The document outlines the design and development of a line-following robot named 'Robocrier' by students at Cyprus International University, aimed at announcing school activities while navigating predefined paths. It details components like infrared sensors, Arduino microcontrollers, and assembly processes, along with an economic analysis of materials used. The overall project encapsulates various engineering principles and integrates electronics, programming, and mechanical design to create a functional robotic system.

1. CYPRUS INTERNATIONAL UNIVERSITY
FACULTY OF ENGINEERING
INDUSTRIAL ENGINEERING & ELECTRICAL AND ELECTRONIC
ENGINEERING
ROBOCRIER
By
Ufuk COŞKUN 20154947
Tolga MELETLİ 20130765
Sevinç BEZİRCİOĞLU 20141424
Supervisor
As. Prof. Dr. Ziya DEREBOYLU
Instructor Nidai KORDAL
Nicosia-2018

2. I

3. II

4. CYPRUS INTERNATIONAL UNIVERSITY
FACULTY OF ENGINEERING
INDUSTRIAL ENGINEERING & ELECTRICAL AND ELECTRONIC
ENGINEERING
ROBOCRIER
By
Ufuk COŞKUN 20154947
Tolga MELETLİ 20130765
Sevinç BEZİRCİOĞLU 20141424
Supervisor
As. Prof. Dr. Ziya DEREBOYLU
Instructor Nidai KORDAL
Nicosia-2018

5. I
ROBOCRIER
By
Ufuk COŞKUN
Tolga MELETLİ
Sevinç BEZİRCİOĞLU
DATE OF APPROVAL : 22.01.2018
APPROVED BY :
As. Prof. Dr. Ziya DEREBOYLU
Instructor Nidai KORDAL

6. II
ABSTRACT
The Line follower robot is a mobile machine that can detect and follow the line drawn on the
floor. Generally, the path is predefined and can be either visible like a black line on a white
surface with a high contrasted color or it can be invisible like a magnetic filed. Definitely, this
kind of Robot should sense the line with its Infrared Ray (IR) sensors that installed under the
robot. After that, the data is transmitted to the processor by specific transition buses. Hence, the
processor is going to decide the proper commends and then it sends them to the driver and thus
the path will be followed by the line follower robot.

7. III
TABLE OF CONTENTS
ABSTRACT .............................................................................................................................II
CHAPTER 1..............................................................................................................................1
INTRODUCTION ....................................................................................................................1
CHAPTER 2..............................................................................................................................2
GENERAL INFORMATION ABOUT ROBOTICS ............................................................2
2.1 History about Robotics.....................................................................................................2
2.2 Robot Types......................................................................................................................3
CHAPTER 3..............................................................................................................................4
DESIGN OF ROBOCRIER.....................................................................................................4
3.1 Purpose .............................................................................................................................4
3.2 Environment .....................................................................................................................4
3.3 Assembly..........................................................................................................................4
3.3.1 Chassis Assembly......................................................................................................4
3.3.2 Electronic Assembly..................................................................................................4
3.4 Line Follower Robot.........................................................................................................5
3.5 Information Announcement System.................................................................................7
3.6 Economical Analysis of the Design .................................................................................8
CHAPTER 4............................................................................................................................11
PROJECT PLAN....................................................................................................................11
4.1 Work Breakdown Structure (WBS) with Gantt Chart....................................................11
4.1.1 Assign Duties...........................................................................................................12
4.1.2 Coordinate Activities...............................................................................................12
4.2 Gantt Chart .....................................................................................................................12
4.3 Steps ...............................................................................................................................13
4.3.1 Chassis Assembly....................................................................................................13
4.3.2 Electronic Assembly................................................................................................13
4.4 Body ...............................................................................................................................13
4.4.1 Choosing Material ...................................................................................................13
4.4.2 Fiberglass.................................................................................................................13
4.4.3 Dimensioning ..........................................................................................................13
4.4.4 Forming ...................................................................................................................13
4.4.5 Assembly.................................................................................................................13

8. IV
CHAPTER 5............................................................................................................................14
MATERIAL CHARACTERISTICS ....................................................................................14
5.1 Materials Used................................................................................................................14
5.2 Materials and Features....................................................................................................14
5.2.1 Arduino Uno............................................................................................................14
5.2.1.1 Important Library .................................................................................................15
5.2.2 DC Motors...............................................................................................................15
5.2.3 Motor Driver............................................................................................................16
5.2.4 CNY70 Line Sensor ................................................................................................17
5.2.5 Speaker ....................................................................................................................18
5.2.6 Li-Po Battery...........................................................................................................18
5.2.7 NRF24L01 2.4 GHz Transceiver Module...............................................................19
5.2.8 Sound Amplifier Circuit..........................................................................................21
5.2.9 HC-SR04 Ultrasonic Sensor....................................................................................21
5.2.10 Wheels ...................................................................................................................22
5.2.11 Robot Chassis ........................................................................................................22
5.3 Reasons for Using Materials on the Robot.....................................................................23
5.3.1 Arduino Uno............................................................................................................23
5.3.2 Dc Motors................................................................................................................23
5.3.3 Motor Driver............................................................................................................23
5.3.4 CNY70 Sensor.........................................................................................................23
5.3.5 Speaker ....................................................................................................................23
5.3.6 Li-po Battery ...........................................................................................................23
5.3.7 HC-SR04 Ultrasonic Distance Sensor.....................................................................23
5.3.8 NRF24L01 2.4 GHz Transceiver Module...............................................................23
5.3.9 Amplifier Circuit .....................................................................................................24
5.3.10 Wheels ...................................................................................................................24
5.3.11 Robot Chassis ........................................................................................................24
CHAPTER 6............................................................................................................................25
ROBOT ASSEMBLY AND CREATE OF BODY WITH FIBERGLASS .......................25
6.1 Robot Assembly .............................................................................................................25
6.2 Create of Body with Fiberglass ......................................................................................26
6.3 Materials Used and Reasons for Use.............................................................................26

9. V
6.3.1 Fiberglass.................................................................................................................26
6.3.2 Hardener Cream......................................................................................................26
6.3.3 Plastic Teddy Bear...................................................................................................26
6.3.4 Aluminium Foil .......................................................................................................27
6.3.5 Mask and Glove.......................................................................................................27
6.4 Production Stage.............................................................................................................27
6.5 Assembly of Body and Chassis ......................................................................................28
CHAPTER 7............................................................................................................................30
COMPARED PROBLEMS AND SOLUTIONS .................................................................30
7.1 Do not follow the robot line ...........................................................................................30
7.2 Sensor Malfunction Ultrasonic.......................................................................................30
7.3 Power Source..................................................................................................................30
7.4 Arduino Mega Problem..................................................................................................30
CHAPTER 8............................................................................................................................31
COMMUNICATION BETWEEN OF ARDUINO .............................................................31
8.1 RF Signal........................................................................................................................31
APPENDIX I...........................................................................................................................32
APPENDIX II .........................................................................................................................36
APPENDIX III........................................................................................................................38
REFERENCES .......................................................................................................................48

10. 1
CHAPTER 1
INTRODUCTION
In the system that we will create using many elements in the scope of the application, our aim
will be to carry out the announcement process which is the main aim at the same time while
watching our robot line. Circuit design and implementation, microcontroller programming,
mechanical design and machining, testing and testing will take place within the scope of the
application. Our line-following robot will not move freely, it will move in keeping with the
determined area. The robot checks the status of the sensor at short intervals and determines the
position according to the line. Depending on the design idea, a certain number of these sensors
are used, with certain intervals and layout, and the motors are controlled according to the
information received therefrom.

11. 2
CHAPTER 2
GENERAL INFORMATION ABOUT ROBOTICS
Robotics, in different forms, has always been on people’s minds, since the time we first
built things. You may have seen machines that artisans made that tried to mimic a human ‘s
motions and behaviour. Although in principle humonoids are robots and are designed and
governed. Robots are very powerfull elements of today’s industry. They are capable of
performing many different tasks and operations precisely and do not require common safety
and comfort elements human needs. However, it takes much effort and many resources to make
a robot function properly. Most companies that made robots in the mid-1980s no longer exist,
and only companies that made industrial robots remain in the market. The subject of robotics
covers many different areas. Robots alone are hardly ever useful. They are used together with
other devices, peripherals, and other manufacturing machines. They are generally integrated
into a system, which as a whole is designed to perform a task or do an operation. It is a system
that contains sensors, control systems, manipulators, power supplies and software all working
together to perform a task. Designing, building, programming and testing a robots is a
combination of physics, mechanical engineering, electrical engineering, structural engineering,
mathematics and computing.In some cases biology, medicine, chemistry might also be
involved. [1]
2.1 History about Robotics
1922: Czech author Karel Capek wrote a story called Rossum’s Universal Robots and
introduced the word “Rabota” (meaning worker).
1946: Geoge Devol developed the magnetic controller, a playback device. Eckert and Mauchley
built the ENIAC computer at the University of Pennsylvania.
1952: The first NC machine was built at MIT.
1954: The first programmable robot is designed by George Devol, who coins the term Universal
Automation. He later shortens this to Unimation, which becomes the name of the first robot
company. Unimate was the first industrial robot, which worked on a General Motors assembly
line at the Inland Fisher Guide Plant in Ewing Township, New Jersey, in 1961. It was invented
by George Devol in the 1950s using his original patent filed in 1954 and granted in 1961 The
present invention relates to the automatic operation of machinery, particularly the handling
apparatus, and to automatic control apparatus suited for such machinery.

