the influence
of the communication cost by a starting scenario with one radio station. They studied the
performance of the proposed algorithm in simulation, compare it with the scenario without
applying their approach, and presented the results [1].
In 2005, a paper was published by Teresa A. Dahlberg, Asis Nasipuri &Craig Taylor titled
Explorebots: a mobile network experimentation testbed in which they described detailed
development of Explorebots--expandable, vision- and sensor-equipped wireless robots built
around MICA motes. They developed Explorebots as a dynamic outreach for an NSF-funded Girl
Scouts project. They've extended the capabilities of Explorebots to comprise a mobile network
experimentation testbed. The testbed will support experimental analysis of protocols for mobile
multi-hop networks. The low-cost Explorebots enable repeatable experiments without complete
reliance on human subjects for mobility [4].

Chapter # 3
Method &
Material

Wireless Wrist Controlled Robot

CHAPTER 3
METHOD AND MATERIAL
ADXL 335 produces analog output. The x, y, z pins in ADXL 335 are connected to the ADC in
the microcontroller (pin 23, 24, 25) for digital conversion. Microcontroller processes the x, y, z
digital values according to the ranges defined in the program and produces the characters
(S,F,B,R,L). Microcontroller then sends the character values to USART. ADC is of 10 bits but we
are using 8 bits, ADC resolution is 28=256, ADC reference voltage is 3.3v. Total no. of channels
are 6 from which 3 channels for x, y, & z are used. Time delay is set to 200ms.
3.1 Functional description of robot
The Robot is a 4-Wheel Differential Drive, i.e. for turning, the robot will use tank mechanism. To
turn left, left wheels will move in reverse direction and right wheels will move in forward direction.
And to turn right, left wheels will move in forward direction and right wheels will move in reverse
direction.

Figure 3.1: Hand movements and robot direction [7]

6

Wireless Wrist Controlled Robot

The circuit will consist of 2 H-Bridges to drive 4 driving motors, RF transmitter & receiver module,
and a microcontroller.
Microcontroller used in Robot and microcontroller used in wrist sensor will be ATMEGA328P.
RF Transmitter & receivers used will be 433MHz serial transmitter/receiver. Wrist motion sensor
is ADXL335.
3.2 Functional block diagram

WRIST SENSOR

Wrist Motion Sensor

MICROCONTROLLER

RF Transmitter

Wireless
Transmission

ROBOT

MICROCONTROLLER

H-Bridge
Figure 3.2: Block diagram of the project

RF Receiver

Wireless Wrist Controlled Robot

3.3 Setup of RF transmitter
Main components used in the transmitter circuit are microcontroller (ATmega328p),
accelerometer (ADXL335), RF transmitter.

Figure 3.3: Transmitter circuit diagram [14]

3.4 Setup of RF receiver
Main components used in the receiver circuit are microcontroller (ATmega328p), RF receiver.

Figure 3.4: Receiver circuit diagram [14]

8

Wireless Wrist Controlled Robot

3.5 Ranges set for robots movements
Table 3.1: Ranges of x, y, z
X
>=120
-

Stop
Forward
Reverse
Right
Left

Y
>=110
<=90
-

Z
90-110
90-110
>=110
<-90

3.6 Speed control of the robot

To control the speed of the robot, we have inserted 4 levels of speed by varying the PWM.
Table 3.2: Speed control of the robot
Speed levels
1
2
3
4

PWM(Pin 15 & 16)

50
100
180
255

3.7 ADC specifications

ADC resolution is 28=256.

10-bit ADC but we are using the ADC in 8-bit.
Total 6 Channels but we using are only 3(ADC0,ADC1,ADC2).
Time delay is set to 200ms.
Reference=3.3V
Formula for output voltage:
5
=
256
3.3
= 256 = 0.0128 /

Wireless Wrist Controlled Robot

3.8 Design of the H-bridge
3.8.1 Circuit diagram

Figure 3.5: H-Bridge circuit diagram [14]

