VOICE OPERATED ROBOT DOCUMENTATION

VOICE OPERATED ROBOT 1
INSTITUTE OF AERONAUTICAL ENGINEERING
VOICE OPERATED ROBOT
A PROJECT WORK
Submitted in fulfilment of the award of Degree of Bachelor of Technology
in Electronics and Communication Engineering
Submitted by
D. SREE HARINI (12951A0447)
P. MOHIT V S K (12951A0425)
HEMANTH KUMAR (13955A0406)
A. SAMPOORNA (13955A0409)
Under the Supervision of
LOKNATH REDDY
Department of Electronics and Communication Engineering
INSTITUTE OF AERONAUTICAL ENGINNERING
Dundigal- 500043, Hyderabad, Telangana State
October, 2015

October, 2015
CERTIFICATE
This is to certify that the work embodies in this dissertation entitled
‘Voice Operated Robot’ being submitted by D. SREE HARINI –
12951A0447, P. MOHIT V S K – 12951A0425, HEMANTH KUMAR
– 13955A0406, A. SAMPOORNA – 13955A0409 for partial fulfilment
of the requirement for the award of ‘Bachelor of Technology’ in
Electronics and Communication Engineering, Dundigal, Hyderabad,
Telangana State, during the academic year 2015- 2016 is a record of
bonafide piece of work, undertaken by him/ her the supervision of the
undersigned.
Approved and Supervised by
Signature
(LOKNATH REDDY)
Electronics and Communication Department,
Designation
Forwarded by
(L V N PRASAD) (SHESHAGIRI RAO)
Dean Academics Electronics and Communication
IARE, Hyderabad Engineering
IARE, Hyderabad

October, 2015
DECLARATION
We D. SREE HARINI (12951A0447), P MOHIT V S K (12951A0425),
HEMANTH KUMAR (13955A0406), A.SAMPOORNA
(13955A0409), are students of ‘Bachelor of Technology’ in ‘Electronics
and Communication Engineering’, session 2015- 2016, Institute of
Aeronautical Engineering, Dundigal, Hyderabad, Telangana State, hereby
declare that the work presented in this project work entitled ‘Voice
Operated Robot’ is the outcome of our own bona fide work and is
correct to the best of our knowledge and this work has been undertaken
taking care of engineering ethics. It contains no material previously
published or written by another person nor material which has been
accepted for the award of any other Degree or Diploma of the university
or other institute of higher learning, except where due acknowledgment
has been made in the text.
(D. SREE HARINI, 12951A0447)
Date: (P MOHIT V S K, 12951A0425)
(HEMANTH KUMAR, 13955A0406)
(A.SAMPOORNA, 13955A0409)

ACKNOWLEDGEMENT
This project brings in a sense of satisfaction but it is never complete without thanking
those people who made it possible and whose constant support crowned our efforts
with success.
We would also like to thank our guide, Mr. LOKNATH REDDY, for his expert
guidance, encouragement and valuable suggestions at every step. Without his
incredible support and steady involvement, the project would not have been fruitful.
I am thankful to the Principal of college, Prof. A. BARAI, Head of the Department
(Electronics and Communication Engineering), V. R. SHESHAGIRI RAO at
INSTITUTE OF AERONAUTICAL ENGINEERING college for supporting us.
I am also thankful to all the lecturers and staff members of Electronics and
Communication Engineering Department for providing me with required facilities and
support towards the completion of the project.
My sincere thanks to my friends for providing me a memorable stay at INSTITUTE
OF AERONAUTICAL ENGINEERING, Hyderabad.

ABSTRACT
“The technology today, is outpacing humanity”.
Today, the only aim of technology seems to be- to reduce the human effort to the minimum.
We have many electronic devices that reduce the mechanical work of humans.
Humans, to be precise, the “gifted humans” are fortunate enough to carry out their daily
chores. But what about the physically disabled?
Here is our small effort to make the ‘ungifted’ humans ‘gifted’, the “VOICE OPERATED
ROBOT”. Never the less, it is as beneficial to the gifted humans as it is to the physically
disabled.
The voice operated robot is designed using APR9600. The robot’s architecture consists of two
main parts- the electronics architecture and the software architecture. The APR9600 is a voice
recording integrated circuit of non-volatile storage, and playback capability (for 40 to 60
seconds) that can store 8 voice commands. The integrated circuit can be used in visitor
guiding mode or patient guiding mode to play the voices stored. The commands that we give
verbally is internally interpreted by the robot into low level machine commands which could
be understood by a microcontroller and the corresponding action is performed. The robot can
perform many functions depending on the inputs given to it in the form of voice commands.
The natural language of humans is recorded and converted into simple commands for its
execution.
The voice operated robot proves to be a valuable device to reduce human effort and also,
more importantly, to reduce the gap between the gifted and the ungifted. Those who are
physically handicapped can get their work done very easily through simple voice commands.
It can also be used in military applications where the risk of human loss is more. It can
equally be used in the industrial applications with much efficiency and more life time.

TABLE OF CONTENT
CHAPTER PAGE NUMBER
1. Introduction 10
1.1 Embedded Systems 10
1.1.1 What is an Embedded System? 10
1.2 Applications in the field of Embedded Systems 11
1.3 Micro- controller 12
2. Hardware components 14
2.1 Micro- controller AT 89S52 14
2.1.1 Basic information 14
2.1.2 Description 14
2.1.3 Features 15
2.1.4 Pin description 16
2.1.5 Architecture 17
2.1.6 Applications 19
2.2 Power supply circuit 19
2.2.1 Bridge rectifier 19
2.2.2 LED 20
2.2.3 Voltage regulator 20
2.2.3.1 Pin diagram 20
2.2.3.2 Pin description 21
2.2.4 Filter 21
2.3 Blue tooth module 21
2.3.1 HC- 05 serial blue tooth module 21
2.3.2 Hardware features 22
2.3.3 Software features 22
2.4 Motor driver IC 24
2.4.1 Motor driver IC L293D 24
2.5 Liquid Crystal Display 26