12. 3
1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by
Unimation with a General Motors design support.
1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs
and courses in robotics. Robotics courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
1995-present: Emerging applications in small robotics and mobile robots drive a second
growth of start-up companies and research. [2]
2002 – 2010: Turkey's First Walking Humanoid Robot: SURALP (Sabancı University Robot
Research Laboratory Platform). There have been many successful researches on humanoid
robotics in the world and impressive results have been obtained. Humanoid robots must also be
able to interact with the environment, to hold objects, to push, to carry, and to change their
location, so that they can function as human assistants beside the walker. This interaction makes
the force control techniques for contact and the visual control with the help of the cameras
important for the objectsIn this direction, Sabancı University is continuing to search for a
humanoid robot to be a source of pride for our country. An important consequence of this work
involving many phases was the design and manufacture of SURALP, Turkey's first humanoid
robot. [3]
2.2 RobotTypes
 Classification of Robots by Coordinate Systems
• Cartesian coordinate system,
• Cylindrical coordinate system,
• Spherical coordinate system,
• Rotary coordinate system.
 Classification by Robot Types
• Cartesian robots
• Hinged robots
• Scara robots
 Robotics in medicine and health
• Robotic prostheses
• Operating Robots

13. 4
CHAPTER 3
DESIGN OF ROBOCRIER
3.1 Purpose
The purpose students of our project are to communicate to the people in a verbal way the
announcements such as social activities, exam dates, club activities that teachers will take place
in the school.
3.2 Environment
Our robot will announce the exam dates and similar situations verbally by following a specific
direction to inform our students and teachers, which has a dynamic environmental area. We will
create a black line on the white ground The starting and ending points we have determined will
determine the robot that the robot will move. Since there will be people in the area, extra
precautions will be taken as a precaution against the threats that the robot will create and the
interventions against the robot.
3.3 Assembly
We think we will have two different assemblies; There are Chassis assembly and Electronic
assembly.
3.3.1 Chassis Assembly
Installation of basic moving parts and basic circuit elements on the chassis as specified on the
equipment.
3.3.2 Electronic Assembly
The electronic parts that we fix on the chassis are connected to each other by cables. Engine
driver , the microprocessor is the part that controls the current and voltage that transmit the
output information to the moving parts. Sensör circuit, it provides status control of the robot by
communicating the input information from the outside with the processor.

14. 5
3.4 Line FollowerRobot
The robot that follows the line, as its name suggests, is a robot type that follows a line by making
use of color difference.The robot following the line can autonomously track a particular path.
This road can be white on black or black on white. However, they can be developed and used
in different areas. The work of line-following robots can be examined under the headings of
input units, decision-making unit. . You can see the diagram following the line and the obstacle
detection processes chart of robot, line following obstancle flow chart and following chart
between of transmitter and receiver, line following circuit diagram in Table 1 and Figure 1-2.
Table 1 : Following the line and the obstacle detection processes chart of robot

15. 6
Figure 1 : Line Following Circuit Diagram of Robocrie
Figure 2 : Line Following and Obstacle Flow Chart

16. 7
3.5 Information Announcement System
Our robot consists of three main components. These are line-following, announcement and
communication systems. When our robot performs the process of the announcement system, it
will receive the commands through the microprocessor and broadcast it with the speaker which
is the output unit. We will communicate using the Receiver and Transmitter to perform the
audible signal.When creating communication we will use the Synthesis of Aurdinuo. You can
see transmitter circuit, receiver and amplifier circuit, following chart between of transmitter and
receiver in Figure 3-4-5.
Figure 3 : Transmitter Circuit
Figure 4 : Receiver and Amplifier Circuit

17. 8
Figure 5 : Following Chart Between of Transmitter and Receiver
3.6 EconomicalAnalysis of the Design
We will be able to get high efficiency in our robot and at the same time economically suitable
equipments will be selected. You can see economical analysis for equipment in Table 2.

18. 9
Table 2 : Economical Analysis
Name of the
product Model Amount
Unit
price
Arduino card Genesis 1
125,00
TL
Arduino card Mega 2560 R3 1 92,00 TL
Arduino card Uno R3 1 85,50 TL
Arduino card Full Set 1
149,00
TL
Arduino card Driver card Colorduino 8x8 1
105,00
TL
Arduino card Driver card Moto Shield 1
188,80
TL
Arduino card Driver card VNH2SP30 1 70,80 TL
Name of Product Model Amount
Unit
Price
Jumper cable Male-female 40 10,00 TL
Sensor Object-detection GLV18 1 80,00 TL
Sensor Object-detection MZ80 1 29,00 TL
Sensor Object-detection HC-SR04 1 11,80 TL
Sensor Object-detection UP3330IR 1 55,00 TL
Sensor Line sensor QTR-8RC 1 35,00 TL
Sensor Line sensor TCRT5000 1 14,00 TL
Sensor Line sensor CNY70 1 6,00 TL
Sensor Color sensor TAOS TCS230 1 40,00 TL
Sensor Color sensor VNH2SP30 1 70,80 TL
Name of Product Model Amount
Unit
Price
Engine 6V 180RPM Dc Engine 1 24,00 TL
Engine Titan 12V 10 Rpm 1 64,50 TL
Engine Pars 12V 120 RPM 1
148,50
TL
Engine Pars 12V 200 RPM 1
148,50
TL
Wheels SLT20 2 36,00 TL
Wheels 88MM 2 57,50 TL
Wheels GROT 2 17,50 TL
Name of Product Model Amount
Unit
Price
Battery 3S LiPo Batarya 1 65,00 TL

19. 10
Name of Product Model Amount
Unit
Price
Transreceiver
Module nRFL24L01 1 2 USD
Name of Product Model Amount
Unit
Price
Fiberglass - 1 25,00 TL
Name of Product Model Amount
Unit
Price
Speaker Sk-S10 1 24,00 TL
Speaker BT-10B 1 48,00 TL
Speaker SPA2201/10 2 52,00 TL
Speaker Z-120 2 55,00 TL

20. 11
CHAPTER 4
PROJECT PLAN
4.1 Work BreakdownStructure (WBS)with Gantt Chart
You can see work breakdown structure in Figure 6.
Figure 6 : Work Breakdown Structure

21. 12
4.1.1 Assign Duties
Robot will be designed and built by Industrial engineering students, where weight and materials
used for construction are important factors. electrical engineering students will design the
speaker system and line following circuits. Also, software for line following and maneuver
ability will be developed by this student.
4.1.2 Coordinate Activities
It is that the steps related to the project move towards one another in relation to each other.
4.2 Gantt Chart
Comes with Gantt charts and workload scheduling for employees; It helps you monitor a
specific time and number of employees in a project and the time spent. You can see the WBS
of Gantt Chart in Figure 7.
Figure 7 : WBS of Gantt Chartt

22. 13
4.3 Steps
4.3.1 Chassis Assembly
Installation of basic moving parts and basic circuit elements on the chassis as specified on the
equipment.
4.3.2 Electronic Assembly
The electronic parts that we fix on the chassis are connected to each other by cables.
4.4 Body
4.4.1 Choosing Material
In order for the robot's movement tribe to be better, the load from moving pieces must be at a
minimum level.
4.4.2 Fiberglass
We opted to use fiberglass because it is lightweight, durable and easy to shape.
4.4.3 Dimensioning
We will use fiberglass to measure the size of the robot.
4.4.4 Forming
Obtaining the desired shaping from the mold based on the height and width of the robot.
4.4.5 Assembly
The joining phase of the robot chassis and fiberglass.

23. 14
CHAPTER 5
MATERIAL CHARACTERISTICS
5.1 Materials Used
 Arduino Uno
 Motors (6V - 250 Rpm * 2)
 Engine Driver
 CNY70 Line Sensor
 0.5 Watt 8 ohm Speaker
 Li-po battery (11.1 V - 3S 1350 mA)
 HC-SR 04 Ultrasonic distance sensors
 Transmitter and Receiver Module
 Sound Amplifier Circuit
 Wheels
 Robot Chassis
5.2 Materials and Features
5.2.1 Arduino Uno
The ATmega328 is an Arduino card containing a microcontroller. Arduino Uno has 14 digital
input / output pins. Six of them can be used as PWM outputs. There are also 6 analog inputs,
one 16 MHz crystal oscillator, USB connection, power jack (2.1mm), ICSP header and reset
button. Arduino Uno contains all of the components necessary to support a microcontroller.
You can connect the Arduino Uno to a computer, and run it with an adapter or a battery. You
can see the Arduino Uno used in the circuit in Figure 8 .
Figure 8 : Arduino Uno

24. 15
Arduino and Technical Specifications
 Microcontroller: ATmega328
 Operating voltage: +5 V DC
 Recommended supply voltage: 7 - 12 V DC
 Supply voltage limits: 6 - 20 V
 Digital input / output pins: 14 (6 supports PWM output)
 Analog input pins: 6
 DC current per input / output pin: 40mA
 Current for 3.3 V pin: 50 mA
 Flash memory: 32 KB (used for 0.5 KB bootloader)
 SRAM: 2 KB
 EEPROM: 1 KB
 Clock frequency: 16 MHz
5.2.1.1 Important Library
Talkie.h Library
It is a software implementation of the Texas Instruments speech synthesis architecture (Linear
Predictive Coding) from the late 1970s / early 1980s, as used on several popular applications.
Talkie comes with over 1000 words of speech data that can be included in your projects. Most
words only take a fraction of a KB, so you can add plenty.
Audio Output
Talkie sets up a special very high speed PWM, so audio can be taken directly from pin 3 with
no other filtering. Note that Talkie uses Timers 1 and 2 for this purpose, which may conflict
with PWM outputs or other libraries.
5.2.2 DC Motors
Small brush DC gear motors are available in five different motor types from 5: 1 to 1000: 1 at
various gear ratios. High Power (HP), Medium Power (MP), and Low Power (LP) 6V motors
with 6V and 12V high power long life carbon brush motors (HPCB), shorter life special metal
brushes. The 6V HPCB and & V HP motors have the same performance as the brushes that
affect the service life of the motor.
Technicial Specifications
 Ideal Working Voltage: 6V

25. 16
 Working Voltage Range: 3V-9V
 Engine Type: Sanyo 12mm
 Motor Shaft: 3mm D Shaft
 Motor Spindle Length: 9mm
 Reducer Conversion Ratio: 51.45: 1
 Engine Speed: 250 RPM
 Idle Current: 40mA
 Current in Force: 0.36A
 Strength of Forcing: 0.5 kg-cm
5.2.3 Motor Driver
Motor drive circuits are used because the outputs of the microcontrollers are insufficient to
directly control DC motors or stepper motors. Motor drive circuits are used to control the motors
by raising the signals from the outputs of the microcontrollers. Motor drive circuits can be
prepared in H bridge and similar shapes using transistors. However, motor drive integrated
circuits are generally preferred for convenience.
The L293D and L293B motor driver integrations are 16-legged motor driver integrations with
two H-bridges. Generally, with the L293D and L293B, which are the preferred motor driver
integrations for DC motor control, the two motors can be controlled bidirectionally
independently of each other. PWM control can also be performed by using the enable legs of
the L293 motor drive ICs. You can see along motor driver with the illustration in Figure 9 . [5]
Figure 9 : DC Motor

