app based wireless bot controller

App Based Wireless Bot Controller 2024-25
Chapter 1
INTRODUCTION
The project involves creating a Bluetooth-controlled RC robot with a robotic arm, designed to
perform basic mechanical tasks through wireless commands. It integrates hardware and software,
providing a practical learning experience in control systems, automation, and robotics. The robot's
core is the Arduino Uno microcontroller, which handles processing and decision-making tasks. A
Bluetooth module (HC-05) allows wireless communication with a smartphone or tablet, acting as
the control interface. DC motors connected to the robot's wheels are powered and regulated by a
motor driver (L298N), enabling movement in all directions. A servo motor controls the robotic
arm's movement, allowing precise positioning for tasks like picking up and placing objects. The
robot operates on a battery pack, ensuring portability and independence from external power
sources. The design includes a sturdy robot chassis that holds all parts securely, maintaining
balance and stability while providing space for the robotic arm. This project demonstrates the
practical use of various electronic and mechanical components, highlighting the basics of
Bluetooth-controlled systems and robotic automation. It offers valuable insights into embedded
systems, robotics engineering, and wireless communication. This project is a great example of how
simple components, combined with creativity and engineering, can result in a functional,
interactive robotic system that bridges the gap between theoretical learning and real-world
application.
1.1 Purpose of Plan:

As most of the work in this area has been done regarding the Arduino & its application, what left
out most of the time is the Android controller. In this project we are trying to exploit the android
open accessory Bundle so that we can give
 More realistic experience to the user.
 Better Connectivity to the Arduino Chip.
 Increasing the efficiency in controlling of Bot.
1.2 Project Objectives:

In this project, we will construct an Arduino-based RC robot with robotic hands, controlled via a
smartphone. By combining Android and Arduino programming, we aim to create a functional and
versatile robotic system that can be easily operated using a mobile device.
Dept of RO & AI, BTI, Bengaluru 1

1.3 Project Goals:

 Develop a Mobile App Interface: Create an intuitive Android app to control the Arduino-
based RC robot and its robotic hands using Bluetooth connectivity.
 Integrate Arduino with Servo Motors: Design the Arduino-based system to control the
movement of the robotic hands with precise servo motor actions.
 Ensure Seamless Communication: Establish stable and efficient Bluetooth communication

between the mobile app and the RC robot for smooth real-time control.
 Optimize Power Consumption: Develop an efficient power management system for the
robot to ensure long-term operation without frequent recharging.
 Enhance User Experience: Focus on a user-friendly control interface that allows for easy
manipulation of both the robot's movement and the robotic hands.
1.4 Scope of Definition

The project is limited to designing an android interface, Arduino bot and write program in to the
Arduino microprocessor. Arduino car contains Arduino microcontroller with basic mobility
features. Arduino programs contains instructions mediating between android controller and
Arduino car. Android mobile controller uses different mobile sensors to supervise motion.

Chapter 2
LITERATURE SURVEY
[1] Remote Control Robot Using Android Mobile Device:
Nádvorník, J., & Smutný, P describes the design and realization of the mobile application
for the Android operating system which is focused on manual control of mobile robot using
wireless Bluetooth technology. The application allows the robot control interaction with the
display, or voice. When we use a graphical interface, we can monitor the current distance of the
robot from obstacles. The measurement of distance is carried out by ultrasonic sensor placed in
front of the robot. It was necessary to build a prototype of a mobile robot for the development of
the application. The prototype of the mobile robot is based on the differential gear.
[2] A Systematic Approach to Evaluating and Benchmarking Robotic Hands—