2.5.1 LCD (16 BY 2) 26
2.5.3 16x2 LCD module commands 28
2.5.5 LCD initialization 30
2.6 AMR voice recorder application 30
2.6.1 AMR voice 30
2.6.1.1 Introduction 30
2.7 Robot kit 32
3. Software components 33
3.1 Keil’s software 33
3.1.1 Introduction 33
3.1.2 Features 33
3.1.3 Introduction of Keil 34
3.1.4 Development tools 34
4. Implementation 35
4.1 Block diagram 35
4.2 Working 36
4.2.1 Android meets robots 36
4.2.2 Interfacing LCD to 8051 37
4.2.2.1 Sending data to the LCD 37
4.2.2.2 Circuit diagram 38
4.2.3 Interfacing motor driver to 8051 39
4.2.3.1 Circuit diagram 40
4.2.4 Interfacing blue tooth module with 8051 (HC05) 40

4.2.4.1 Schematic design 41
5. Result analysis 42
5.1 Advantages 42
5.2 Disadvantage 43
5.3 Applications 43
5.4 Future scope 44
5.5 Conclusion 44
References 45
Appendices 46
Source code 46

LIST OF FIGURES
FIGURE NUMBER FIGURE NAME PAGE NUMBER
1 Embedded system 10
2 Applications of E S 11
3 Pin diagram of 8051 15
4 Architecture of 8051 17
5 Power supply circuit 19
6 Voltage regulator 20
7 Blue tooth module 21
8 Blue tooth module IC 22
9 Motor driver IC 24
10 L293D pin diagram 25
11 LCD 26
12 Pin diagram of LCD 27
13 AMR voice application 30
14 Robot kit 32
15 Keil microvision 3
software
33
16 Block diagram 35
17 Voice operated robot 35
18 Connecting the robot 36
19 Interfacing LCD to 8051 38
20 Interfacing motor
controller to 8051
39
21 Circuit diagram showing
motor interfacing
40
22 Interfacing blue tooth
module to 8051
41

CHAPTER 1
INTRODUCTION
1.1 EMBEDDED SYSTEMS
1.1.1 WHAT IS AN EMBEDDED SYSTEM?
Figure 1 Embedded system
An embedded system is a computer system with a dedicated function within a larger
mechanical or electrical system, often with real-time computing constraints. It is embedded as
part of a complete device often including hardware and mechanical parts. Embedded systems
control many devices in common use today.
Examples of properties typical of embedded computers when compared with general-purpose
ones are low power consumption, small size, rugged operating ranges, and low per-unit cost.
This comes at the price of limited processing resources, which make them significantly more
difficult to program and to interface with. However, by building intelligence mechanisms on
the top of the hardware, taking advantage of possible existing sensors and the existence of a
network of embedded units, one can both optimally manage available resources at the unit and
network levels as well as provide augmented functionalities, well beyond those available. For
example, intelligent techniques can be designed to manage power consumption of embedded
systems.
Modern embedded systems are often based on microcontrollers (i.e. CPUs with integrated
memory or peripheral interfaces) but ordinary microprocessors (using external chips for
memory and peripheral interface circuits) are also still common, especially in more complex
systems. In either case, the processor(s) used may be types ranging from general purpose to
those specialized in certain class of computations, or even custom designed for the application

at hand. A common standard class of dedicated processors is the digital signal
processor (DSP).
Since the embedded system is dedicated to specific tasks, design engineers can optimize it to
reduce the size and cost of the product and increase the reliability and performance. Some
embedded systems are mass-produced, benefiting from economies of scale.
Embedded systems range from portable devices such as digital watches and MP3 players, to
large stationary installations like traffic lights, factory controllers, and largely complex
systems like hybrid vehicles, MRI, and avionics. Complexity varies from low, with a
single microcontroller chip, to very high with multiple units, peripherals and networks
mounted inside a large chassis or enclosure.
1.2 APPLICATIONS IN THE FIELD OF EMBEDDED SYSTEMS
Figure 2 Applications of E S

1.3 MICRO- CONTROLLER
A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer on a
single integrated circuit containing a processor core, memory, and
programmable input/output peripherals. Program memory in the form of Ferroelectric
RAM, NOR flash or OTP ROM is also often included on chip, as well as a typically small
amount of RAM. Microcontrollers are designed for embedded applications, in contrast to
the microprocessors used in personal computers or other general purpose applications.
Microcontrollers are used in automatically controlled products and devices, such as
automobile engine control systems, implantable medical devices, remote controls, office
machines, appliances, power tools, toys and other embedded systems. By reducing the size
and cost compared to a design that uses a separate microprocessor, memory, and input/output
devices, microcontrollers make it economical to digitally control even more devices and
processes. Mixed signal microcontrollers are common, integrating analog components needed
to control non-digital electronic systems.
Some microcontrollers may use four-bit words and operate at clock rate frequencies as low
as 4 kHz, for low power consumption (single-digit milli watts or micro watts). They will
generally have the ability to retain functionality while waiting for an event such as a button
press or other interrupt; power consumption while sleeping (CPU clock and most peripherals
off) may be just nano watts, making many of them well suited for long lasting battery
applications. Other microcontrollers may serve performance-critical roles, where they may
need to act more like a digital signal processor (DSP), with higher clock speeds and power
consumption.
Microcontrollers usually contain from several to dozens of general purpose input/output pins
(GPIO). GPIO pins are software configurable to either an input or an output state. When
GPIO pins are configured to an input state, they are often used to read sensors or external
signals. Configured to the output state, GPIO pins can drive external devices such as LEDs or
motors, often indirectly, through external power electronics.
Many embedded systems need to read sensors that produce analog signals. This is the purpose
of the analog-to-digital converter (ADC). Since processors are built to interpret and process
digital data, i.e. 1s and 0s, they are not able to do anything with the analog signals that may be
sent to it by a device. So the analog to digital converter is used to convert the incoming data
into a form that the processor can recognize. A less common feature on some microcontrollers
is a digital-to-analog converter (DAC) that allows the processor to output analog signals or
voltage levels.

In addition to the converters, many embedded microprocessors include a variety of timers as
well. One of the most common types of timers is the Programmable Interval Timer(PIT). A
PIT may either count down from some value to zero, or up to the capacity of the count
register, overflowing to zero. Once it reaches zero, it sends an interrupt to the processor
indicating that it has finished counting. This is useful for devices such as thermostats, which
periodically test the temperature around them to see if they need to turn the air conditioner on,
the heater on, etc.
A dedicated Pulse Width Modulation (PWM) block makes it possible for the CPU to
control power converters, resistive loads, motors, etc., without using lots of CPU resources in
tight timer loops.
Universal Asynchronous Receiver/Transmitter (UART) block makes it possible to receive and
transmit data over a serial line with very little load on the CPU. Dedicated on-chip hardware
also often includes capabilities to communicate with other devices (chips) in digital formats
such as Inter-Integrated Circuit (I²C), Serial Peripheral Interface (SPI), Universal Serial Bus
(USB), and Ethernet.