26. 17
Technicial Specifications
 V Input: 6V - 12V (Voltage directly goes to Arduino input pin)
 Idle current: 10mA (All card)
 Engine Outputs: Continuous 0.6 Amps x2, Instant 1 Amps x2.
 Built-in LDR Sensors (LDR).
 Easy sensor connections
 Measured only on 68mm x 53mm x 10mm.
 It is fully compatible with Arduino Uno & Leonardo cards.
 Card weight is 34 grams.
5.2.4 CNY70 Line Sensor
The CNY70 contrast sensor has one photodiode and one phototransistor. The photodiode emits
a light with a wavelength of 950 nm. (IR light). The base of the phototransistor is triggered by
the reflection of this IR light beam. In this way, the reflection of IR light will be different on
black and white grounds, so that the CNY70 contrast sensor distinguishes black and white
colorsThe CNY70 contrast sensor produces analog signals. These signals are converted to
digital signals using the 74HC14 schmitt trigger converter to process the analog signals in the
microcontroller. You can see the input and output tables for CNY70 in Table 3. [6]
Table 3 : CNY70 Input and Output Table

27. 18
5.2.5 Speaker
This small speaker is ideal for radio and amplifier projects. At the same time, the robot is small
enough and suitable for our project. You can see the speaker used in the robot in Figure 10.
Figure 10 : Speaker
Features:
 Small size
 Power rating: 0.5W
 Impedance: 8 Ohm
Dimensions:
 Diameter: 50 mm
 Height: 16 mm
 Lower diameter: 28 mm
5.2.6 Li-Po Battery
It is called lithium-ion polymer battery. The lithium-ion battery is a more advanced design and
carries the same characteristics. Such batteries have no memory effect and the energy losses are
slow when not in use. They may be dangerous if used improperly. If the necessary precautions
are not taken, their life may be shorter than other battery types.We use 11 V 1350 mAh battery
and our battery is about 15 W and we use it based on the power of our battery robot. The power
of our robot is 5 W and it is possible to operate the selected battery for 2 hours.You can see the
Li-Po Battery in the robot in Figure 11.

28. 19
Figure 11 : Li-po Battery
Li- Po Battery Technical Specifications:
Lipo cells are made up of cells. The empty state of a single cell should be 4.2V at 3V. The cells
of the lipo pillars may be connected in series (S) or parallel (P). This is referred to as the battery
connector shape. For example; If 2 cells are connected in series, 3S is called 3S2P. If 3 cells are
connected in series, 3S, 2 cells in parallel are connected to 2P, 3 cells are connected in series,
and if there is another group connected in parallel, they are called 3S2P.
5.2.7 NRF24L01 2.4 GHz Transceiver Module
Developed by Nordic, the NRF24L01 wireless module is a low power consumption module
that allows wireless communication at 2.4GHz frequency. It has a communication speed of
2MBps, supports the SPI interface, and exchanges commands between the Arduino and the
module via the SPI interface. The NRF24L01 modules can be used for both receiver and
transmitter functions. It is decided by the code we wrote in Arduino, which one is the recipient
and which is the sender. It can be used as both a receiver and a transceiver to perform
bidirectional communication according to the needs of the project. The NRF24L01 wireless
communication module has a driver library named "nRF24L01p.h" for Arduino and a library
named "NRF24.h". [7] You can see the NRF24L01 2.4 GHz Transceiver Module used in the
robot in Figure 12.

29. 20
Figure 12 : NRF24L01 2.4 GHz Transceiver Module
Features:
 It can broadcast in the 2.4GHz band.
 Communication speed can be selected at speeds of 250KBps, 1MBps and 2MBps.
 Ultra low power consumption
 Working Voltage: 1.9-3.6V
 IO Ports Operating Voltage: 0-3.3V / 5V
 Transmitter Signal Power: +7 dB
 Receiver Sensitivity ≤ 90dB
 Communication Distance: Outdoor area 250m
 Dimensions: 15x29mm
PIN Connection
Arduino NRF24L01
Pin no 9 CE
Pin no 10 CS
Pin no 11 MOSI
Pin no 12 MISO
Pin no 13 SCK
3,3 Volt Vcc
GND GND

30. 21
5.2.8 Sound Amplifier Circuit
The weak electrical signals applied to the input are transferred to the output with the help of the
active circuit elements of the circuit. In doing so, he uses the energy he gets from the power
supply. This energy works in the same way as the input signal but with a stronger output signal.
As a result, the power of the electrical signal from the amplifier output is higher than the power
applied to the input.[8].
5.2.9 HC-SR04 Ultrasonic Sensor
The Hc-SR04 ultrasonic sensor is an input source that calculates the distance to the object using
sonar (and sound navigation and ranging). The system we use as the sonar allows us to obtain
the dimension of the crescent distance using sound waves. You can see the HC-SR04 Ultrasonic
Sensor used in the robot in Figure 13. [9]
Figure 13 : HC- SR04 Ultrasonic Sensor
Features
 Power Supply: + 5V DC
 Minimum current: <2mA
 Operating current: 15mA
 Operating frequency: 40 kHz
 Effective Angle: <15 degrees
 Distance measurement between: 2cm - 400cm
 Sensitivity: 0.3cm
 Trigger input pulse width: 10uS
 Size: 45mm x 20mm x 15mm
Layout
 VCC = + 5V DC
 Trig = Trigger part of the sensor

31. 22
 Echo = Receiver part of the sensor
 GND = Grounding part
5.2.10 Wheels
It is a quality robot wheel that you can easily use in your line watching robot and special robot
projects. The tires of the wheels are serrated and the friction is high. They can be used with
motors with a 3 mm D shaft radius. The motor shaft is mounted directly on the wheel. You can
see the wheels used of the robot in Figure 14.
Figure 14 : Wheels
5.2.11 Robot Chassis
The robot's chassis is a skeleton that carries all the robot's materials. The line drawing robot
should have a light and long design. The distance between the motor axis and the sensor distance
must be at the robot data processing speed.

32. 23
5.3 Reasonsfor Using Materials on the Robot
5.3.1 Arduino Uno
The announcement process was selected because Arduino Uno only performed the sound
synthesis process.
5.3.2 Dc Motors
Dc motors have been chosen because their ideal operating voltage can be fed by the power
supply of the robot, so it has the feature of carrying the weight of the assembly, size and power
of the robot.
5.3.3 Motor Driver
It is chosen because it supports 6V-12V motors and we can get enough pin number from the
driver.
5.3.4 CNY70 Sensor
It has been selected because of its sensitivity to light and its sensitivity to distance from the
ground.
5.3.5 Speaker
Speaker has 0.5 Watt 8 Ohm resistance, so our robot can be fed comfortably with power supply.
Because high power and resistive speakers require size and powerful amp, a speaker type that
can be used in prototype robots has been chosen.
5.3.6 Li-po Battery
This battery has been chosen to provide long-term energy needs and to use the required current
constantly and regularly.
5.3.7 HC-SR04 Ultrasonic Distance Sensor
It has features that can meet the needs of the robot, is adjustable with a range of distances, and
this distance sensor is preferred because it has a certain height.
5.3.8 NRF24L01 2.4 GHz Transceiver Module
According to the project, two identical modules are used to provide bidirectional
communication, both as transmitter and receiver, easy programming is preferred because of its
low power consumption and 2.4 GHz frequency.

33. 24
5.3.9 Amplifier Circuit
The volume is not sufficient if the arduino pin voltage in the program is low to get sound output.
So we have to use an external amplifier circuit. You can see amplifier circut in Figure 15.
Figure 15 : Amplifier Circuit
5.3.10 Wheels
Considering the size of the fiberglass body we designed and the weight of the robot, a thin base
wheel selection was made to minimize friction of the wheels with the surface.
5.3.11 Robot Chassis
The electronic materials fixed on the chassis are chosen because they can be fitted with fittings
in a suitable way. Plexiglass has been chosed as being durable and hard and workable material.

34. 25
CHAPTER 6
ROBOT ASSEMBLY AND CREATE OF BODY WITH
FIBERGLASS
6.1 RobotAssembly
1) The motors are mounted on the position suitable for the chassis. The motors are mounted
on the rear of the chassis to efficiently receive their power.
2) Thin bottom plastic wheels are used to make the engine more power efficient and reduce
engine power. The motor and the wheel position are appropriate (the wheel is on the
engine shaft).
3) The Arduino board has been installed on the chassis with extra connection apparatus.
4) Since the motor driver is compatible with ardino, the arduino and motor driver are
combined in a folded system.
5) The battery (li-po battery) is connected to the + 12V supply inputs of the motor drive.
6) The 470 ohms and 10K robot will follow the line, CNY70 (3 units) sensors are soldered
on 470 ohms and 10K resistors on our own plaque board. Then the sensor board was
mounted on the front of the chassis.
7) The outputs of these sensors are connected to the inputs on the motor drive.
8) The ultrasonic sensor pins are connected to the pins we have set on Arduino, so that
communication with Arduino has been realized. You can see the robot assembly with
materials in Figure 16.
Figure 16 : Robot Assembly with Materials

35. 26
6.2 Create of Body with Fiberglass
Using Fiberglass, we aimed to create an animal mold for our robot.The basic principle of this
purpose is to reduce the weight of the robot to minumum.
Used Materials
 Fiberglass.
 Hardener cream.
 Plastic teddy bear.
 Aluminium foil.
 Mask.
 Glove.
6.3 Materials Usedand Reasonsfor Use
6.3.1 Fiberglass
The basic principle for using glass fiber is to get more efficiency from the motors by reducing
the weight of the robot. You can see the fiberglass material used in Figure 17.
Figure 17 : Fiberglass
6.3.2 Hardener Cream
Our goal of using hardener cream is to dry fiberglass in a faster and healthier way.
6.3.3 Plastic Teddy Bear
In line with our teachers' desires, we decided that the robot body should be in the mold of a
bear. As a result of researches and observations we made, we bought the most suitable plastic
toy bear and used it for body shape. You can see the plastic toy tank used for the robot in Figure
18.