10

Wireless Wrist Controlled Robot

3.8.2 Logic table
Table 3.3: Motor logic table
Enable
L
L
L
L
H
H
H
H
H
H
H

M1
L
L
H
H
L
L
H
H
L
PWM
PWM

M2
L
H
L
H
L
H
L
H
L
H
L

Enable
L
L
L
L
H
H
H
H
H
H
H

M3
L
L
H
H
L
L
H
H
L
PWM
PWM

M4
L
H
L
H
L
H
L
H
L
H
L

11

Result
OFF
OFF
OFF
OFF
BRAKE
FORWARD
BACKWARD
BRAKE
BRAKE
FORWARD SPEED
BACKWARD
SPEED
BRAKE
Result
OFF
OFF
OFF
OFF
BRAKE
FORWARD
BACKWARD
BRAKE
BRAKE
FORWARD SPEED
BACKWARD
SPEED
BRAKE

Wireless Wrist Controlled Robot

3.8.3 H-Bridge PCB layout

Figure 3.6: H-bridge PCB layout [14]

12

Chapter # 4
Testing

Wireless Wrist Controlled Robot

CHAPTER 4
TESTING
4.1 Results
The purpose of this project was to develop both a robot and the glove transmitter using the
ATmega328p microcontroller. The specific goals of the project we achieved are below:
A finished robot with wireless communication.
Speed control of the robot.
Design of H-bridge circuit by MOSFET.
RF transmitter and receiver setup.
The robot consists of 4 motors fixed on a plastic frame. H-bridge and receivers circuit is mounted
inside the frame with the battery. The transmitter circuit is mounted on the hand and accelerometer
ADXL335 is fixed on a glove.
4.2 Labview software results
4.2.1 Block diagram

Figure 4.1: Labview block diagram [14]

13

Wireless Wrist Controlled Robot

4.2.2 Front panel

Figure 4.2: Labview front panel [14]

4.3

Complete hardware

Figure 4.3: Complete hardware[13]

14

Wireless Wrist Controlled Robot

Figure 4.4: Robot front view [13]

Figure 4.5: Robot side view [13]

4.4 Current Consumptions

These are maximum values at ideal conditions. It may vary according to the situation.
4.4.1 Transmitter
Microcontroller board = 100mA
RF-Transmitter = 40mA
ADXL335 = 40A (negligible)
Total = 140mA
4.4.2 Receiver
Microcontroller board = 150mA
RF-Receiver = 2.5mA
H-bridge = 100mA
Motors = 6000mA (2000mA/motor)
Total = 7152.5mA

15

Chapter # 5
Conclusion &
Future Work

Wireless Wrist Controlled Robot

CHAPTER 5
CONCLUSION AND FUTURE WORK
5.1 Conclusion
The robot is successfully moving in all four directions accurately. The speed of the robot is also
varied by varying the PWM in the microcontroller. One H-bridge includes 4 MOSFETs and we
have used 2 H-bridges to control 4 motors. Left and right side motors are connected in parallel.
5.2 Recommendations for future work

TiltMouse (an accelerometer that transforms Arduin o into a pitch mouse), the Arduino
Pong (which is a ping pong game programmed in Arduino) and the optical tachometer
among others. Other works consulted include important developments.

We can build a mobile robot whose main skills lies in the possibility of being controlled
by a remote user connected via the Internet through a Wi-Fi network running on the TCP/IP
architecture. Thus, the user can control robot's movements, while through a camera also
connected via Wi-Fi, watches the robot's movements using a web browser.

We can also build a construction pathology detection system, based on a wireless sensor
network using the Zigbee and Arduino technology. This enables continuous monitoring of
the parameters of interest, meeting the requirements of low consumption, ease of
maintenance and installation flexibility.

Proximity sensors can be added so that the robot can detect obstacles and stop if any
obstacle comes in the way. There will be indication LEDs on wrist for obstacle coming in
the way of the robot.