CHAPTER-2
HARDWARE COMPONENTS
2.1 MICRO-CONTROLLER AT89S52
2.1.1 BASIC INFORMATION
 CPU Speed: 24MHz
 Controller Family/Series: AT89S52
 Embedded Interface Type: SPI, UART
 MCU Case Style: DIP
 MSL: -
 No. of I/O's: 32
 No. of Pins: 40
 Packaging: Each
 Program Memory Size: 8KB
 RAM Memory Size: 256Byte
 SVHC: No SVHC (15-Jun-2015)
 Supply Voltage Max: 5.5V
 Supply Voltage Min: 4V
2.1.2 DESCRIPTION
The AT89S52-24PU is a low-power, high-performance CMOS 8-bit Microcontroller, uses
Atmel's high-density non-volatile memory technology and is compatible with the industry-
standard 80C51 instruction set and pin-out. The on-chip flash allows the program memory to
be reprogrammed in-system or by a conventional non-volatile memory programmer. By
combining a versatile 8-bit CPU with in-system programmable flash on a monolithic chip, the
Atmel AT89S52-24PU is a powerful microcontroller which provides a highly-flexible. It
provides the following standard features 32 I/O lines, Watchdog timer, two data pointers,
three 16-bit timer/counters, a six-vector two-level interrupt architecture, a full duplex serial
port, on-chip oscillator and clock circuitry. In addition, the microcontroller is designed with
static logic for operation down to zero frequency and supports two software selectable power
saving modes.

2.1.3 FEATURES
 Compatible with MCS®-51 Products
 8kb of In-system Programmable (ISP) Flash Memory, 10,000 Write/Erase Cycles
Endurance
 0Hz to 33MHz Fully Static Operation
 Three-level Program Memory Lock
 256 x 8-bit Internal RAM
 32 Programmable I/O Lines
 Three 16-bit Timer/Counters
 Eight Interrupt Sources
 Full Duplex UART Serial Channel
 Low-power Idle and Power-down Modes
 Interrupt Recovery from Power-down Mode
 Watchdog Timer
 Dual Data Pointer
 Power-off Flag
 Fast Programming Time
 Flexible ISP Programming (Byte and Page Mode)
Figure 3 Pin diagram of 8051

2.1.4 PIN DESCRIPTION
ALE/PROG: Address Latch Enable output pulse for latching the low byte of the address
during accesses to external memory. ALE is emitted at a constant rate of 1/6 of the oscillator
frequency, for external timing or clocking purposes, even when there are no accesses to
external memory. (However, one ALE pulse is skipped during each access to external Data
Memory.) This pin is also the program pulse input (PROG) during EPROM programming.
PSEN: Program Store Enable is the read strobe to external Program Memory. When the
device is executing out of external Program Memory, PSEN is activated twice each machine
cycle (except that two PSEN activations are skipped during accesses to external Data
Memory). PSEN is not activated when the device is executing out of internal Program
Memory.
EA/VPP: When EA is held high the CPU executes out of internal Program Memory (unless
the Program Counter exceeds 0FFFH in the 80C51). Holding EA low forces the CPU to
execute out of external memory regardless of the Program Counter value. In the 80C31, EA
must be externally wired low. In the EPROM devices, this pin also receives the programming
supply voltage (VPP) during EPROM programming.
XTAL1: Input to the inverting oscillator amplifier.
XTAL2: Output from the inverting oscillator amplifier.
Port 0: Port 0 is an 8-bit open drain bidirectional port. As an open drain output port, it can
sink eight LS TTL loads. Port 0 pins that have 1s written to them float, and in that state will
function as high impedance inputs. Port 0 is also the multiplexed low-order address and data
bus during accesses to external memory. In this application it uses strong internal pullups
when emitting 1s. Port 0 emits code bytes during program verification. In this application,
external pull-ups are required.
Port 1: Port 1 is an 8-bit bidirectional I/O port with internal pullups. Port 1 pins that have 1s
written to them are pulled high by the internal pullups, and in that state can be used as inputs.
As inputs, port 1 pins that are externally being pulled low will source current because of the
internal pull-ups
.

Port 2: Port 2 is an 8-bit bidirectional I/O port with internal pullups. Port 2 emits the high-
order address byte during accesses to external memory that use 16-bit addresses. In this
application, it uses the strong internal pull-ups when emitting 1s.
Port 3: Port 3 is an 8-bit bidirectional I/O port with internal pullups. It also serves the
functions of various special features of the 80C51 Family as follows:
Port Pin Alternate Function
P3.0 RxD (serial input port)
P3.1 TxD (serial output port)
P3.2 INT0 (external interrupt 0)
P3.3 INT1 (external interrupt 1)
P3.4 T0 (timer 0 external input)
P3.5 T1 (timer 1 external input)
P3.6 WR (external data memory write strobe)
P3.7 RD (external data memory read strobe)
VCC: Supply voltage
2.1.5 ARCHITECTURE
Figure 4 Architecture of 8051

Data and Program Memory:
The 8051 Microcontroller can be programmed in PL/M, 8051 Assembly, C and a number of
other high-level languages. Many compilers even have support for compiling C++ for an
8051.
Program memory in the 8051 is read-only, while the data memory is considered to be
read/write accessible. When stored on EEPROM or Flash, the program memory can be
rewritten when the microcontroller is in the special programmer circuit.
Program Start Address:
The 8051 starts executing program instructions from address 0000 in the program memory.
The A register is located in the SFR memory location 0xE0. The A register works in a similar
fashion to the AX register of x86 processors. The A register is called the accumulator, and by
default it receives the result of all arithmetic operations.
Special Function Register:
The Special Function Register (SFR) is the upper area of addressable memory, from address
0x80 to 0xFF. A, B, PSW, DPTR are called SFR. This area of memory cannot be used for
data or program storage, but is instead a series of memory-mapped ports and registers. All
port input and output can therefore be performed by memory mov operations on specified
addresses in the SFR. Also, different status registers are mapped into the SFR, for use in
checking the status of the 8051, and changing some operational parameters of the 8051.
General Purpose Registers:
The 8051 has 4 selectable banks of 8 addressable 8-bit registers, R0 to R7. This means that
there are essentially 32 available general purpose registers, although only 8 (one bank) can be
directly accessed at a time. To access the other banks, we need to change the current bank
number in the flag register.