36. 27
Figure 18 : Plastic Teddy Bear
6.3.4 Aluminium Foil
Is a practical material we use to distinguish between fiberglass and plastic toy.
6.3.5 Mask and Glove
Our goal is to use the mask and gloves, fiberglass is a chemical material. We protected ourselves
in this way because we thought it could be harmful to human health.
6.4 Production Stage
The mixture obtained by mixing the purchased fiberglass and cream was poured onto plastic
toy and the mold was removed and it was expected to dry. Aluminum foil was used to
discriminate between foil and toys. This process is made in two separate ways for the body and
head. After drying, the sanding process was carried out. You can see the molding step of the
plastic toy in Figure 19.
Figure 19 : Plastic Toy Mold Stage

37. 28
6.5 Assembly of Body and Chassis
Four guide iron for chassis and body assembly were used at equal heights. We use the bolt nut
for assembly robot chassis and body. We will isolate the iron with the electric tape to prevent
any short circuit through the iron. You can see the chassis and body assembly with iron in
Figure 20-21.
Figure 20 : Body and Chassis Connection with Iron and Nut
Figure 21 : Assembly Body and Chassis Connection with Iron and Nut
We made the robot shank with fiberglass because it needs to be protected from external factors.
You can see the coating process with the robotic felt in Figure 22 – 23. But it needs to be outside
to be able to use our distance sensor.we opened two holes in front of our robot (head) and pulled
outside the sensor tips. So that the sensor can perform its duty and the materials can be safely
protected against external factors. You can see the sensor placement on the robot in Figure 24.

38. 29
Figure 22 : Molding Process with Felt
Figure 23 : Body Coating Process with Felt
Figure 24 : Sensor Placement on the Robo

39. 30
CHAPTER 7
COMPARED PROBLEMS AND SOLUTIONS
7.1 Do not follow the robot line
In the purchased QTR3A sensor circuit, the sensor was replaced by a CNY70 sensor circuit
because the sensor on the left side did not see the sensor line and the motors did not move in
the direction of rotation.
7.2 SensorMalfunction Ultrasonic
The trigger pin on the ultrasonic sensor was defective due to the obstacle detection of the robot,
so it was replaced with the same one which is robust.
7.3 PowerSource
The Lipo 1350 was replaced with a more professional Lipo 1350 ma unit because of the current
imbalance in the 9 V battery that we started to use after the first assembly of the robot and the
loss of power in a short time.
7.4 Arduino Mega Problem
Arduino Uno was used because there was no sound synthesizing feature in Arduino Mega.

40. 31
CHAPTER 8
COMMUNICATION BETWEEN OF ARDUINO
The goal is to be able to communicate between the computer and the robot through our modules,
which have wireless RF signaling capability, to announce the desired audible signal. The
arduino communication codes used by the operator are sent to the receiver via the transmitter.
Subsequently, the sent commands are converted into sentences that we have defined in the
arduino that is connected to the receiver module. Using the sound synthesis feature of arduino
uno, the sound from the speaker is output.
8.1 RF Signal
In publishing, information such as sound, image and data are transmitted by means of a higher
frequency electromagnetic wave. High frequency wave is called radio frequency. This wave is
indicated by RFC. (If the information carried by RF is also sound, it is indicated by AF and the
image is indicated by VF abbreviation.
An RF transmitter is built, modulated, and then transmitted after passing through mixers and
amplifiers; ie sent to buyers.
The RF speed is equal to the speed of light in space. 𝑐 = 3𝑥108

41. 32
APPENDIX I
Section 1 : Line Following Software
const int sag_i = 12;
const int sag_g = 3;
const int sol_i = 13;
const int sol_g = 11;
const int sol_sensor = A5;
const int sag_sensor = A3;
const int orta_sensor = A4;
int sol_durum, sag_durum,orta_durum;
int Buzzer = A2;
int trigPin = 9;
int echoPin = 10; void setup()
{
pinMode(sag_i, OUTPUT);
pinMode(sag_g, OUTPUT);
pinMode(sol_i, OUTPUT);
pinMode(sol_g, OUTPUT);
pinMode(Buzzer, OUTPUT);
pinMode(sag_sensor, INPUT);
pinMode(sol_sensor, INPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin,INPUT);
Serial.begin(9600);
pinMode(Buzzer,OUTPUT);
}

42. 33
void loop()
{
long sure;
long uzaklik;
/-------------HC-04 Code of Loop Part-------------/
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
sure = pulseIn(echoPin, HIGH);
uzaklik = (sure/2) / 29.1;
Serial.print("Mesafe :");
Serial.print(uzaklik);
Serial.println("cm");
delay(10);
digitalWrite(Buzzer, LOW);
sol_durum = digitalRead(sol_sensor);
sag_durum = digitalRead(sag_sensor);
orta_durum = digitalRead(orta_sensor);
if (orta_durum == HIGH)
{
digitalWrite(sag_i, HIGH);
analogWrite(sag_g, 175);
digitalWrite(sol_i, HIGH);
analogWrite(sol_g, 175);
}

43. 34
else if (sol_durum == LOW && sag_durum == HIGH)
{
digitalWrite(sag_i, HIGH);
analogWrite(sag_g, 100);
digitalWrite(sol_i, HIGH);
analogWrite(sol_g, 0);
}
else if (sol_durum == HIGH && sag_durum == LOW)
{
digitalWrite(sag_i, HIGH);
analogWrite(sag_g, 0);
digitalWrite(sol_i, HIGH);
analogWrite(sol_g, 100);
}
else if ((orta_durum & sag_durum & sol_durum == LOW))
{
digitalWrite(sag_i, LOW);
analogWrite(sag_g, 0);
digitalWrite(sol_i, LOW);
analogWrite(sol_g, 0);
}
if (uzaklik <= 10)
{
digitalWrite(sag_i, LOW);
analogWrite(sag_g, LOW);
digitalWrite(sol_i, LOW);
analogWrite(sol_g, LOW);

44. 35
digitalWrite(Buzzer, HIGH);
delay(100);
digitalWrite(Buzzer, LOW);
delay(50);
digitalWrite(Buzzer, HIGH);
delay(250);
}
}

45. 36
APPENDIX II
Section 1 : Transmitter Software
#include "SPI.h"
#include "nRF24L01p.h"
#include "String.h"
nRF24L01p tx(7,8);
/* CSN - > 7, CE -> 8 olarak belirlendi */
char c;
char s;
char data;
void setup()
{Serial.begin(9600);
SPI.begin();
SPI.setBitOrder(MSBFIRST);
tx.channel(90);
tx.TXaddress("Robot");
tx.init();
}
void loop()
{
//SERIAL PORT
if(Serial.available()>0)
{char c = (char)Serial.read();
Serial.print( c );
tx.txPL(c);

46. 37
boolean gonderimDurumu = tx.send(FAST);
if(gonderimDurumu==true){tx.txPL(c);
}
}

47. 38
APPENDIX III
Section 3 : Receiver Software
#include "SPI.h"
#include "nRF24L01p.h"
#include "String.h"
nRF24L01p rx(7,8);
char line[1000];
#include "talkie.h"
Talkie voice;
constuint8_tspTHIS[] PROGMEM
={0xA4,0xE6,0x32,0xB2,0x39,0x65,0xB3,0x9A,0xC9,0x8C,0x92,0x70,0x24,0x1A,0x65,0x4
2,0x9D,0x2A,0xA3,0x6A,0x8D,0x56,0x0B,0xC8,0x56,0xAA,0x35,0xCA,0x34,0xC8,0x7B,0
xBB,0xA6,0x04,0x13,0x55,0x6D,0xD2,0xAB,0x93,0x85,0x20,0xE1,0xDE,0x63,0x77,0xBC,
0x92,0xE8,0x25,0xDD,0x6A,0xD5,0x4D,0x77,0x5E,0xF3,0x5A,0x19,0xE0,0x69,0x16,0x0F,
0x58,0xC0,0x03,0x1E,0xB0,0x80,0x05,0x2C,0xF0};
constuint8_tspPROGRAM[] PROGMEM
={0x0A,0x30,0x3E,0x55,0x00,0xAE,0x43,0xB8,0x3C,0xB5,0x54,0x77,0x95,0x7B,0x52,0x6
7,0x62,0x3C,0xA8,0xCD,0x4D,0x4F,0xEA,0x94,0x9F,0x3B,0xA7,0xDF,0x69,0xC9,0x8C,0
xC9,0x11,0xA1,0xF4,0x26,0xE3,0xA9,0x92,0xC4,0xBC,0x8A,0x8A,0xDB,0x8C,0x10,0x73,
0xE2,0x2A,0x9D,0xA4,0x83,0xCC,0x49,0xAA,0x4C,0xC5,0x55,0x8F,0x74,0xAB,0x0A,0x
93,0x9A,0x43,0xDB,0x9F,0x3A,0x2C,0x4D,0x97,0x68,0x72,0x9B,0xDB,0xDE,0x76,0x77,0
xA7,0x0B,0x39,0x32,0x54,0xE7,0xEE,0x7E,0xF4,0x21,0x7A,0xA4,0x72,0x9D,0x30,0x3A,0
xCF,0xAD,0x18,0x69,0xDD,0x60,0x1C,0xA7,0x8A,0x66,0x55,0x83,0xF4,0x9A,0xCA,0x99
,0x45,0x8D,0x5A,0x4B,0xA6,0x64,0x12,0x35,0x3A,0xAD,0xE6,0x54,0x4E,0xC4,0xE4,0xB
5,0x69,0xB0,0xB9,0x05,0x52,0x45,0x1F,0xEE,0xEC,0xAE,0x1F};
const uint8_t spGIVES[] PROGMEM
={0xAA,0x15,0x34,0x26,0x46,0xE5,0xB6,0x66,0x46,0x66,0x56,0x4F,0x3A,0x8A,0x61,0x5
8,0x24,0x6B,0xD5,0xCA,0x9B,0x36,0xE1,0x9A,0x45,0x2B,0xCB,0xC2,0xD5,0xB6,0x6A,0
x8E,0x34,0x58,0xB3,0xD8,0x9A,0x34,0x32,0xE3,0xCD,0x73,0xAB,0xD2,0xC8,0x5D,0x54,
0xF3,0x9C,0x9A,0xA3,0xB0,0x2E,0xCC,0xBA,0x66,0x8E,0xCA,0xD9,0x74,0xCB,0x78,0x
34,0x9B,0xDE,0xB6,0x2E,0x4A,0x77,0x75,0x4A,0x5D,0xBB,0xDC,0x99,0x5E,0x99,0x50,0
x13,0xAB,0xED,0x86,0x28,0x42,0x45,0x35,0xB5,0x1D,0x05,0xF0,0x9D,0xB9,0x02,0x7E,0
x50,0x57,0xC0,0x0F,0x2A,0x0C,0xF8,0x8E,0x95,0x00,0x5F,0x33,0x21,0xE0,0x39,0xD2,0x
07};