The FFP Index
Sureshbabu, A., Metta, G., & Parmiggiani discuss the evaluation of robotic hands is a
subjectively biased, complex process. The fields pertaining to robotic hands are human-centric in
nature, making human hands a good standard for benchmark comparisons of robotic hands. To
achieve this, we propose a new evaluation index, where we evaluate robotic hands on three fronts:
their form, features and performance. An evaluation on how anthropomorphic robotic hands are in
basic mobility, and appearance constitutes the “Form”, while features that can be read, changed
and actuated for effective control of robotic hands constitutes the “Features”. We derived these
key features from an extensive analysis of robotic hands in literature. Finally, the robotic hands
carry out a series of tasks that evaluate their “Performance”. An individual score for each category
is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the
form of price to provide context when analysing multiple hands.
[3] Mechanical Aspects of Robot Hands, Active Hand Orthoses, and Prostheses:
A Comparative Review:
The large interest in robot hands and active hand prostheses has in recent years been
joined by that in active hand orthoses. Despite the differences in intended uses, these three
categories of artificial hand devices share key characteristics. Examination of the commonalities
could stimulate future design. Thus, in this article, we undertook a comparative review of
publications describing robot hands, active prostheses, and active orthoses, with a focus on

mechanical structure, actuation principle, and transmission. Out of a total of 510 papers identified
through the literature search, 72 publications were included in a focused examination. We
identified trends in the design of artificial hands and gaps in the literature. After comparing their
mechanical aspects, we propose recommendations for future development as stated by Vertongen,
J., Kamper, D.G., Smit, G., & Vallery.H.
[4] Replicating Human Hand Synergies onto Robotic Hands: A Review on

Software and Hardware Strategies
Salvietti, G., Gioioso, G., Malvezzi, M., & Prattichizzo, D, review the principal solutions
proposed in the literature to reduce the complexity of the control and of the design of robotic hands
taking inspiration from the organization of the human brain. Several studies in neuroscience
concerning the sensorimotor organization of the human hand proved that, despite the complexity
of the hand, a few parameters can describe most of the variance in the patterns of configurations
and movements. In other words, humans exploit a reduced set of parameters, known in the
literature as synergies, to control their hands. In robotics, this dimensionality reduction can be
achieved by coupling some of the degrees of freedom (DOF’s) of the robotic hand, that results in
a reduction of the needed inputs. Such coupling can be obtained at the software level, exploiting
mapping algorithm to reproduce human hand organization, and at the hardware level, through
either rigid or compliant physical couplings between the joints of the robotic hand. This paper
reviews the main solutions proposed for both the approaches.
[5] Autonomous Soft Hand Grasping - Literature Review

Smith, J., et al. explore the ongoing challenges of autonomous grasping, emphasizing the
limitations of robots in sensing and delicately interacting with real-world environments, unlike
humans. One significant approach to bridging this gap is the development of anthropomorphic
robotic hands. However, they suggest that strictly mimicking human hand design may be
unnecessary, as it could significantly increase mechanical complexity and reduce economic
feasibility. Recently, soft robotic hands have emerged as an innovative alternative, aiming to
balance design complexity and affordability while requiring less effort to control. The first part of
the article outlines several notable designs in this domain and their real-world applications. While
suitable hardware simplifies software design, manually controlling the hand for individual tasks
can be time-consuming and labor-intensive, especially when repeated. In the second part, the
authors highlight recent techniques for autonomous control of soft hands, starting with analytic

methods that leverage hand dynamic information. The focus then shifts to data-driven approaches,
which have gained prominence in soft hand grasping research due to their effectiveness in
managing diverse objects.
[6] Current Design of Robotics Arm Grippers: A Comprehensive Systematic

Review
Jaime R. Hernandez, Md. Samiul Haque Sunny, Javier Sanjuan, Ivan Rulik, Md Ishrak
Islam Zarif, Sheikh Iqbal Ahamed, Helal Uddin Ahmed, and Mohammad H. Rahman present a
comprehensive review of robotic arm grippers, focusing on the benefits and drawbacks of various
designs. Recent technological advances have enabled gripper-equipped robots to perform many
tasks traditionally associated with the human hand, making grippers applicable in a wide range of
fields. The authors highlight that an ideal gripper design should be affordable, energy-efficient,
and adaptable to diverse situations. However, despite the many grippers available on the market,
there are still many tasks that remain challenging, underscoring the need for new designs that can
better compete with the human hand. Their research compares gripper designs by examining
factors such as the actuation mechanism, degrees of freedom, grasping capabilities with multiple
objects, and applications, ultimately concluding which gripper design offers the broadest set of
capabilities.