A and B Registers:
The A register is located in the SFR memory location 0xE0. The A register works in a similar
fashion to the AX register of x86 processors. The A register is called the accumulator, and by
default it receives the result of all arithmetic operations. The B register is used in a similar
manner, except that it can receive the extended answers from the multiply and divide
operations. When not being used for multiplication and Division, the B register is available as
an extra general-purpose register. The A and B registers can store up to 8-bits of data each.
2.1.6 APPLICATIONS
 Embedded design and development
 Communication and networks
2.2 POWER SUPPLY CIRCUIT
Figure 5 Power supply circuit
2.2.1 BRIDGE RECTIFIER
A bridge rectifier is an arrangement of four or more diodes in a bridge circuit configuration
which provides the same output polarity for either input polarity. It is used for converting an
alternating current (AC) input into a direct current (DC) output. A bridge rectifier provides
full-wave rectification from a two-wire AC input, therefore resulting in lower weight and cost
when compared to a rectifier with a 3-wire input from a transformer with a center-tapped
secondary winding.

2.2.2 LED
A light-emitting diode (LED) is a two-lead semiconductor light source. It is a p–n
junction diode, which emits light when activated. When a suitable voltage is applied to the
leads, electrons are able to recombine with electron holes within the device, releasing energy
in the form of photons. This effect is called electroluminescence, and the color of the light
(corresponding to the energy of the photon) is determined by the energy band gap of the
semiconductor.
An LED is often small in area (less than 1 mm2
) and integrated optical components may be
used to shape its radiation pattern.
2.2.3 VOLTAGE REGULATOR
7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear
voltage regulator ICs. The voltage source in a circuit may have fluctuations and would not
give the fixed voltage output. The voltage regulator IC maintains the output voltage at a
constant value. The xx in 78xx indicates the fixed output voltage it is designed to provide.
7805 provides +5V regulated power supply. Capacitors of suitable values can be connected at
input and output pins depending upon the respective voltage levels.
2.2.3.1 PIN DIAGRAM
Figure 6 Voltage regulator

2.2.3.2 PIN DESCRIPTION
Pin No Function Name
1 Input voltage (5V-18V) Input
2 Ground (0V) Ground
3 Regulated output; 5V (4.8V-5.2V) Output
2.2.4 FILTER
Filter capacitors are capacitors used for filtering of undesirable frequencies. They are
common in electrical and electronic equipment, and cover a number of applications, such as:
 Glitch removal on Direct current (DC) power rails
 Radio frequency interference (RFI) removal for signal or power lines entering or leaving
equipment
 Capacitors used after a voltage regulator to further smooth dc power supplies
 Capacitors used in audio, intermediate frequency (IF) or radio frequency (RF) frequency
filters (e.g. low pass, high pass, notch, etc.)
 Arc suppression, such as across the contact breaker or 'points' in a spark-ignition engine
2.3 BLUE TOOTH MODULE
2.3.1 HC - 05 SERIAL BLUE TOOTH MODULE
Figure 7 Blue tooth module
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 Blue

core 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.
2.3.2 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
Figure 8 Blue tooth module IC
2.3.3 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 2 times/s.
 Auto-connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”1234” as default

 Auto-reconnect in 30 min when disconnected as a result of beyond the range of
connection.
The wireless-networking standard technology called Bluetooth has subtly become an
innovative way to control a robot and a technology to replace the cables. Using an Android
device to control a robot over Bluetooth is another step forward in remote robotics control by
sending commands with the flick of a wrist. With an opened architecture and powerful
proficiency, Android has become popular operating system among intense hobbyists able to
build remote control applications with small development resources. They use smartphones or
tablets that run Android OS and build applications feasible of developing remote controlled
robots by sending some sort of signals wirelessly and at simple movements of the device or
touching the screen. Based on the Java programming language, a built-in Bluetooth module,
and a series of useful sensors already integrated and having permanent Internet connectivity,
almost any Android device is categorized as a perfect tool for remote robotics control over
Bluetooth. The idea of this paper is to use an Android application that allows you to
communicate with a robot over the Bluetooth technology. The robot can respond to button,
and swipes on the touch screen. In this way, you can control the robot to transport from one
place to the other using commands forward, reverse, left and right.
HC – 05 Serial Bluetooth product consists of Bluetooth serial interface module and Bluetooth
adapter. Bluetooth serial module is used for converting serial port to Bluetooth. This module
has two modes: master and slaver device. The device named after odd number is defined to be
master or slaver when out of factory and can’t changed to the other mode. But for the device
named after even number, users can set the work mode (master or slaver) of the device by AT
commands.
The main function of Bluetooth serial module is replacing the serial port line, such as:
One connects to Bluetooth master device while the other one connect to slaver device. Their
connection can be built once the pair is made. This Bluetooth connection is equivalently liked
to a serial port line connection including RXD, TXD signals. And they can communicate with
each other.
 When MCU has Bluetooth salve module, it can communicate with Bluetooth adapter
of computer and smart phones.
 The Bluetooth devices in the market mostly are salve devices, such as Bluetooth
printer, Bluetooth GPS. So, we can use master module to make pair and communicate
with them.

 Bluetooth serial module’s operation doesn’t need drive, and can communicate with
the other Bluetooth device. But communication between two Bluetooth module
require at two conditions:
i) The communication must be between master and slave.
ii) The password must be correct.
2.4 MOTOR DRIVER IC
2.4.1 MOTOR DRIVER IC L293D
Figure 9 Motor driver IC
The L293 and L293D are quadruple high-current half –H drivers.
L293D is a typical Motor driver or Motor Driver IC which is used to drive DC on either
direction. It is a 16-pin IC which can control a set of two DC motors simultaneously in any
direction. It means that you can control two DC motor with a single L293D IC. Dual H-bridge
Motor Driver integrated circuit (IC).The L293D can drive small and quiet big motors as well.
L293 and L293D both are designed to drive inductive loads such as relays, solenoids, dc and
bipolar stepping motors, as well as other high-current/high voltage loads in positive-supply
applications. On the L293D, external high-speed output clamp diodes should be used for
inductive transient suppression. A Vcc1 terminal, separate from Vcc2, is provided for the
logic inputs to minimize device power dissipation. The L293 and L293D are characterized for
operation from 0 0
C to 70 0
C.
It works on the concept of H-bridge. H-bridge is a circuit which allows the high voltage to be
flown in either direction. As you know voltage should change its direction to able to rotate the