48. 39
const uint8_t spSOME[] PROGMEM
={0x0C,0x78,0x55,0x40,0x02,0x12,0xD0,0x80,0x06,0x2C,0x10,0x92,0x64,0xAA,0x2D,0x3
8,0xED,0x4D,0x6E,0x76,0x32,0x17,0xBA,0xD5,0xB8,0xC9,0xCD,0x76,0xDE,0x2A,0x9B,0
xA5,0x54,0x28,0x4D,0xAC,0x63,0x1B,0xDB,0xD8,0xFA,0xCE,0x76,0xB2,0xA7,0xFD,0x0
3};
const uint8_t spMESSAGES[] PROGMEM
={0xAE,0x67,0xDE,0x35,0xAC,0x12,0xA6,0xDE,0x46,0x0C,0x95,0x48,0x9D,0x5A,0x9F,0
xC4,0x45,0xB1,0xED,0x68,0x4A,0xCA,0x50,0xE3,0xA4,0xB7,0x1A,0x45,0x6E,0x51,0x86,
0x99,0x76,0xA4,0xBE,0x9A,0x4B,0x8C,0xE2,0x92,0x26,0xD7,0xA4,0xD0,0x51,0x1C,0xB
0,0xA0,0x8A,0x05,0x2C,0x10,0xC2,0xEA,0x42,0x55,0xB9,0xEB,0xAD,0x56,0xDD,0x43,0
xA8,0x18,0xE4,0x0B,0x5D,0x91,0xAA,0xEC,0xD2,0x55,0xF4,0x16,0x5B,0x66,0x84,0x42,
0x03,0x74,0x02,0x36,0xDA,0x96,0xDC,0xCC,0xB0,0xFB,0xED,0x76,0x37,0xFB,0xD2,0x7
B,0x27,0x65,0x9A,0x4B,0xC3,0x10,0x68,0x86,0x7B,0xE4,0x4C,0xC3,0xA3,0x1C,0xE1,0x
91,0x46,0x01,0x07,0xB0,0x30,0xE0,0x1B,0x56,0x02,0x7C,0x25,0xFA};
const uint8_t spIF[] PROGMEM
={0xAB,0x28,0xD5,0x85,0x2D,0x9E,0xDC,0xE2,0x16,0xB7,0x3A,0xB5,0x0D,0x56,0x1E,0
x71,0xB9,0x37,0xBA,0x67,0x40,0x88,0xAE,0x12,0x90,0x00,0x05,0x18,0x10,0x9D,0x19,0x
07,0x28,0xF0};
const uint8_t spYOU[] PROGMEM
={0xA5,0xDA,0x0D,0x98,0x23,0x6F,0xF4,0x6A,0x55,0x33,0xA9,0x82,0xC6,0xEB,0x91,0x
F5,0x68,0x02,0x11,0x5B,0x67,0x36,0x32,0x2B,0xA2,0x24,0x75,0x75,0xCF,0x7B,0xD5,0x9
B,0xD6,0x5A,0x61,0xE5,0x49,0xDD,0x6A,0x97,0xFB,0xD8,0xFB,0x5E,0x77,0xA2,0xB3,0
x2C,0x45,0x25,0x8D,0x3C,0x00,0x00};
const uint8_t spUNDERSTAND[] PROGMEM
={0xAB,0xF0,0xC9,0x8F,0xA3,0x1C,0x9F,0xCA,0xA7,0x2A,0xD5,0xA8,0x73,0xAB,0x53,
0xA5,0xD0,0xA1,0xE4,0x4D,0x52,0xA5,0x83,0x06,0x45,0x36,0x09,0x95,0x08,0xDA,0xE6,
0xED,0xD0,0x54,0xB8,0x7A,0xB4,0xA5,0xC4,0xD2,0x44,0xAD,0xCA,0x16,0x71,0x5A,0x
ED,0xAB,0x09,0xB7,0xA7,0x9F,0xF5,0x6C,0x46,0x13,0xA6,0x2B,0xA6,0x79,0x4B,0x40,0
xE7,0xA0,0x01,0xF8,0x49,0x35,0x02,0x0E,0xF8,0xD1,0x58,0x00,0xDF,0x30,0x82,0x00,0x
78,0xF1,0x5A,0xB1,0x8F,0x6E,0xE6,0x13,0xF7,0xE4,0x31,0x87,0xA9,0x4D,0xD3,0x9B,0x
EF,0x62,0x56,0xB3,0x1A,0x8D,0x2F,0xE6,0xE6,0x6D,0xB9,0xF7,0xA5,0xB7,0xCD,0xD4,
0xAD,0xAD,0xD4,0x3E,0xF4,0xD6,0x51,0x9B,0x95,0x66,0xDF,0x9B,0x9E,0x79,0x9B,0x9
2,0x92,0x9C,0x7B,0xD7,0x63,0x5F,0x99,0xE6,0x32,0xC3,0x50,0x94,0x8B,0x78,0x6C,0xB
0,0xC3,0x03,0x00,0x00};
const uint8_t spME[] PROGMEM
={0xAC,0x53,0x96,0xB2,0x53,0x33,0x9B,0x36,0x0F,0x30,0x35,0xAE,0xDF,0xDB,0x59,0x
AF,0xAA,0xF7,0x52,0x60,0x79,0xBB,0xAB,0x59,0xF5,0xAA,0xB7,0xBD,0xAD,0x6D,0x6
9,0x5B,0x0B,0x06,0xF3,0x27,0xA5,0xAD,0x45,0x48,0xB2,0x26,0x87,0x3E,0x7A,0xF0,0xE
C,0x36,0x6C,0xFA,0x60,0xC1,0xB3,0x52,0x32,0xEB,0x53,0x42,0x66,0x6D,0x39,0x0F,0x0
0,0x00};

49. 40
const uint8_t spFIND[] PROGMEM
={0x0C,0x30,0x56,0x5C,0x01,0xD1,0xA8,0x5A,0xC0,0x02,0x27,0xB1,0x21,0xD6,0x39,0x
93,0x9C,0xDC,0xB6,0x0E,0x93,0x4A,0xB3,0x8B,0x5D,0xED,0x6A,0x57,0xAB,0x8E,0xC3
,0x4B,0x2C,0x92,0xEC,0x66,0xB6,0xA5,0xCD,0x4D,0xC5,0x3D,0xA7,0xD4,0xB6,0x76,0x
A1,0x63,0xCE,0x32,0xA4,0x63,0xF8,0xDE,0x0F,0x76,0x68,0x93,0x73,0xA6,0xE6,0x39,0x
B9,0x0E,0xA9,0x8B,0xD9,0x4D,0xC0,0x2A,0x3F};
const uint8_t spYOUR[] PROGMEM
={0xA6,0x1A,0x1A,0x4C,0xB2,0x2F,0xF9,0x2A,0x56,0xB9,0x1A,0x55,0xF4,0xEA,0x12,0
xB6,0xA5,0x57,0xAD,0xB2,0xD1,0xA2,0x9C,0x95,0xF7,0xBA,0x37,0xA9,0x53,0x53,0x72,
0x45,0xB3,0xE6,0x21,0x0D,0x66,0x89,0xAF,0x49,0x9E,0x34,0xE8,0x21,0xF6,0x9C,0x9A,
0xCA,0x60,0xBB,0xC8,0x9A,0xAB,0x76,0x43,0x58,0xC4,0xA1,0xA1,0xD9,0x0C,0x2A,0x
99,0x86,0xBB,0x2D,0x31,0x98,0xA8,0x1C,0xE6,0x6E,0xE0,0x01,0x00,0x00};
const uint8_t spSQUARE[] PROGMEM
={0x0A,0xF8,0x01,0xC5,0x02,0x11,0xC8,0x00,0x06,0x00,0x10,0x20,0xE6,0x18,0x02,0x78,
0x6F,0x2B,0x89,0x8C,0x5D,0x69,0x94,0x75,0xA6,0x3B,0x3D,0x69,0x28,0x66,0xA1,0xBE,
0xE6,0x66,0x3B,0xDF,0xC5,0xAA,0x62,0x73,0xF1,0xB4,0xAE,0xAD,0xF3,0x87,0x3D,0x
CC,0xBB,0xD4,0x21,0x8F,0x69,0xF4,0xDB,0x29,0x42,0x66,0x87,0x29,0x5C,0xD7,0x40,0x
4E,0xE6,0xA6,0x70,0xD8,0x92,0x3C,0x91,0x9D,0x1E};
const uint8_t spGOODBYE[] PROGMEM
={0xA9,0x49,0xE1,0x54,0x91,0x2D,0xAF,0x22,0x07,0x55,0x29,0x69,0x7B,0xF2,0x18,0x3
8,0x32,0x3C,0xCB,0x4D,0x52,0xC8,0x4A,0x5A,0x65,0x99,0x52,0x21,0x6A,0x61,0x69,0x2
E,0x45,0x46,0x2C,0x43,0xA9,0x3C,0x3D,0x1C,0x87,0x2A,0x3A,0xFB,0x50,0x6E,0x73,0x
EB,0xDB,0xEC,0x6E,0x77,0xA3,0xF7,0xD1,0x4E,0x35,0xA2,0xCC,0x7E,0x74,0x3E,0xC6,
0xA8,0x79,0x85,0xD1,0x86,0x64,0x65,0x16,0x95,0x5B,0x13,0x52,0xB0,0x65,0x94,0x2E,0
xB5,0x4D,0x6A,0x55,0x65,0xF8,0x01,0x00,0x00};
const uint8_t spHAVE[] PROGMEM =
{0xAC,0x19,0xA1,0xBD,0x3C,0x2B,0x8F,0x68,0x44,0x8F,0x54,0x33,0x7D,0x9C,0xEA,0x
DD,0x53,0x3D,0xF2,0x71,0x87,0x6B,0x8B,0xB0,0xDA,0x27,0x18,0x6E,0xDD,0xC3,0x6A,
0x9D,0x68,0x9A,0x09,0x4F,0x6B,0x74,0xE2,0x69,0x27,0x23,0xA5,0xD1,0x29,0x86,0x9F,0
x8C,0xD4,0xC5,0xA7,0x6A,0xA9,0x22,0xC2,0x27,0x8D,0xAE,0xC6,0xB2,0x48,0x2F,0xD
5,0xFA,0x1A,0xC2,0xD3,0x7C,0x54,0x1B,0x4A,0x2C,0xF6,0xB4,0xCA,0x69,0x48,0xA1,0
xD8,0xD7,0x6A,0xB9,0xC1,0x55,0xD7,0xA9,0xAC,0x64,0x46,0x6F,0x3C,0xCB,0xAD,0x9
5,0x9A,0x8A,0x31,0x73,0xB6,0xC4,0x6A,0x6C,0x32,0xD4,0x58,0x54,0xFF,0x49};
const uint8_t spGOOD[] PROGMEM =
{0xA9,0x2C,0xA9,0xC5,0xD4,0x6C,0x8F,0xA2,0x61,0xD7,0x68,0xE9,0xBC,0xCA,0x22,0x
CC,0xDB,0x64,0xCD,0xA9,0x92,0x2A,0x37,0xB3,0xCD,0xB7,0x3A,0x55,0x52,0x19,0xAE
,0xFA,0x7A,0x57,0xA3,0xCE,0xC2,0xA3,0x42,0x57,0xD7,0x06,0x35,0x22,0xB8,0x8B,0x8
8,0x6C,0x70,0xC3,0x36,0xEE,0x62,0xEA,0xC6,0x75,0xCD,0x8B,0xBB,0xB9,0x6D,0xDF,0
xFD,0x09};