16

Wireless Wrist Controlled Robot

REFERENCES
[1]

Minimal Energy Path Planning for Wireless Robots

http://link.springer.com/article/10.1007/s11036-008-0150-5 (25/03/2015)

[2]

Theory Of Accelerometers - What Is An Accelerometer?

http://www.engineersgarage.com/articles/accelerometer?page=1 (10/02/2015)

[3]

[3] Wireless Robotics: A History, an Overview, and the Need for Standardization
http://link.springer.com/article/10.1007%2Fs11277-012-0603-9 (11/02/2015)

[4]

[4] Explorebots: a mobile network experimentation testbed

http://dl.acm.org/citation.cfm?id=1080165 (25/03/2015)

[5]

[5] Robotics Industry Insights New Applications for Mobile Robots

http://www.robotics.org/content-detail.cfm/Industrial-Robotics-Industry-Insights/NewApplications-for-Mobile-Robots/content_id/3362 (10/02/2015)

[6]

RF Module (Transmitter & Receiver)

http://www.engineersgarage.com/electronic-components/rf-module-transmitter-receiver
(10/02/2015)

[7]

Is pronation/supination a movement part of the wrist or the forearm?

http://www.researchgate.net/post/Is_pronation_supination_a_movement_part_of_the_wri
st_or_the_forearm (11/02/2015)

[8]

Global ICT Standardisation Forum for India Special Interest Group Wireless Robotics

[9]

ADXL335 datasheet

[10]

http://en.wikipedia.org/wiki/DC_motor (11/02/2015)

[11]

Paoletti Ferrero RH158.12.30

http://shop.paolettiferrero.it/product.php~idx~~~4198~~locale~~~224~~RH158_12_30~.
html (10/02/2015)

[12]

Atmega328p datasheet

[13]

Picture taken by camera

[14]

Snapshot from software

17

Appendices

Wireless Wrist Controlled Robot

Appendix A
Costing
18

Wireless Wrist Controlled Robot

APPENDIX

APPENDIX A - Costing

Robotic Platform

2500

L298N Module

500

Arduino UNO

1600

Arduino NANO

1200

ADXL335

1500

LiPo Battery

2000

IP Camera

6000

Bluetooth Module

2500

DC Motors with Wheels

1600

TOTAL

19400

19

Wireless Wrist Controlled Robot

Appendix B
Gantt Chart
20

Wireless Wrist Controlled Robot

21

Wireless Wrist Controlled Robot

22

Wireless Wrist Controlled Robot

23

Appendix C
Data Sheet

Small, Low Power, 3-Axis 3 g

Accelerometer
ADXL335
FEATURES

GENERAL DESCRIPTION

3-axis sensing
Small, low profile package
4 mm 4 mm 1.45 mm LFCSP
Low power : 350 A (typical)
Single-supply operation: 1.8 V to 3.6 V
10,000 g shock survival
Excellent temperature stability
BW adjustment with a single capacitor per axis
RoHS/WEEE lead-free compliant

The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal conditioned voltage outputs. The product
measures acceleration with a minimum full-scale range of 3 g.
It can measure the static acceleration of gravity in tilt-sensing
applications, as well as dynamic acceleration resulting from
motion, shock, or vibration.
The user selects the bandwidth of the accelerometer using the
CX, CY, and CZ capacitors at the XOUT, YOUT, and ZOUT pins.
Bandwidths can be selected to suit the application, with a
range of 0.5 Hz to 1600 Hz for the X and Y axes, and a range
of 0.5 Hz to 550 Hz for the Z axis.

APPLICATIONS
Cost sensitive, low power, motion- and tilt-sensing
applications
Mobile devices
Gaming systems
Disk drive protection
Image stabilization
Sports and health devices

The ADXL335 is available in a small, low profile, 4 mm

4 mm 1.45 mm, 16-lead, plastic lead frame chip scale package
(LFCSP_LQ).

FUNCTIONAL BLOCK DIAGRAM

+3V

VS

ADXL335

OUTPUT AMP

~32k

XOUT
CX

3-AXIS
SENSOR
CDC

AC AMP

DEMOD

OUTPUT AMP

~32k

YOUT
CY

OUTPUT AMP

~32k

ZOUT
CZ

ST

07808-001

COM

Figure 1.

Rev. 0
Information furnished by Analog Devices is believed to be accurate and reliable. However, no
responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other
rights of third parties that may result from its use. Specifications subject to change without notice. No
license is granted by implication or otherwise under any patent or patent rights of Analog Devices.
Trademarks and registered trademarks are the property of their respective owners.