motor in clockwise or anticlockwise direction. Hence H-bridge IC are ideal for driving a DC
motor using micro-controller.
In a single L293D IC there two H-Bridge circuits inside it which can rotate two dc motor
independently. Due its size it is very much used in robotic application for controlling DC
motors.
Figure 10 L293D pin diagram
There are two Enable pins on L293D. Pin 1 and pin 9, for being able to drive the motor, the
pin 1 and 9 need to be high. For driving the motor with left H-bridge you need to enable pin 1
to high. And for right H-Bridge you need to make the pin 9 to high. If anyone of the either
pin1 or pin9 goes low then the motor in the corresponding section will suspend working. It’s
like a switch.
The 4 input pins for this L293D, pin 2,7 on the left and pin 15, 10 on the right as shown on
the pin diagram. Left input pins will regulate the rotation of motor connected on the left side
and right input for motor on the right hand side. The motors are rotated on the basis of the
inputs provided at the input pins as LOGIC 1 or LOGIC 0.
In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor.

Let us consider a Motor connected on left side output pins (pin 3,6). For rotating the motor in
clockwise direction the input pins has to be given with Logic 1 and Logic 0.
• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]
In a very similar way the motor can also operated across input pin 15,10 for motor on the
right hand side.
The voltage (Vcc) needed to for its own working is 5V but L293d will not use that Voltage to
drive DC Motors. That means you should provide that voltage(36V maximum) and a
maximum current of 600mA to drive the motors.
2.5 LIQUID CRYSTAL DISPLAY
2.5.1 LCD (16 BY 2)
Figure 11 LCD
A liquid-crystal display (LCD) is a flat panel display, electronic visual display, or video
display that uses the light modulating properties of liquid crystals. Liquid crystals do not emit
light directly.
LCDs are available to display arbitrary images (as in a general-purpose computer display) or
fixed images with low information content which can be displayed or hidden, such as preset
words, digits, and 7-segment displays as in a digital clock. They use the same basic
technology, except that arbitrary images are made up of a large number of small pixels, while
other displays have larger elements.

LCDs are used in a wide range of applications including computer monitors,
televisions, instrument panels, aircraft cockpit displays, and signage. They are common in
consumer devices such as DVD players, gaming devices, clocks, watches, calculators, and
telephones, and have replaced cathode ray tube (CRT) displays in nearly all applications.
They are available in a wider range of screen sizes than CRT and plasma displays, and since
they do not use phosphors, they do not suffer image burn-in. LCDs are, however, susceptible
to image persistence.
The LCD screen is more energy efficient and can be disposed of more safely than a CRT. Its
low electrical power consumption enables it to be used in battery powered electronic
equipment. It is an electronically modulated optical device made up of any number of
segments controlling a layer of liquid crystals and arrayed in front of a light source (backlight)
or reflector to produce images in color or monochrome. Liquid crystals were first discovered
in 1888. By 2008, annual sales of televisions with LCD screens exceeded sales of CRT units
worldwide, and the CRT became obsolete for most purposes.
LCD (Liquid Crystal Display) screen is an electronic display module and find a wide range of
applications. A 16x2 LCD display is very basic module and is very commonly used in various
devices and circuits. These modules are preferred over seven segments and other multi
segment LEDs. The reasons being: LCDs are economical; easily programmable; have no
limitation of displaying special and even custom characters (unlike in seven segments),
animations and so on.
A 16x2 LCD means it can display 16 characters per line and there are 2 such lines. In this
LCD each character is displayed in 5x7 pixel matrix. This LCD has two registers, namely,
Command and Data.
The command register stores the command instructions given to the LCD. A command is an
instruction given to LCD to do a predefined task like initializing it, clearing its screen, setting
the cursor position, controlling display etc. The data register stores the data to be displayed on
the LCD. The data is the ASCII value of the character to be displayed on the LCD.
Figure 12 Pin diagram of LCD

Pin
No
Function Name
1 Ground (0V) Ground
2 Supply voltage; 5V (4.7V – 5.3V) Vcc
3 Contrast adjustment; through a variable resistor VEE
4 Selects command register when low; and data register when high Register Select
5 Low to write to the register; High to read from the register Read/write
6 Sends data to data pins when a high to low pulse is given Enable
7
8-bit data pins
DB0
8 DB1
9 DB2
10 DB3
11 DB4
12 DB5
13 DB6
14 DB7
15 Backlight VCC (5V) Led+
16 Backlight Ground (0V) Led-
2.5.3 16×2 LCD MODULE COMMANDS
16×2 LCD module has a set of preset command instructions. Each command will make the
module to do a particular task. The commonly used commands and their function are given in
the table below.
Command Function
0F
LCD ON, Cursor ON, Cursor blinking
ON
01 Clear screen

02 Return home
04 Decrement cursor
06 Increment cursor
0E Display ON ,Cursor blinking OFF
80 Force cursor to the beginning of 1st
line
C0 Force cursor to the beginning of 2nd
line
38 Use 2 lines and 5×7 matrix
83 Cursor line 1 position 3
3C Activate second line
08 Display OFF, Cursor OFF
C1 Jump to second line, position1
OC Display ON, Cursor OFF

2.5.4 LCD INITIALIZATION
The steps that has to be done for initializing the LCD display is given below and these steps
are common for almost all applications.
 Send 38H to the 8 bit data line for initialization
 Send 0FH for making LCD ON, cursor ON and cursor blinking ON.
 Send 06H for incrementing cursor position.
 Send 01H for clearing the display and return the cursor.
2.6 AMR VOICE RECORDER APPLICATION
2.6.1 AMR VOICE
Figure 13 AMR voice application
2.6.1.1 INTRODUCTION
The Adaptive Multi-Rate (AMR or AMR-NB or GSM-AMR) audio codec is an audio
compression format optimized for speech coding. AMR speech codec consists of a multi-
rate narrowband speech codec that encodes narrowband (200–3400 Hz) signals at variable bit
rates ranging from 4.75 to 12.2 kbit/s with toll quality speech starting at 7.4 kbit/s.