Chapter 3
HARDWARE REQUIREMENTS AND SPECIFICATIONS
3.1 Components Required
 Arduino UNO
 HC – 05 Bluetooth Module
 Motor Driver L298N
 Jumper Wire
 Servo Motor
 Connecting Wires
 Battery holder
 Power Supply
 Android Phone
 Bluetooth Controller
3.2 Block Diagram and Working Principles
2200mAh Battery DC-motor

1&2
Bluetooth Motor Driver

Module
Module
HC-05
Arduino UNO SMD L298N
Microcontroller
DC-motor
3&4
Fig 3.1: Block Diagram

The Block Diagram as shown fig. 3.1 of our system consists of a Bluetooth module, an Arduino
kit and a couple of motors for driving the car. The android application-controlled robot
communicates via Bluetooth to the Bluetooth module present on the robot. While pressing each
button on the application, corresponding commands are sent via Bluetooth to the robot. The
commands that are sent are in the form of ASCII. The PIC on the robot then checks the command
received with its previously defined commands and controls the DC motors depending on the
command received to cause it to move forward, backward, left, right or to stop. Thus allowing us
to create an android controlled robot.
3.3 Circuit Diagram:
Fig 3.2: Circuit Diagram
Here at first we construct the circuit as shown in Figure 3.2 Then through the data cable we insert
the commands in the microcontroller ATMEGA 328P (UNO). These commands help the
microcontroller to interface with the Bluetooth module HC05 and also with the motor driver
L293D. Here the Bluetooth module act as a receiver which receives the instruction from the smart
phone (remote or transmitter). Then the microcontroller decides the operation for the instruction
which is coming from the smart phone. The functions of the given instructions are operated by the
microcontroller. The instructions are sent by the smart phone. We can easily control the
movements of the dc motor.

3.4 Arduino IDE:
Fig 3.3: Arduino IDE
The Arduino integrated development environment (IDE) could be a cross-platform application

written in Java, and derives from the IDE for the process programming language and also the
Wiring projects. It’s designed to introduce programming to artists and different newcomers
unfamiliar with code development. It includes a code editor with options like syntax highlighting,
brace matching, and automatic indentation, and is additionally capable of compilation and
uploading programs to the board with one click. A program or code written for Arduino is named
a "sketch". Arduino programs are written in C or C++. The Arduino IDE comes with a code library
referred to as "Wiring" from the first Wiring project that makes several common input/output
operations a lot of easier. The users would like solely to outline 2 functions to create a possible
cyclic government program:
setup (): a function run once at the beginning of a program that may initialize settings
loop (): a function referred to as repeatedly till the board powers off+ programming languages.

3.5 Arduino UNO SMD:
Fig 3.4: Ardunio Uno SMD
Fig 3.5: Arduino UNO SMD parts

The Arduino Uno SMD is a version of the Arduino Uno, but uses an surface mount version of the
Atmega328P instead of the through-hole version. This version was made in response to a shortage
in supply of the through-hole Atmega328P. The board is based on the ATmega328 (datasheet). It
has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller; simply connect it to a computer with a
USB cable or power it with a AC-to-DC adapter or battery to get started.
3.6 Features & Specifications:

Table 3.1: Features & Specifications of Arduino UNO SMD
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB (ATmega328)
SRAM 2 KB (ATmega328)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz
 Power Supply:
The Arduino Uno power supply can be done with the help of a USB cable or an external power
supply. The external power supplies mainly include AC to DC adapter otherwise a battery. The
adapter can be connected to the Arduino Uno by plugging into the power jack of the Arduino
board. Similarly, the battery leads can be connected to the Vin pin and the GND pin of the POWER
connector. The suggested voltage range will be 7 volts to 12 volts.
 Input & Output:

The 14 digital pins on the Arduino Uno can be used as input & output with the help of the functions
like pinMode(), digitalWrite(), & Digital Read().
 Pin1 (TX) & Pin0 (RX) (Serial): This pin is used to transmit & receive TTL serial data,
and these are connected to the ATmega8U2 USB to TTL Serial chip equivalent pins.
 Pin 2 & Pin 3 (External Interrupts): External pins can be connected to activate an
interrupt over a low value, change in value.
 Pins 3, 5, 6, 9, 10, & 11 (PWM): This pin gives 8-bit PWM o/p by the function of
analogWrite(). SPI Pins (Pin-10 (SS), Pin-11 (MOSI), Pin-12 (MISO), Pin-13 (SCK):
These pins maintain SPI-communication, even though offered by the fundamental
hardware, is not presently included within the Arduino language.