One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.

Tel: 781.329.4700
www.analog.com
Fax: 781.461.3113
2009 Analog Devices, Inc. All rights reserved.

ADXL335
TABLE OF CONTENTS
Features .............................................................................................. 1

Performance ................................................................................ 10

Applications ....................................................................................... 1

Applications Information .............................................................. 11

General Description ......................................................................... 1

Power Supply Decoupling ......................................................... 11

Functional Block Diagram .............................................................. 1

Setting the Bandwidth Using CX, CY, and CZ .......................... 11

Revision History ............................................................................... 2

Self Test ........................................................................................ 11

Specifications..................................................................................... 3
Absolute Maximum Ratings............................................................ 4

Design Trade-Offs for Selecting Filter Characteristics:

The Noise/BW Trade-Off .......................................................... 11

ESD Caution .................................................................................. 4

Use with Operating Voltages Other than 3 V............................. 11

Pin Configuration and Function Descriptions ............................. 5

Axes of Acceleration Sensitivity ............................................... 12

Typical Performance Characteristics ............................................. 6

Layout and Design Recommendations ................................... 13

Theory of Operation ...................................................................... 10

Outline Dimensions ....................................................................... 14

Mechanical Sensor...................................................................... 10

Ordering Guide .......................................................................... 14

REVISION HISTORY
1/09Revision 0: Initial Version

Rev. 0 | Page 2 of 16

ADXL335
SPECIFICATIONS
TA = 25C, VS = 3 V, CX = CY = CZ = 0.1 F, acceleration = 0 g, unless otherwise noted. All minimum and maximum specifications are
guaranteed. Typical specifications are not guaranteed.
Table 1.
Parameter
SENSOR INPUT
Measurement Range
Nonlinearity
Package Alignment Error
Interaxis Alignment Error
Cross-Axis Sensitivity 1
SENSITIVITY (RATIOMETRIC) 2
Sensitivity at XOUT, YOUT, ZOUT
Sensitivity Change Due to Temperature 3
ZERO g BIAS LEVEL (RATIOMETRIC)
0 g Voltage at XOUT, YOUT
0 g Voltage at ZOUT
0 g Offset vs. Temperature
NOISE PERFORMANCE
Noise Density XOUT, YOUT
Noise Density ZOUT
FREQUENCY RESPONSE 4
Bandwidth XOUT, YOUT 5
Bandwidth ZOUT5
RFILT Tolerance
Sensor Resonant Frequency
SELF-TEST 6
Logic Input Low
Logic Input High
ST Actuation Current
Output Change at XOUT
Output Change at YOUT
Output Change at ZOUT
OUTPUT AMPLIFIER
Output Swing Low
Output Swing High
POWER SUPPLY
Operating Voltage Range
Supply Current
Turn-On Time 7
TEMPERATURE
Operating Temperature Range

Conditions
Each axis

Min

Typ

3.6
0.3
1
0.1
1

Each axis
VS = 3 V
VS = 3 V

270

300
0.01

330

mV/g
%/C

VS = 3 V
VS = 3 V

1.35
1.2

1.5
1.5
1

1.65
1.8

V
V
mg/C

% of full scale

No external filter
No external filter

Self-Test 0 to Self-Test 1
Self-Test 0 to Self-Test 1
Self-Test 0 to Self-Test 1

150
+150
+150

No load
No load

Max

g
%
Degrees
Degrees
%

150
300

g/Hz rms
g/Hz rms

1600
550
32 15%
5.5

Hz
Hz
k
kHz

+0.6
+2.4
+60
325
+325
+550

V
V
A
mV
mV
mV

600
+600
+1000

0.1
2.8
1.8

VS = 3 V
No external filter

V
V
3.6

V
A
ms

+85

350
1
40

Unit

Defined as coupling between any two axes.