AMR was adopted as the standard speech codec by 3GPP in October 1999 and is now widely
used in GSM and UMTS. It uses link adaptation to select from one of eight different bit rates
based on link conditions.
AMR is also a file format for storing spoken audio using the AMR codec. Many modern
mobile telephone handsets can store short audio recordings in the AMR format, and
both free and proprietary programs exist to convert between this and other formats, although
AMR is a speech format and is unlikely to give ideal results for other audio. The
common filename extension is ‘.amr’. There also exists another storage format for AMR that
is suitable for applications with more advanced demands on the storage format, like random
access or synchronization with video. This format is the 3GPP-specified 3GP container
format based on ISO base media file format.
The frames contain 160 samples and are 20 milliseconds long. AMR uses various techniques,
such as ACELP, DTX, VAD and CNG. The usage of AMR requires optimized link adaptation
that selects the best codec mode to meet the local radio channel and capacity requirements. If
the radio conditions are bad, source coding is reduced and channel coding is increased. This
improves the quality and robustness of the network connection while sacrificing some voice
clarity. In the particular case of AMR this improvement is somewhere around S/N = 4-6 dB
for usable communication. The new intelligent system allows the network operator to
prioritize capacity or quality per base station.
There are a total of 14 modes of the AMR codec, 8 are available in a full rate channel (FR)
and 6 on a half rate channel (HR).
 Sampling frequency 8 kHz/13-bit (160 samples for 20 ms frames), filtered to 200–
3400 Hz.
 The AMR codec uses eight source codecs with bit-rates of 12.2, 10.2, 7.95, 7.40, 6.70,
5.90, 5.15 and 4.75 kbit/s.
 Generates frame length of 95, 103, 118, 134, 148, 159, 204, or 244 bits for AMR FR bit
rates 4.75, 5.15, 5.90, 6.70, 7.40, 7.95, 10.2, or 12.2 kbit/s, respectively. AMR HR frame
lengths are different.
 AMR utilizes Discontinuous Transmission (DTX), with Voice Activity Detection (VAD)
and Comfort Noise Generation (CNG) to reduce bandwidth usage during silence periods
 Algorithmic delay is 20 ms per frame. For bit-rates of 12.2, there is no 'algorithm' look-
ahead delay. For other rates, look-ahead delay is 5 ms. Note that there is 5 ms 'dummy'
look-ahead delay, to allow seamless frame-wise mode switching with the rest of rates.

 AMR is a hybrid speech coder, and as such transmits both speech parameters and a
waveform signal.
DIFFERENT SOFTWARES SUPPORT AMR ON DIFFERENT PLATFORMS IN
ANDROID OS, AMR IS USED FOR VOICE RECOGNITION.
2.7 ROBOT KIT
Figure 14 Robot kit
A robot kit is a special construction kit for building robots, especially autonomous mobile
robots.
Toy robot kits are also supplied by several companies. They are mostly made of plastics
elements like Lego Mind storms, the Robotics Bioloid, Robobuilder, the ROBO-BOX-3.0
(produced by Inex), and the lesser-known KAI Robot (produced by Kaimax), or aluminum
elements like Lynx motion's Servo Erector Set and the qfix kit.
The kits can consist of: structural elements, mechanical elements, motors (or
other actuators), sensors and a controller board to control the inputs and outputs of the robot.
In some cases, the kits can be available without electronics as well, to provide the user the
opportunity to use his or her own.

CHAPTER-3
SOFTWARE COMPONENTS
3.1 KEIL’S SOFTWARE
3.1.1 INTRODUCTION
Figure 15 Keil microvision 3 software
The Keil C51 C Compiler for the 8051 microcontroller is the most popular 8051 C compiler
in the world. It provides more features than any other 8051 C compiler available today.
The C51 Compiler allows you to write 8051 microcontroller applications in C that, once
compiled, have the efficiency and speed of assembly language. Language extensions in the
C51 Compiler give you full access to all resources of the 8051.
The C51 Compiler translates C source files into relocatable object modules which contain full
symbolic information for debugging with the µVision Debugger or an in-circuit emulator. In
addition to the object file, the compiler generates a listing file which may optionally include
symbol table and cross reference information.
3.1.2 FEATURES
Nine basic data types, including 32-bit IEEE floating-point,
 Flexible variable allocation with bit, data, bdata, idata, xdata, and pdatamemory types,
 Interrupt functions may be written in C,

 Full use of the 8051 register banks,
 Complete symbol and type information for source-level debugging,
 Use of AJMP and ACALL instructions,
 Bit-addressable data objects,
 Built-in interface for the RTX51 Real-Time Kernel
 Support for dual data pointers on Atmel, AMD, Cypress, Dallas Semiconductor, Infineon,
Philips, and Triscend microcontrollers,
 Support for the Philips 8xC750, 8xC751, and 8xC752 limited instruction sets,
 Support for the Infineon 80C517 arithmetic unit.
3.1.3 INTRODUCTION OF KEIL
The Keil Software LPC2148 development tools listed below are programs you use to compile
your C code, assemble your assembly source files, link and locate object modules and
libraries, create HEX files, and debug your target program. μVision for Windows™ is an
Integrated Development Environment that combines project management, source code
editing, and program debugging in one single, powerful environment. The ARM7 ANSI
Optimizing C Compiler creates re locatable object modules from your C source code. The
ARM Macro Assembler creates re locatable object modules from your LPC21XX assembly
source code. The Linker/Locator combines re-locatable object modules created by the
Compiler and the Assembler into absolute object modules. The Library Manager combines
object modules into libraries that may be used by the linker. The Object-HEX Converter
creates Intel HEX files from absolute object modules.
3.1.4 DEVELOPMENT TOOLS
The Keil development tools for ARM offer numerous features and advantages that help you
quickly and successfully develop embedded applications. They are easy to use and are
guaranteed to help you achieve your design goals. The μVision IDE and Debugger is the
central part of the Keil ARM development tools. µVision offers a Build Mode and a Debug
Mode. In the μVision Build Mode you maintain the project files and generate the application.
μVision uses either the GNU or ARM ADS/Real View™ development tools. In the μVision
Debug Mode you verify your program either with a powerful CPU and peripheral simulator
that connects the debugger to the target system. The ULINK allows you also to download
your application into Flash ROM of your target system.