50. 41
const uint8_t spPROGRAMME[] PROGMEM =
{0x0C,0x48,0x2E,0x95,0x03,0x2E,0x0A,0x8D,0x3D,0xDA,0x13,0xD5,0x68,0xF9,0xA9,0x7
3,0x68,0xC7,0x94,0x13,0x94,0x62,0xA9,0xC6,0xAB,0x4F,0x50,0x63,0x84,0x19,0xAD,0x3
E,0x41,0x0B,0xEE,0x6E,0xB8,0xE9,0x04,0xD5,0x69,0x84,0xF0,0xAB,0x11,0x66,0xE7,0x6
6,0x22,0xAF,0x5C,0x14,0xA3,0x2B,0xAB,0x2E,0x34,0xA9,0x54,0x19,0x1D,0x96,0x4A,0x
E5,0x3E,0xAB,0xB8,0x44,0x9C,0x50,0xA7,0x66,0x21,0xA4,0x71,0x52,0x95,0x33,0x17,0x
66,0xA7,0x1D,0x75,0x69,0x1A,0x94,0xE9,0x75,0xB5,0xA5,0xA9,0x9B,0xE7,0x9A,0x33,0
xB4,0xD8,0xE1,0xC1,0x5D,0xCE,0xD8,0xFC,0x44,0x24,0x75,0x3E,0x53,0x8B,0xE5,0x19,
0xBC,0x78,0xCC,0x35,0x76,0x64,0xF2,0xED,0x36,0xD7,0x54,0x51,0xCE,0xB3,0xEB,0x1
C,0xE6,0xEC,0x34,0x0C,0xAC,0x89,0x9F,0xED,0xF2,0x45};
const uint8_t spCONNECT[] PROGMEM =
{0x06,0xA8,0xD5,0x29,0x24,0x3D,0xAC,0xB3,0x52,0xE6,0x55,0x97,0xA0,0x56,0x12,0x8
D,0x4F,0xDB,0x9C,0x6A,0x4B,0x2C,0x2D,0xDD,0xC8,0xA8,0xEE,0xE9,0xB4,0xF6,0xAB
,0x6B,0x4E,0xB5,0x28,0x93,0xAC,0xB6,0xC5,0x66,0x4F,0xDB,0x7C,0xBB,0xDB,0xEF,0x
69,0x9E,0xE5,0x69,0xA1,0x39,0x3C,0x96,0x20,0x50,0x84,0x72,0x17,0x91,0x0D,0x00,0x2
0,0x80,0xA5,0xC3,0x1C,0xB0,0xEC,0x97,0x05,0x18,0xD0,0xCB,0xDA,0xFF,0x03};
const uint8_t spUNIT[] PROGMEM =
{0x61,0xB9,0x96,0x84,0xB9,0x56,0xE5,0xB9,0xCE,0x63,0xDE,0xCE,0x0D,0x30,0x36,0x9
F,0x6E,0x86,0x36,0x60,0xE9,0x7B,0xCA,0x5E,0x93,0x45,0xA4,0xEB,0xC9,0xBB,0x77,0x
72,0xE7,0x2D,0x2B,0xAB,0xD6,0x24,0x94,0x17,0x8F,0xA2,0x79,0x4C,0xD5,0x48,0x5D,0
xAA,0xEE,0x21,0x23,0x42,0xF1,0x1A,0x66,0x54,0x15,0x97,0xD6,0x6B,0x19,0xD1,0xC5,0
xC5,0x77,0xEF,0xB3,0x9F,0x7E,0x47,0xA0,0x08,0xE5,0x2E,0x22,0x1B,0x00,0x01,0xCB,0
xBB,0x3B,0xE0,0xD7,0x0A,0x05,0x9C,0xD0,0x4D,0x80,0xE6,0x92,0xFE,0x1F};
const uint8_t spWAS[] PROGMEM =
{0x26,0x33,0x36,0xF3,0x90,0x9C,0x98,0xDC,0xB8,0xCC,0x41,0xE6,0x92,0xF2,0x20,0x22,
0x2A,0x4D,0x55,0x2B,0x02,0x9F,0xAE,0x54,0x3C,0xAB,0x48,0xBC,0xBB,0x4A,0xF4,0x8
E,0xAA,0xA8,0xED,0x48,0xEC,0x33,0xEA,0xA2,0xA6,0x23,0x61,0xCF,0xA8,0x8B,0x9A,
0x8A,0xC4,0xDD,0xA3,0xCE,0x66,0xD3,0x9C,0x36,0xCD,0xAA,0x15,0xD9,0x2C,0x87,0x
F8,0xEB,0x52,0x34,0x38,0x62,0x62,0x9B,0x7C,0x27,0x80,0x0D,0xC8,0x18,0x70,0x29,0x0
B,0x05,0x30,0xF0,0x51,0x25,0x51,0x75};
const uint8_t spTEST[] PROGMEM =
{0x0E,0x98,0x6A,0xC9,0x00,0x2B,0x37,0xAF,0xA4,0x45,0x91,0xB0,0x5A,0x72,0xEA,0x9
A,0x9D,0x23,0xE3,0xCD,0x6D,0x56,0x57,0x93,0x5A,0x78,0x2D,0xD9,0xE3,0x9E,0xEB,0
x4E,0x77,0x02,0x6C,0x95,0x4A,0x80,0xDF,0xD2,0x39,0xA0,0x01,0x0D,0x48,0x80,0x01,0
x4F,0x2B,0x53,0x00,0x14,0x70,0x45,0x9A,0x06,0x10,0x50,0x73,0xC3,0xFF,0x03};
const uint8_t spON[] PROGMEM =
{0x25,0x2A,0xF6,0xC6,0xD4,0xE3,0x9C,0xB0,0x89,0xDD,0x14,0x4B,0x7C,0x82,0x2A,0x
6E,0x8D,0xA3,0xD6,0x09,0x8A,0xFC,0x51,0xCE,0xD8,0x37,0x3A,0x71,0x76,0x37,0xAA,
0xDE,0xF8,0x64,0x39,0xDE,0xA8,0x7A,0xE3,0xD5,0xA4,0x71,0x29,0xEE,0xB5,0x4B,0x5
F,0xDC,0x26,0x9B,0x2D,0x29,0x43,0xB6,0x15,0xC2,0x91,0x38,0x0C,0x91,0xA7,0x47,0x5