Sensitivity is essentially ratiometric to VS.
Defined as the output change from ambient-to-maximum temperature or ambient-to-minimum temperature.
4
Actual frequency response controlled by user-supplied external filter capacitors (CX, CY, CZ).
5
Bandwidth with external capacitors = 1/(2 32 k C). For CX, CY = 0.003 F, bandwidth = 1.6 kHz. For CZ = 0.01 F, bandwidth = 500 Hz. For CX, CY, CZ = 10 F,
bandwidth = 0.5 Hz.
6
Self-test response changes cubically with VS.
7
Turn-on time is dependent on CX, CY, CZ and is approximately 160 CX or CY or CZ + 1 ms, where CX, CY, CZ are in microfarads (F).
2
3

Rev. 0 | Page 3 of 16

ADXL335
ABSOLUTE MAXIMUM RATINGS
Table 2.
Parameter
Acceleration (Any Axis, Unpowered)
Acceleration (Any Axis, Powered)
VS
All Other Pins
Output Short-Circuit Duration
(Any Pin to Common)
Temperature Range (Powered)
Temperature Range (Storage)

Rating
10,000 g
10,000 g
0.3 V to +3.6 V
(COM 0.3 V) to (VS + 0.3 V)
Indefinite

Stresses above those listed under Absolute Maximum Ratings

may cause permanent damage to the device. This is a stress
rating only; functional operation of the device at these or any
other conditions above those indicated in the operational
section of this specification is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect
device reliability.

ESD CAUTION
55C to +125C
65C to +150C

Rev. 0 | Page 4 of 16

ADXL335

ST

COM

NC

VS

NC

16

NC

VS

NC

PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

15

14

13

ADXL335
TOP VIEW
(Not to Scale)

12

XOUT

11

NC

10

YOUT

+Y
+Z
+X
7

COM

ZOUT

COM

COM

NC

07808-003

NC = NO CONNECT
NOTES
1. EXPOSED PAD IS NOT INTERNALLY
CONNECTED BUT SHOULD BE SOLDERED
FOR MECHANICAL INTEGRITY.

Figure 2. Pin Configuration

Table 3. Pin Function Descriptions

Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
EP

Mnemonic
NC
ST
COM
NC
COM
COM
COM
ZOUT
NC
YOUT
NC
XOUT
NC
VS
VS
NC
Exposed Pad

Description
No Connect1.
Self-Test.
Common.
No Connect1.
Common.
Common.
Common.
Z Channel Output.
No Connect1.
Y Channel Output.
No Connect1.
X Channel Output.
No Connect1.
Supply Voltage (1.8 V to 3.6 V).
Supply Voltage (1.8 V to 3.6 V).
No Connect1.
Not internally connected. Solder for mechanical integrity.

NC pins are not internally connected and can be tied to COM pins, unless otherwise noted.

Rev. 0 | Page 5 of 16

Guide to the Arduino Mini

To get started with the Arduino Mini, follow the directions for the regular Arduino on your operating system
(Windows, Mac OS X, Linux), with the following modifications:

Connecting the Arduino Mini is a bit more complicated than a regular Arduino board (see below for
instructions and photos).

You need to select Arduino Mini from the Tools | Board menu of the Arduino environment.
To upload a new sketch to the Arduino Mini, you need to press the reset button on the board
immediately before pressing the upload button in the Arduino environment.

Information about the Arduino Mini

The microcontroller (an ATmega168) on the Arduino Mini is a physically smaller version of the chip on the USB
Arduino boards, with the following small difference:

There are two extra analog inputs on the Mini (8 total). Four of these, however, are not connected
to the legs that come on the Arduino Mini, requiring you to solder wires to their holes to use them.
Two of these unconnected pins are also used by the Wire library (I2C), meaning that its use will
require soldering as well.

Also, the Arduino Mini is more fragile and easy to break than a regular Arduino board.

Don't connect more than 9 volts to the +9V pin or reverse the power and ground pins of your power
supply, or you might kill the ATmega168 on the Arduino Mini.

You can't remove the ATmega168, so if you kill it, you need a new Mini.

Connecting the Arduino Mini

Here's a diagram of the pin layout of the Arduino Mini:

Mini 03 pinout (compatible with earlier revisions)

Mini 04 pinout (the ground on the left has moved down
one pin)

To use the Arduino Mini, you need to connect:

Power. This can be a regulated +5V power source (e.g. from the +5V pin of the Mini USB Adapter or
an Arduino NG) connected to the +5V pin of the Arduino Mini. Or, a +9V power source (e.g. a 9 volt
battery) connected to the +9V pin of the Arduino Mini.