CHAPTER-4
IMPLEMENTATION
4.1 BLOCK DIAGRAM
Figure 16 Block diagram
Figure 17 Voice operated robot

4.2 WORKING
4.2.1 ANDROID MEETS ROBOTS
Voice Recognition uses android mobiles internal voice recognition to pass voice commands to
your robot pairs with Blue tooth Serial Modules and sends in the recognized voice as a string
for example if you say Hello the android phone will return a string *Hello# to your blue tooth
module * and # indicate the start and stop bits. It can be used with any microcontroller
which can handle strings.
Figure 18 Connecting the robot

Example platforms: Arduino, ARM, PICAXE, MSP430, 8051 based and many other
processors and controllers.
Control your Processor/Controller with voice commands using an Android smart phone!
AMR Voice application lets us command the Processor/Controller using an Android smart
phone and a HC-05 Bluetooth module.
Android OS has speech recognition and we can use it to control our 8051 microcontroller, via
Bluetooth. The App works by pressing the MIC button, then it will wait for us to say a
command. The app will then display the word's that we have stated and will send data strings
for the 8051 microcontroller to process.
4.2.2 INTERFACING LCD TO 8051
4.2.2.1 SENDING DATA TO THE LCD
The steps for sending data to the LCD module is given below. I have already said that the
LCD module has pins namely RS, R/W and E. It is the logic state of these pins that make the
module to determine whether a given data input is a command or data to be displayed.
 Make R/W low.
 Make RS=0 if data byte is a command and make RS=1 if the data byte is a data to be
displayed.
 Place data byte on the data register.
 Pulse E from high to low.
 Repeat above steps for sending another data.

4.2.2.2 CIRCUIT DIAGRAM
Figure 19 Interfacing LCD to 8051
The circuit diagram given above shows how to interface a 16×2 LCD module with AT89S1
microcontroller. Capacitor C3, resistor R3 and push button switch S1 forms the reset circuitry.
Ceramic capacitors C1, C2 and crystal X1 is related to the clock circuitry which produces the
system clock frequency. P1.0 to P1.7 pins of the microcontroller is connected to the DB0 to
DB7 pins of the module respectively and through this route the data goes to the LCD module.
P3.3, P3.4 and P3.5 are connected to the E, R/W, RS pins of the microcontroller and through
this route the control signals are transfered to the LCD module. Resistor R1 limits the current
through the back light LED and so do the back light intensity. POT R2 is used for adjusting
the contrast of the display.

4.2.3 INTERFACING MOTOR DRIVER TO 8051
Figure 20 Interfacing motor controller to 8051
We can easily control the switching of L293D using a microcontroller. There are two IC’s in
this category L293D and L293. L239D can provide a maximum current of 600mA from 4.5V
to 36V while L293 can provide up to 1A under the same input conditions. All inputs of these
ICs are TTL compatible and clamp diodes is provided with all outputs. They are used with
inductive loads such as relays solenoids, motors etc.
L293D contains four Half H Bridge drivers and are enabled in pairs. EN1 is used to enable
pair 1 (IN1-OUT1, IN2-OUT2) and EN2 is used to enable pair 2 (IN3-OUT3, IN4-OUT4).
We can drive two DC Motors using one L293D, but here we are using only one. You can
connect second DC Motor to driver pair 2 according to your needs.

4.2.3.1 CIRCUIT DIAGRAM
Figure 21 Circuit diagram showing motor interfacing
The DC Motor is connected to the first pair of drivers and it is enabled by connecting EN1 to
logic HIGH (5V). VSS pin is used to provide logic voltage to L293D. Here 8051
microcontroller, which works at 5v is used to control L293D, hence the logic voltage is 5. The
motor supply is given to Vs pin of the L293D.
4.2.4 INTERFACING BLUETOOTH MODULE WITH 8051 (HC05)
A Bluetooth module widely used with Microcontroller to enable Bluetooth communication.
This module cam be interfaced using the UART in 8051 microcontroller where the data are
transmitted in the form of packets. The pins TX and RX pin of the HC 05 form the path for
data transmission and reception. These TX pin of HC05 must be connected to the RX pin of

8051 and vice versa. Whereas the key pin of the module is used to set the password for
pairing the module with our devices.
Our devices such as mobile and PC’s need special applications known as “Bluetooth
Terminal” to communicate with our microcontrollers via Bluetooth. Not to worry, there are
plenty of apps you can find in the internet. These apps are available in plenty irrespective of
the you device OS Android, Windows , Mac whatever it may be. Just run a search such as
Bluetooth Terminal for “OS name” and search engines will take you to the destination.
These applications are developed in such a way to send characters through your device BT
which was received by the BT module connected with our controller. Even some apps offers
some interactive GUI buttons which transmits specific characters with the press of each
buttons. Later the received character can be processed in our code and force the controller to
perform tasks based on the received character. We can use the Bluetooth communication in
two ways, either we can use it to receive data from the Controller or control the system using
our device Bluetooth.
4.2.4.1 SCHEMATIC DESIGN
Figure 22 Interfacing blue tooth module to 8051

CHAPTER-5
RESULT ANALYSIS
5.1 ADVANTAGES
When we say voice control, the first term to be considered is Speech Recognition i.e. making
the system to understand human voice. Speech recognition is a technology where the system
understands the words (not its meaning) given through speech.
Speech is an ideal method for robotic control and communication. The speech recognition
circuit we will outline, functions independently from the robot’s main intelligence [central
processing unit (CPU)]. This is a good thing because it doesn’t take any of the robot’s main
CPU processing power for word recognition. The CPU must merely poll the speech circuit’s
recognition lines occasionally to check if a command has been issued to the robot.
We can even improve upon this by connecting the recognition line to one of the robot’s CPU
interrupt lines. By doing this, a recognized word would cause an interrupt, letting the CPU
know a recognized word had been spoken. The advantage of using an interrupt is that polling
the circuit’s recognition line occasionally would no longer be necessary, further reducing any
CPU overhead.
Another advantage to this stand-alone speech-recognition circuit (SRC) is its
programmability. You can program and train the SRC to recognize the unique words you
want recognized. The SRC can be easily interfaced to the robot’s CPU.
To control and command an appliance (computer, VCR, TV security system, etc.) by
speaking to it, will make it easier, while increasing the efficiency and effectiveness of
working with that device.At its most basic level speech recognition allows the user to perform
parallel tasks, (i.e. hands and eyes are busy elsewhere) while continuing to work with the
computer or appliance.
Robotics is an evolving technology. There are many approaches to building robots, and no
one can be sure which method or technology will be used 100 years from now. Like
biological systems, robotics is evolving following the Darwinian model of survival of the
fittest.