 Pin-13(LED): The inbuilt LED can be connected to pin-13 (digital pin). As the HIGHvalue
pin, the light emitting diode is activated, whenever the pin is LOW.
 Pin-4 (SDA) & Pin-5 (SCL) (I2C): It supports TWI-communication with the help of the
Wire library.
 AREF (Reference Voltage): The reference voltage is for the analog inputs with
analogReference().
 Reset Pin: This pin is used for reset (RST) the microcontroller.
 Memory:
The memory of this Atmega328 Arduino microcontroller includes flash memory-32 KB for storing
code, SRAM-2 KB EEPROM-1 KB.
 Communication:
The Arduino Uno ATmega328 offers UART TTL-serial communication, and it is accessible on
digital pins like TX (1) and RX (0). The software of an Arduino has a serial monitor that permits
easy data. There are two LEDs on the board like RX & TX which will blink whenever data is being
broadcasted through the USB.
3.7.1 Bluetooth Module HC – 05:
Fig 3.6: Bluetooth module HC-05

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

3.7.2 Bluetooth Module HC – 05 PIN Configuration:

Table 3.2: Bluetooth Module HC – 05 PIN Configuration
PIN NUMBER PIN NAME DESCRIPTION
PIN 1 STATE The state pin is connected to on board LED,

it can be used as feedback to check if
Bluetooth is working properly.
PIN 2 RxD Receive Serial Data. Every serial data given

to this pin will be broadcasted via Bluetooth
PIN 3 TxD Transmits Serial Data. Everything received

via Bluetooth will be given out by this pin
as serial data.
PIN 4 GND Ground pin of module, connect to system

ground.
PIN 5 VCC Powers the module. Connect to +5V Supply

voltage
PIN 6 ENABLE This pin is used to toggle between Data

Mode (set low) and AT command mode (set
high). By default it is in Data mode
PIN 7 LED Indicates the status of Module

Blink once in 2 sec: Module has entered
Command Mode
Repeated Blinking: Waiting for
connection in Data Mode
Blink twice in 1 sec: Connection successful
in Data Mode
PIN 8 BUTTON Used to control the Key/Enable pin to

toggle between Data and command Mode

3.8 Bluetooth Communication Between Devices:

First Send data from Smartphone terminal to HC-05 Bluetooth module and see this data on PC
serial terminal and vice versa. To communicate smartphone with HC-05 Bluetooth module,
smartphone requires Bluetooth terminal application for transmitting and receiving data. You can
find Bluetooth terminal applications for android and windows in respective app store.
Fig 3.7: Bluetooth Communication Between devices

Before establishing communication between two Bluetooth devices, 1st we need to pair HC-05
module to smartphone for communication. First, search for new Bluetooth device from your
phone. You will find Bluetooth device with ― HC-05 name. Second, click on connect/pair device
option; default pin for HC-05 is 1234 or 0000. In smart phone, open Bluetooth terminal application
and connect to paired device HC-05. It is simple to communicate we just have to type in the
Bluetooth terminal application of smartphone. Characters will get sent wirelessly to Bluetooth
module HC-05.
3.9.1 Motor Driver Module L298N:

This L298N Motor Driver Module is a high-power motor driver module for driving DC and
Stepper Motors. This module consists of an L298 motor driver IC and a 78M05 5V
regulator. L298N Module can control up to 4 DC motors, or 2 DC motors with directional and
speed control
Fig 3.8: Motor Driver Module L298N