Ground. One of the ground pins on the Arduino Mini must be connected to ground of the power
source.

TX/RX. These pins are used both for uploading new sketches to the board and communicating with
a computer or other device.

Reset. Whenever this pin is connected to ground, the Arduino Mini resets. You can wire it to a
pushbutton, or connect it to +5V to prevent the Arduino Mini from resetting (except when it loses
power). If you leave the reset pin unconnected, the Arduino Mini will reset randomly.

An LED. While not technically necessary, connecting an LED to the Arduino Mini makes it easier to
check if it's working. Pin 13 has a 1 KB resistor on it, so you can connect an LED to it directly
between it and ground. When using another pin, you will need an external resistor.

You have a few options for connecting the board: the Mini USB Adapter, a regular Arduino board, or your own
power supply and USB/Serial adapter.

Connecting the Arduino Mini and Mini USB Adapter

Here is a photo showing the Arduino Mini connected to the Mini USB adapter. Notice that the reset pin is
connected directly to +5V (the orange wire), without a pushbutton. Thus, to reset the Arduino Mini, you will need
to unplug and reconnect the USB cable to the Mini USB Adapter, or manually move the orange wire connected to
the reset pin from +5V to ground and back.

Connecting the Arduino Mini and a regular Arduino

Here's a photo of the Arduino Mini connected to an Arduino NG. The NG has its ATmega8 removed and is being
used for its USB connection, power source, and reset button. Thus, you can reset the Arduino Mini just by
pressing the button on the NG.

The text of the Arduino getting started guide is licensed under a Creative Commons Attribution-ShareAlike 3.0
License. Code samples in the guide are released into the public domain.

Arduino Nano

(V2.3)

User Manual

Released under the Creative Commons Attribution Share-Alike 2.5 License

http://creativecommons.org/licenses/by-sa/2.5/

More information:
www.arduino.cc

Rev. 2.3

Arduino Nano Pin Layout

D1/TX (1)
D0/RX (2)
RESET (3)
GND (4)
D2 (5)
D3 (6)
D4 (7)
D5 (8)
D6 (9)
D7 (10)
D8 (11)
D9 (12)
D10 (13)
D11 (14)
D12 (15)

Pin No.

Name

(30) VIN
(29) GND
(28) RESET
(27) +5V
(26) A0
(25) A1
(24) A2
(23) A3
(22) A4
(21) A5
(20) A6
(19) A7
(18) AREF
(17) 3V3
(16) D13

Type

Description

1-2, 5-16

D0-D13

I/O

Digital input/output port 0 to 13

3, 28

RESET

Input

Reset (active low)

4, 29

GND

PWR

Supply ground

17

3V3

Output

+3.3V output (from FTDI)

18

AREF

Input

ADC reference

19-26

A7-A0

Input

Analog input channel 0 to 7

27

+5V

Output or
Input

+5V output (from on-board regulator) or

+5V (input from external power supply)

30

VIN

PWR

Supply voltage
!
!
!
!
!
!

Arduino Nano Mechanical Drawing

Arduino Nano Bill of Material

Item!Number!

Qty.!

Ref.!Dest.!

1!

5!

2!

3!

3!
4!
5!

2!
1!
1!

6!

1!

7!

1!

J5!

8!

1!

LD1!

9!

1!

LD2!

10!

1!

LD3!

11!

1!

LD4!

12!

1!

R1!

13!

1!

R2!

14!

1!

SW1!

15!

1!

U1!

16!

1!

U2!

17!

1!

U3!

18!

1!

Y1!

Description!