51. 42
8,0xE3,0x30,0x06,0xE9,0x51,0x9A,0x8D,0xDD,0x14,0x94,0x7B,0x69,0xA6,0x76,0x63,0x9
4,0x1A,0x23,0x9E,0xDA,0x8D,0x51,0x9A,0xBB,0x56,0x9A,0xFF,0x4D,0x19,0x39,0x79};
const uint8_t spCIRCUIT[] PROGMEM =
{0x02,0x78,0x2D,0x55,0x02,0x12,0xB0,0x80,0x01,0x5E,0x49,0x5D,0x49,0x35,0xAE,0x1A,
0xD6,0xF6,0x94,0x25,0x05,0x5B,0x4A,0xD7,0x55,0x94,0x3C,0x28,0x2D,0xFE,0x76,0x11,
0xCA,0xEA,0x06,0x25,0x35,0x29,0x02,0x45,0x28,0x77,0x11,0xD9,0x08,0x28,0x4E,0x15,0
x1C,0x50,0x1C,0xD3,0xEA,0x6A,0x14,0x49,0xF7,0x4D,0x7B,0x19,0x67,0x53,0x45,0x65,0
xB1,0xA7,0x3E,0x08,0x14,0xA1,0xDC,0x45,0x64,0x03,0x80,0x00,0x96,0x56,0x53,0xC0,0x
1F,0xAD,0x02,0x78,0xAE,0x06,0x01,0xCB,0xB7,0xFF,0x3F};
const uint8_t spWERE[] PROGMEM
={0xA2,0xC6,0x61,0x3A,0xD4,0x18,0xBB,0x9A,0xF9,0x7E,0x65,0x74,0x9A,0x6A,0x61,0x
EB,0x43,0x21,0xFD,0xAA,0xAD,0xCA,0x8E,0x00,0xE7,0xAB,0xB6,0xCE,0xA3,0x86,0x9
D,0xAF,0x5A,0xE5,0x88,0x48,0xCA,0xBE,0x2A,0x93,0x93,0xA3,0xC4,0xFF,0xAC,0x46,0
xE5,0x72,0x93,0xAC,0x6B,0x9F,0x55,0xAF,0x7A,0xD5,0x2A,0xD7,0x9A,0x64,0x5C,0xFB
,0xA8,0xFD,0x68,0x96,0x12,0xED,0xA5,0xF1,0x23,0x48,0x9B,0x3D,0xBB,0xD6,0xBB,0x
20,0x0A,0x53,0xA3,0xBA,0x10,0x92,0x89,0x53,0x95,0x68,0xA3,0x0E,0x53,0x0B,0xC7,0x
0F,0x00,0x00};
const uint8_t spDRAWING[] PROGMEM
={0xA6,0x0B,0x3E,0x95,0xDD,0x9D,0xBA,0xCE,0x14,0x75,0x4F,0x48,0xDE,0x6A,0xE3,
0xFD,0xD4,0xB9,0xED,0xAC,0x5B,0xE5,0xE4,0xAE,0x1B,0x66,0x9F,0xC5,0xCC,0x67,0x
36,0xB3,0x9E,0xF7,0x62,0x54,0xD6,0x4D,0x99,0x48,0xDB,0xD5,0x84,0xD0,0x65,0xCA,0
x69,0x4F,0x57,0x42,0xA7,0x38,0x67,0x3D,0x5D,0x4B,0x93,0x64,0x94,0xF5,0xF6,0x7B,0x
28,0xC3,0x0C,0xAA,0xD0,0xD5,0x5A,0x0D,0xDA,0xD1,0x94,0xB6,0x45,0x3D,0xE8,0x41
,0x0C,0xDA,0xD1,0xA6,0x86,0x05,0x35,0x68,0x67,0xDC,0xE1,0x8E,0xD5,0x60,0x95,0x5
3,0x35,0x45,0x94,0xE3,0x03};
const uint8_t spDECIDE[] PROGMEM
={0xAD,0x1A,0x2C,0x54,0x24,0x32,0xAF,0xAA,0xD8,0x70,0x51,0xD9,0xAA,0xAA,0x18,
0x3D,0x44,0x6A,0xAE,0x01,0x7E,0x14,0x8D,0x40,0x04,0x02,0xF0,0x93,0x69,0x04,0x22,0
xA0,0x81,0x11,0x06,0x17,0xED,0xD4,0xB1,0x47,0xEA,0x52,0xA7,0x49,0xC6,0x99,0xD9,
0xCC,0x7B,0xD1,0x2A,0xD7,0x32,0xC5,0xDB,0x4A,0xAF,0x4A,0xED,0x77,0x24,0x65,0x
C9,0x6E,0xAD,0xDF,0x96,0x1C,0x2D,0xA7,0xF5,0x3E,0xBB,0x44,0x47,0xD0,0xDE,0xD7
,0x3E,0xF5,0x36,0xB3,0x57,0x56,0x98,0xD4,0x3B,0xE7,0x6C,0xE5,0x95,0x44,0x8F,0x43,
0x7A,0x95,0xC9,0x16,0x3D,0xB6,0xE5,0x15,0x69,0xEB,0x01};
const uint8_t spTIME[] PROGMEM =
{0x0E,0x38,0xD0,0xC3,0x01,0x47,0xBB,0x3A,0x20,0xEB,0x8E,0xE6,0x95,0x14,0x61,0x1
A,0xA2,0x96,0x97,0x73,0xBB,0x4A,0x59,0x3E,0x7E,0xC9,0x5B,0xAE,0x99,0xE8,0x04,0x
D5,0x7C,0x95,0x78,0xAA,0x13,0x34,0x75,0x55,0x1A,0x89,0x4E,0xD4,0xCC,0x56,0xA9,0
xB5,0x3A,0x71,0xF3,0x93,0x65,0xD6,0xE8,0xA4,0xC3,0x8F,0xA7,0x6B,0xAB,0x53,0x8D,
0x98,0xE2,0xE6,0x8D,0x46,0x35,0x42,0x90,0x65,0xD6,0x69,0xDD,0xF0,0x46,0x5E,0x55,0
xBA,0x0C,0x4D,0x89,0x4E,0x45,0xE4,0x30,0x44,0x25,0xD9,0xE2,0xA9,0xFD,0xA8,0xA6,
0xA2,0x30,0xDA,0x2C,0xB5,0x9A,0x8B,0xE6,0x70,0xCC,0x36,0xFF,0x4D,0x25,0x15};

52. 43
const uint8_t spIS[] PROGMEM =
{0x21,0x18,0x96,0x38,0xB7,0x14,0x8D,0x60,0x3A,0xA6,0xE8,0x51,0xB4,0xDC,0x2E,0x4
8,0x7B,0x5A,0xF1,0x70,0x1B,0xA3,0xEC,0x09,0xC6,0xCB,0xEB,0x92,0x3D,0xA7,0x69,0
x1F,0xAF,0x71,0x89,0x9C,0xA2,0xB3,0xFC,0xCA,0x35,0x72,0x9A,0xD1,0xF0,0xAB,0x12
,0xB3,0x2B,0xC6,0xCD,0x4F,0xCC,0x32,0x26,0x19,0x07,0xDF,0x0B,0x8F,0xB8,0xA4,0xE
D,0x7C,0xCF,0x23,0x62,0x8B,0x8E,0xF1,0x23,0x0A,0x8B,0x6E,0xCB,0xCE,0xEF,0x54,0x
44,0x3C,0xDC,0x08,0x60,0x0B,0x37,0x01,0x1C,0x53,0x26,0x80,0x15,0x4E,0x14,0xB0,0x5
4,0x2B,0x02,0xA4,0x69,0xFF,0x7F};
const uint8_t spSTART[] PROGMEM =
{0x08,0xD8,0x50,0x05,0x01,0x5F,0xB1,0x12,0xE0,0x33,0x55,0x06,0x7C,0xEE,0x66,0x80,
0x6F,0x54,0x19,0xF0,0x65,0x18,0x07,0x10,0x28,0x94,0xBB,0x8B,0xC8,0x06,0x03,0x6C,0
x96,0x36,0x9C,0xAA,0xD3,0x5D,0xBC,0xD3,0xF1,0x8A,0x52,0x6F,0xE9,0x28,0x27,0x28,
0xF1,0x32,0x24,0x3C,0x9D,0x28,0xC7,0x4B,0x97,0xF0,0x74,0xD2,0x9C,0xAE,0x4D,0x23,
0xE3,0x2D,0x56,0x95,0xF3,0xB6,0x85,0x76,0x5A,0x5D,0x2E,0xDB,0x1A,0xB6,0x6A,0x8
C,0xB9,0x4C,0xAA,0xEB,0xC2,0x36,0x95,0x18,0x15,0x2A,0x0B,0xCB,0x54,0x83,0x8E,0x
9B,0xB4,0x24,0x93,0x50,0xEE,0x2E,0x22,0x1B,0x00,0x18,0x70,0x94,0x3A,0x03,0x5E,0x6
6,0x53,0xC0,0x51,0x96,0x04,0xD8,0x42,0x02,0x01,0x8D,0xBA,0xFD,0x05,0x79,0x15,0x65
};
const uint8_t spTEN[] PROGMEM =
{0x0E,0xD8,0xB1,0xDD,0x01,0x3D,0xA8,0x24,0x7B,0x04,0x27,0x76,0x77,0xDC,0xEC,0x
C2,0xC5,0x23,0x84,0xCD,0x72,0x9A,0x51,0xF7,0x62,0x45,0xC7,0xEB,0x4E,0x35,0x4A,0x
14,0x2D,0xBF,0x45,0xB6,0x0A,0x75,0xB8,0xFC,0x16,0xD9,0x2A,0xD9,0xD6,0x0A,0x5A,
0x10,0xCD,0xA2,0x48,0x23,0xA8,0x81,0x35,0x4B,0x2C,0xA7,0x20,0x69,0x0A,0xAF,0xB
6,0x15,0x82,0xA4,0x29,0x3C,0xC7,0x52,0x08,0xA2,0x22,0xCF,0x68,0x4B,0x2E,0xF0,0x8
A,0xBD,0xA3,0x2C,0xAB,0x40,0x1B,0xCE,0xAA,0xB2,0x6C,0x82,0x40,0x4D,0x7D,0xC2,
0x89,0x88,0x8A,0x61,0xCC,0x74,0xD5,0xFF,0x0F};
const uint8_t spA_M_[] PROGMEM =
{0xCD,0xEF,0x86,0xAB,0x57,0x6D,0x0F,0xAF,0x71,0xAD,0x49,0x55,0x3C,0xFC,0x2E,0x
C5,0xB7,0x5C,0xF1,0xF2,0x87,0x66,0xDD,0x4E,0xC5,0xC3,0xEF,0x92,0xE2,0x3A,0x65,0
xB7,0xA0,0x09,0xAA,0x1B,0x97,0x54,0x82,0x2E,0x28,0x77,0x5C,0x52,0x09,0x1A,0xA3,0
xB8,0x76,0x49,0x25,0x68,0x8C,0x73,0xDB,0x24,0x95,0xA0,0x32,0xA9,0x6B,0xA7,0xD9,0
x82,0x26,0xA9,0x76,0x42,0xD6,0x08,0xBA,0xE1,0xE8,0x0E,0x5A,0x2B,0xEA,0x9E,0x3D,
0x27,0x18,0xAD,0xA8,0x07,0xF1,0x98,0x90,0x35,0xA2,0x96,0x44,0xA3,0x5D,0x66,0x8B,
0x6B,0x12,0xCD,0x32,0x85,0x25,0xC9,0x81,0x2D,0xC3,0x64,0x85,0x34,0x58,0x89,0x94,0
x52,0x1C,0x52,0x2F,0x35,0xDA,0xC7,0x51,0x48,0x23,0x97,0xCC,0x2C,0x97,0x2E,0xF3,0
x5C,0xF3,0xA2,0x14,0xBA,0x2C,0x48,0xCE,0xCA,0x76,0xE8,0x32,0x2F,0x34,0xB2,0xDB
,0x85,0xC9,0x83,0x90,0xA8,0x2C,0x57,0x26,0x8F,0x9C,0xBD,0xA2,0x53,0xD9,0xC2,0x54
,0x59,0x28,0x99,0x4B,0x2C,0x5D,0xFF,0x3F};
const uint8_t spFINAL[] PROGMEM =
{0x08,0x48,0x4C,0x45,0x00,0x43,0x87,0x0A,0xA0,0xBB,0x0A,0x06,0x74,0x37,0xA9,0x80
,0x21,0xC3,0x56,0x15,0x7D,0x67,0x38,0x2F,0x5E,0x55,0x56,0x93,0x9E,0xBC,0x79,0x55,0