Suppose you want to control a menu driven system. What is the most striking property that
you can think of?
Well the first thought that came to our mind is that the range of inputs in a menu driven
system is limited. In fact, by using a menu all we are doing is limiting the input domain space.
Now, this is one characteristic which can be very useful in implementing the menu in stand
alone systems.
5.2 DISADVANTAGE
“It makes man even more lazier”.........
5.3 APPLICATIONS
 Menu driven systems like e-mail readers
 Household appliances like washing machines, microwave ovens and pagers and
mobiles, etc.
 Military applications
 Industrial applications
Figure 23 Industrial application

 It is a gift for physically handicapped.
5.4 FUTURE SCOPE
 We can also extend our project to advanced applications by extending its range, by using
Zigbee technology or by using GPS.
 We can also proceed to construct a full fledged robot to carry out more complex tasks.
 We can program the robot to shoot a target.
5.5 CONCLUSION
The aim of this project is to give a small gift to the unfortunate people who are physically
handicapped. By giving simple voice commands, their daily chores can be very easily
accomplished. The main challenges that we faced during this project’s implantation include,
the range of the Bluetooth, the delay between the transmission and reception of the voice
command. This project proves to be a significant asset to the field of Robotics.

REFERENCES
 The 8051 Micro controller and Embedded Systems-
Muhammad Ali Mazidi,
Janice Gillispie Mazidi
 The 8051 Micro controller Architecture, Programming & Applications-
Kenneth J.Ayala
 Fundamentals of Micro processors and Micro computers-
B.Ram
 Micro processor Architecture, Programming & Applications-
Ramesh S.Gaonkar
 Electronic Components-
D.V.Prasad
 http://www.scribd.com
 http://www.morldtechgossips.com, simple way of understand
 Other websiteshttp://www.elprocus.com/solar-panel-facts/
 http://org.ntnu.no/solarcells/pages/introduction.php
 http://www.facstaff.bucknell.edu
 http://hyperphysics.phy-astr.gsu.edu/hbase/electronic/leds.html
 www.national.com www.atmel.com www.microsoftsearch.com www.geocities.com

APPENDICES
SOURCE CODE:
#include<reg52.h>
#include<intrins.h>
#define lcd_dport P0
sbit lcd_rs = P1^5;
sbit lcd_rw = P1^6;
sbit lcd_en = P1^7;
sbit lcd_busy = P0^7;
sbit mtr0 = P2^0;
sbit mtr1 = P2^1;
sbit mtr2 = P2^2;
sbit mtr3 = P2^3;
bit start;
typedef unsigned char uc;
void lcd_init();
void lcd_string(char *);
void lcd_cmnd(char );
void lcd_data(char );
void lcd_busy_chk(void);
void delayms(unsigned int);
void compare_function();
void welcome_data(void);
int cnt=0,i=0,j=0;

char b[10];
//char
c[4]={'s','t','a','r'},d[4]={'b','a','c','k'},f[4]={'l','e','f','t'},g[4]={'r','i','g','t'},h[4]={'s','t','o','p
'};
char c[4]={'*','f'},d[4]={'*','b'},f[4]={'*','l'},g[4]={'*','r'},h[4]={'*','s'};
/*.........serial interrupt program.............*/
void serial0(void)interrupt 4
{
while(TI!=0)
{
TI=0; //clear interrupt
}
while(RI!=0)
{
RI=0; //clear interrupt
b[i]=SBUF;
//lcd_data(b[i]);
delayms(5);
i++;
cnt++;
if(cnt==2)
{
start=1;
}
}

}
/*............main program function.............*/
void main(void)
{
mtr0=0;mtr1=0;mtr2=0;mtr3=0;
lcd_init();
TMOD=0x20;
TH1 =0xFD;
SCON=0x50;
IE =0x90;
TR1 =1;
welcome_data();
while(1)
{
if(start==1)
{
compare_function();
delayms(138);
welcome_data();
start=0;cnt=0;j=0;i=0;
}
}
}
/*..........TAGID compare function............*/

void compare_function()
{
if((b[0]==c[0])&&(b[1]==c[1]))
{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" FORWARD ");
for(i=0;i<5;i++)
{
b[i]=0;
}
}
else if((b[0]==d[0])&&(b[1]==d[1]))
{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" BACKWARD ");
for(i=0;i<5;i++)
{
b[i]=0;
}

delayms(18);
}
else if((b[0]==f[0])&&(b[1]==f[1]))
{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" LEFT ");
for(i=0;i<5;i++)
{
b[i]=0;
}
delayms(18);
}
else if((b[0]==g[0])&&(b[1]==g[1]))
{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" RIGHT ");
for(i=0;i<5;i++)
{
b[i]=0;
}

delayms(18);
}
else if((b[0]==h[0])&&(b[1]==h[1]))
{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" STOP ");
for(i=0;i<5;i++)
{
b[i]=0;
}
delayms(18);
}
}
/*...........delay routine program...........*/
void delayms(unsigned int itime)
{
unsigned int q,p;
for(q=0;q<itime;q++)
for(p=0;p<1275;p++);
}
/*............welcome data...................*/
void welcome_data(void)

{
lcd_cmnd(0x01);
lcd_cmnd(0x80);
lcd_string(" VOICE ROBOT ");
lcd_cmnd(0xC0);
lcd_string(" USING -ANDROID");
}
/*..........lcd initialization program..........*/
void lcd_init()
{
lcd_cmnd(0x30);
lcd_cmnd(0x38);
lcd_cmnd(0x06);
lcd_cmnd(0x0c);
lcd_cmnd(0x01);
}
/*........lcd string display................*/
void lcd_string(char *ptr)
{
while(*ptr)
{
lcd_data(*ptr);
ptr++;
}

}
/*...........lcd command program..............*/
void lcd_cmnd(char byte)
{
lcd_busy_chk();
lcd_dport =byte;
lcd_rs = 0;
lcd_rw = 0;
lcd_en = 1;
_nop_();
_nop_();
lcd_en = 0;
}
/*............lcd data program................*/
void lcd_data(char byte)
{
lcd_busy_chk();
lcd_dport =byte;
lcd_rs = 1;
lcd_rw = 0;
lcd_en = 1;
_nop_();
_nop_();
lcd_en = 0;

}
/*.........lcd busycheck program................*/
void lcd_busy_chk(void)
{
lcd_busy = 1;
lcd_rs = 0;
lcd_rw = 1;
while(lcd_busy==1)
{
lcd_en = 0;
_nop_();
_nop_();
lcd_en = 1;
}
}

VOICE OPERATED ROBOT DOCUMENTATION

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