Capacitor,!0.1uF!50V!10%!
C1,C3,C4,C7,C9! Ceramic!X7R!0805!
Capacitor,!4.7uF!10V!10%!
C2,C8,C10!
Tantalum!Case!A!
Capacitor,!18pF!50V!5%!
C5,C6!
Ceramic!NOP/COG!0805!
D1!
Diode,!Schottky!0.5A!20V!
J1,J2!
Headers,!36PS!1!Row!
Connector,!Mini"B!Recept!
J4!
Rt.!Angle!
Headers,!72PS!2!Rows!
LED,!Super!Bright!RED!
100mcd!640nm!120degree!
0805!
LED,!Super!Bright!GREEN!
50mcd!570nm!110degree!
0805!
LED,!Super!Bright!ORANGE!
160mcd!601nm!110degree!
0805!
LED,!Super!Bright!BLUE!
80mcd!470nm!110degree!
0805!
Resistor!Pack,!1K!+/"5%!
62.5mW!4RES!SMD!
Resistor!Pack,!680!+/"5%!
62.5mW!4RES!SMD!
Switch,!Momentary!Tact!
SPST!150gf!3.0x2.5mm!
IC,!Microcontroller!RISC!
16kB!Flash,!0.5kB!EEPROM,!
23!I/O!Pins!
IC,!USB!to!SERIAL!UART!28!
Pins!SSOP!
IC,!Voltage!regulator!5V,!
500mA!SOT"223!
Cystal,!16MHz!+/"20ppm!
HC"49/US!Low!Profile!

Mfg.!P/N!

MFG!

Vendor!P/N!

Vendor!

C0805C104K5RACTU!

Kemet!

80"C0805C104K5R!

Mouser!

T491A475K010AT!

Kemet!

80"T491A475K010!

Mouser!

Kemet!
ONSemi!
FCI!

80"C0805C180J5G!
863"MBR0520LT1G!
649"68000"136HLF!

Mouser!
Mouser!
Mouser!

Molex!

538"67503"1020!

Mouser!

FCI!

649"67996"272HLF!

Mouser!

APT2012SRCPRV!

Kingbright!

604"APT2012SRCPRV!

Mouser!

APHCM2012CGCK"F01!

Kingbright!

604"APHCM2012CGCK!

Mouser!

APHCM2012SECK"F01!

Kingbright!

04"APHCM2012SECK!

Mouser!

LTST"C170TBKT!

Lite"On!Inc!

160"1579"1"ND!

Digikey!

YC164"JR"071KL!

Yageo!

YC164J"1.0KCT"ND!

Digikey!

YC164"JR"07680RL!

Yageo!

YC164J"680CT"ND!

Digikey!

B3U"1000P!

Omron!

SW1020CT"ND!

Digikey!

ATmega168"20AU!

Atmel!

556"ATMEGA168"20AU!

Mouser!

FTDI!

895"FT232RL!

Mouser!

UA78M05CDCYRG3!

TI!

595"UA78M05CDCYRG3!

Mouser!

ABL"16.000MHZ"B2!

Abracon!

815"ABL"16"B2!

Mouser!

C0805C180J5GACTU!
MBR0520LT1G!
68000"136HLF!
67503"1020!
67996"272HLF!

FT232RL!

L298 Dual H-Bridge Motor Driver

Double H driver module uses ST L298N dual

full-bridge driver. It is a high voltage, high current
dual full-bridge driver designed to accept
standard TTL logic levels and drive inductive
loads such as relays, solenoids, DC and stepping
motors.

Features

Light weight, small dimension

Super driver capacity

FWD protection

Heavy load Heat sink

Power selection switch

4 pull up resistor switch

2 DC motor/ 4 coil dual phrase stepper motor output

Motor direction indication LED

4 standard mouting holes

Specifications

Driver: L298

Driver power supply: +5V~+46V

Driver peak current: 2A

Logic power output Vss: +5~+7V (internal supply +5V)

Logic current: 0~36mA

Controlling level: Low -0.3V~1.5V, high: 2.3V~Vss

Enable signal level: Low -0.3V~1.5V, high: 2.3V~Vss

Max drive power: 25W (Temperature 75 )

Working temperature: -25~+130

Dimension: 60mm*54mm

Driver weight: ~48g

Page 1 of 3

6/30/2010

Hardware Installation

Double H driver module can drive two DC motors at the same time.
Port A is completely symmetrical as port B on the board.
DC motor input port A has three pins, I1, I2 and EA. I1 and I2 are digital ports which are used to
control the direction of motor, EA is connecting with PWM port of control board to control the
speed of motor.
If I1=1and I2=0, the motor rotates clockwise.
If I1=0 and I2=1, it rotates anticlockwise.
If I1=I2it stops rotating.
EA

I1

I2

Motor A status

Clockwise rotation

Anticlockwise rotation

Normally we do not need to connect wire to supply logic power.