53. 44
xC5,0xB4,0x47,0xE8,0xE6,0x55,0x16,0x97,0x9A,0x65,0xAB,0x56,0x51,0x7C,0x48,0x75,0
x2C,0x5E,0x45,0xF1,0x66,0x65,0x9D,0xA8,0x15,0x59,0x9B,0xB7,0xA4,0xAA,0x95,0x27,0
xDB,0x56,0x61,0x69,0x56,0x9E,0xCC,0x86,0x9B,0x74,0x1E,0x59,0xC1,0x33,0xA6,0x92,0
x75,0x64,0x15,0xD5,0x84,0x72,0xDA,0x96,0x65,0x12,0xB5,0xCC,0x6D,0x4B,0xD1,0x40,0
xB6,0xA9,0xB6,0x55,0x9D,0xB2,0x25,0x16,0x69,0xF7,0xFF,0x01};
const uint8_t spCOURSE[] PROGMEM =
{0x02,0x08,0xCB,0x50,0x01,0xB1,0x17,0x95,0xDA,0xF7,0xF0,0x14,0xE9,0xD2,0x06,0x1F
,0xD6,0x65,0xC8,0x4F,0x1B,0x43,0x38,0xE3,0x65,0xBF,0x65,0x89,0x6E,0xD9,0x0E,0x7B
,0x97,0x35,0x85,0xC2,0x1A,0xD8,0x53,0xF6,0x5C,0x1D,0xB3,0xA4,0x6B,0x3A,0x72,0x1
1,0x0D,0xB3,0x2E,0x06,0x78,0xC6,0x55,0x01,0x3F,0xA5,0x28,0xE0,0xB7,0x52,0x0D,0x2
8,0xE0,0xB7,0x54,0x06,0xFC,0x52,0xC6,0x80,0x9F,0xCB,0xFE,0x1F};
const uint8_t spADVISE[] PROGMEM =
{0x63,0xEC,0xBA,0x55,0xCB,0xD7,0xAC,0xB1,0x9B,0x56,0x75,0x5B,0xB3,0xC6,0x66,0x
43,0xC2,0x6D,0xB5,0x98,0xBC,0x55,0x71,0xEF,0x99,0x6A,0xD6,0x22,0x23,0xC3,0x6A,0
xAA,0x25,0x90,0x34,0x4F,0x6B,0x2C,0x16,0xCB,0xD3,0x35,0x3D,0x49,0x38,0xBA,0x0A,
0x53,0x51,0xDB,0xAB,0x4F,0x66,0xC2,0x9C,0x37,0xAD,0xAE,0x88,0x6D,0x0B,0xE9,0x
B3,0xBA,0x22,0xB6,0x3C,0x64,0xCB,0xEA,0x2A,0xDF,0xD2,0xB4,0x2D,0xAB,0x6D,0x6
2,0xD3,0x52,0xB7,0xAC,0xA6,0xF3,0x75,0x2F,0xD9,0xBC,0x9A,0x21,0xD6,0xBC,0x64,0
xF5,0xAA,0xBB,0x1D,0x0E,0xB7,0xD7,0xAB,0x6A,0xA6,0xA8,0x3C,0x5F,0xAD,0xAA,0
xCB,0xC2,0xB2,0x9A,0xDD,0x9A,0x2A,0x12,0x93,0x67,0x72,0xEB,0xBE,0x62,0x37,0x8
A,0x2C,0x0A,0x78,0xC6,0x55,0x01,0x3F,0xA5,0x18,0xE0,0xB7,0xD2,0xFF,0x07};
const uint8_t spNEW[] PROGMEM =
{0xAE,0x88,0x82,0xB6,0x2D,0xD5,0xA4,0x3A,0x49,0xF5,0xA1,0x8C,0xDB,0xEB,0x52,0x
27,0x25,0xF6,0x62,0x75,0x47,0xDD,0xB5,0xA2,0x6D,0x55,0x1E,0xF9,0x74,0x09,0x34,0x
B9,0xA8,0xC5,0x53,0x19,0xE8,0x75,0xE5,0x11,0x0C,0x67,0x60,0x5B,0x0F,0x8F,0xDF,0x
64,0xB0,0x87,0xAF,0xDE,0xC1,0x88,0x0A,0x1F,0x55,0xD6,0x57,0x23,0x8D,0x6C,0x54,0
x35,0x56,0xA6,0xC2,0x89,0x73,0x31,0xDF,0xE4,0x5A,0xE1,0x4E,0xCD,0xF2,0x91,0x1B,
0xB4,0x3A,0x13,0xF3,0x26,0x66,0x64,0x61,0x2D,0xD4,0x93,0xE8,0xF1,0xFF,0x79,0x39};
const uint8_t spINFORMATION[] PROGMEM =
{0xAE,0xE8,0x39,0x98,0xBC,0xD6,0x8C,0xA2,0x19,0xE5,0x98,0x98,0xB4,0x8A,0x6E,0x5
5,0xBC,0xA3,0xD6,0x2A,0x9B,0x36,0xF5,0xF2,0x59,0xAB,0x6C,0x96,0x2A,0x5C,0xED,0
x8C,0x2A,0x2B,0xAD,0x10,0x8E,0x93,0xAA,0x6C,0xC5,0x95,0xB2,0xA1,0xEB,0x96,0x4
9,0x33,0x33,0xC7,0xA9,0x9F,0x2E,0x33,0x42,0x14,0x3B,0xA0,0xB9,0xF6,0x51,0x26,0x57
,0x6A,0x4D,0x59,0x46,0x97,0x5C,0xA9,0x37,0x6C,0x49,0x7D,0xB0,0xEA,0x15,0x54,0xB
7,0xF4,0xC9,0x4A,0x94,0x52,0xBD,0xD5,0x14,0x9D,0xA6,0xAD,0xAB,0x57,0xDD,0x54,0
xA8,0x8D,0x6F,0x5E,0x55,0x77,0xCE,0xD6,0xBE,0x6A,0x15,0x3D,0x28,0x5B,0xE5,0xC2,
0x56,0x8E,0xAA,0xCC,0xE6,0xAD,0x13,0x30,0x72,0x5B,0x02,0x66,0xE9,0x4E,0xC0,0x4
A,0x1B,0x09,0xE8,0xA5,0x7D,0x15,0x2D,0xAA,0x72,0xD8,0xE6,0x55,0xB7,0xA0,0x26,0
xE1,0xAB,0x5B,0x53,0x0D,0x76,0xAA,0xC4,0x29,0x75,0x35,0x38,0x66,0xE2,0x64,0xD4,
0x55,0x73,0xA6,0x48,0x9C,0x51,0x17,0x6D,0x6E,0x1E,0x8D,0xFE,0x1F};

54. 45
void setup()
{ { Serial.begin(9600);
SPI.begin();
SPI.setBitOrder(MSBFIRST);}
rx.channel(90);
rx.RXaddress("Robot");
rx.init();
pinMode(3,OUTPUT);
}
//char St1[6] = {};
char data;
void loop()
{ while(rx.available())
{ rx.read();
rx.rxPL(data);
Serial.println(data);
// data=""
}
{//for(char data=data;data>=10;data+1)
if(data == 'H')
{
voice.say(spTHIS);
voice.say(spPROGRAM);
voice.say(spGIVES);
voice.say(spMESSAGES);
delay(100);

55. 46
}
{
if(data =='S')
{
voice.say(spTHIS);
voice.say(spIS);
voice.say(spGOOD);
voice.say(spPROGRAMME);
delay(100);}}
{
if(data=='g'){
voice.say(spCONNECT);
voice.say(spUNIT);
voice.say(spWAS);
voice.say(spTEST);
voice.say(spON);
voice.say(spCIRCUIT);
delay(100);}}
{
if(data == 'T')
{
voice.say(spCIRCUIT);
voice.say(spWERE);
voice.say(spDRAWING);
voice.say(spDECIDE);
delay(100);}}
{

56. 47
if(data == 'P'){
voice.say(spTHIS);
voice.say(spTIME);
voice.say(spIS);
voice.say(spPROGRAMME);
voice.say(spSTART);
voice.say(spTEN);
voice.say(spA_M_);
delay(100);}}
{
if(data == 'V'){
voice.say(spFINAL);
voice.say(spCOURSE);
voice.say(spPROGRAMME);
voice.say(spHAVE);
voice.say(spADVISE);
voice.say(spNEW);
voice.say(spINFORMATION);
delay(100);}}
}

57. 48
REFERENCES
1. [1] Saeed B. Niku, Introduction to Robotics Analysis, Systems, Applications, 2001
Prentice Hall, Inc. Upper Saddle River, New Jersey 07458
2. [2] Vikram Kapila, Associate Professor, Mechanical Engineering, Introduction to
Robotics, http://engineering.nyu.edu/mechatronics/smart/pdf/Intro2Robotics.pdf,
21.05.2017
3. [3] Gazetesu, Sabancı University Robot Research Laboratory Platform, 22.05.2017
4. [4] Robotic, https://tr.wikipedia.org/wiki/Robotik, 24.05.2017
5. [5] Robotic System, www.robotiksistem.com
6. [6] CNY70 Datasheet, www.robotiksistem.com
7. [7] NRF24L01 2.4 GHz Transceiver Module and Features, www.robotistan.com
8. [8] Amplifier Circuit, www.elektrikport.com
9. [9] HC-SR04 Ultrasonic Sensor, sinancanbayrak.com

58. 49