Only if the motor power supply is +5V+7V or +18V+46V we have to take off the logic power
jumper and connect 5v to supply logic power.
We can control 4-wire stepping Motor the same way as two DC motors with the signals from
EA,I1,I2 and EB,I3,I4.

Page 2 of 3

6/30/2010

Arduino sample program

int pinI1=8;//define I1 port
int pinI2=9;//define I2 port
int speedpin=11;//define EA(PWM speed regulation)port
void setup()
{
pinMode(pinI1,OUTPUT);//define this port as output
pinMode(pinI2,OUTPUT);
pinMode(speedpin,OUTPUT);
}
void loop()
{
analogWrite(speedpin,100);//input a value to set the speed
delay(2000);
digitalWrite(pinI1,LOW);// DC motor rotates clockwise
digitalWrite(pinI2,HIGH);
analogWrite(speedpin,100);
delay(2000);
digitalWrite(pinI1,HIGH);// DC motor rotates anticlockwise
digitalWrite(pinI2,LOW);
analogWrite(speedpin,100);
delay(2000);
digitalWrite(pinI1,HIGH);// DC motor stop rotating
digitalWrite(pinI2,HIGH);
delay(2000);
}

Revision History
Rev.

Descriptions

Release date

1.1

Initial public release

30.06.2010

Page 3 of 3

6/30/2010

1
Tech Support: info@iteadstudio.com

HC-05
-Bluetooth to Serial Port Module

Overview

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup.
Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore
04-External single chip Bluetooth system with CMOS technology and with AFH(Adaptive
Frequency Hopping Feature). It has the footprint as small as 12.7mmx27mm. Hope it will simplify
your overall design/development cycle.

Specifications
Hardware features

Typical -80dBm sensitivity

Up to +4dBm RF transmit power
Low Power 1.8V Operation ,1.8 to 3.6V I/O
PIO control
UART interface with programmable baud rate
With integrated antenna
With edge connector

HC-05 Bluetooth module

iteadstudio.com

06.18.2010

2
Tech Support: info@iteadstudio.com

Software features

Default Baud rate: 38400, Data bits:8, Stop bit:1,Parity:No parity, Data control: has.
Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.
Given a rising pulse in PIO0, device will be disconnected.
Status instruction port PIO1: low-disconnected, high-connected;
PIO10 and PIO11 can be connected to red and blue led separately. When master and slave
are paired, red and blue led blinks 1time/2s in interval, while disconnected only blue led
blinks 2times/s.
Auto-connect to the last device on power as default.
Permit pairing device to connect as default.
Auto-pairing PINCODE:0000 as default
Auto-reconnect in 30 min when disconnected as a result of beyond the range of connection.

Hardware

HC-05 Bluetooth module

iteadstudio.com

06.18.2010

3
Tech Support: info@iteadstudio.com

HC-05 Bluetooth module

iteadstudio.com

06.18.2010

4
Tech Support: info@iteadstudio.com

HC-05 Bluetooth module

iteadstudio.com

06.18.2010

5
Tech Support: info@iteadstudio.com

AT command Default:
How to set the mode to server (master):
1. Connect PIO11 to high level.
2. Power on, module into command state.
3. Using baud rate 38400, sent the AT+ROLE=1\r\n to module, with OK\r\n
means setting successes.
4. Connect the PIO11 to low level, repower the module, the module work as server
(master).
AT commands: (all end with \r\n)
1. Test command:
Command

Respond

Parameter

AT

OK

Command

Respond

Parameter

AT+RESET

OK

Command

Respond

Parameter

AT+VERSION?

+VERSION:<Param>
OK

Param : firmware version

2. Reset

3. Get firmware version

Example:
AT+VERSION?\r\n
+VERSION:2.0-20100601
OK

HC-05 Bluetooth module

iteadstudio.com

06.18.2010