3.9.2 L298N Module Pin Configuration:
Table 3.3: L298N Module Pin Configuration
PIN NAME DESCRIPTION
IN1 & IN2 Motor A input pins. Used to control the spinning direction of
Motor A
IN3 & IN4 Motor B input pins. Used to control the spinning direction of
Motor B
ENA Enables PMW signal for Motor A
ENB Enables PMW signal for Motor B
OUT1 & OUT2 Output pins of motor A
OUT3 & OUT4 Output pins of motor B
12V 12V input from DC power Source
5V Supplies Power for the Switching logic Circuitry inside L278N IC
GND Ground pin
Fig 3.9: Internal circuit diagram of L298N Motor Driver module

3.9.3 Features & Specifications:

 Driver Model: L298N 2A
 Driver Chip: Double H Bridge L298N
 Motor Supply Voltage (Maximum): 46V
 Motor Supply Current (Maximum): 2A
 Logic Voltage: 5V
 Driver Voltage: 5-35V
 Driver Current:2A
 Logical Current:0-36mA
 Maximum Power (W): 25W
 Current Sense for each motor
 Heatsink for better performance
 Power-On LED indicator
3.10.1 Servo Motor:

Servo motor is a rotary actuator or linear actuator. It allows for precise control of angular or linear
position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position
feedback. It also requires a relatively sophisticated controller. Often a dedicated module designed
specifically for use with servo motors. It is an electrical device which can push or rotate an object
with great precision. If you want to rotate an object at some specific angles or distance, then you
have to use servo motor. It is just a simple motor which run through servo mechanism.
If the motor uses the DC power as supply, then it is the DC servo motor. If the motor uses an AC
power as supply, then it is an AC servo motor.
Fig 3.10: Servo Motor

3.10.2 Construction of Servo Motor:
Fig 3.11: Construction of Servo Motor
This motor is a closed-loop mechanism that incorporates positional feedback in order to control
the rotational or linear speed and position.
This motor is actually an assembly of four things:
 Normal DC motor- That is in charge of generating the motion through its shaft.
 Gear reduction unit/gear box
 Potentiometer
 Control circuit
The DC motor connects with a gear mechanism which provides feedback to a position sensor
which is mostly a potentiometer. It is connected to the central shaft, and informs at all times the
angle in which the motor’s shaft is available from the gear box or gear reduction unit, the output
of the motor delivers via servo spline to the servo arm. the gear box is formed by gears which may
increase or decrease the speed and torque. The standard servo motor uses the plastic gear whereas
the high power servo motor uses the metal gear. A control circuit allows for control over the
motor’s motion by sending electric pulses Motor consists of three wires- a black wire connected
to ground. A white/yellow wire connected to control unit. And a red wire connected to power
supply.

3.11 Grippy Wheels & DC Motor:

Mobile wheeled or tracked robots have a minimum of two motors which are used to propel and
steer the robot. Hobbyists tend to choose “skid steering” (like a tank) because of its simplicity to
design, incorporate and control. A three wheeled robot‘s third (front) wheel usually prevents the
robot from falling over. Four wheeled robots have either two or four drive motors and use skid
steering. Six wheeled robots most commonly have either two, four or six drive motors. Adding
-idle wheels (wheels not connected to a motor) often has the unfortunate consequence of removing
weight from the drive wheels resulting in slip and loss of traction, the center wheel often loses
contact with the ground.
Fig 3.12: Grippy Wheels & DC Motor
3.12.1 Jumper Wires:
Fig 3.13: Jumper Wire’s

Jumper wires are electrical wires with connector pins on each end that are used to connect two
points without soldering. They are often used in prototyping and with breadboards to connect
components and make it easy to change a circuit. Jumper wires come in many colours, but the

colours don't indicate a different function. However, colours can be used to differentiate between
types of connections, such as ground or power. For example, black or blue usually denotes a wire
running to ground, and red is usually connected to a power source.
3.12.2 Types of Jumper Wires:

There are three types of jumper wires
1. Female-to-female: Both ends are female
2. Male-to-male: Both ends are male
3. Male-to-female: One end has a tip and the other end is female
3.13 Battery:
Fig 3.14: 2200mAh Lipo Battery
2200mAh is a unit of measurement for electric charge. A 2200mAh battery can supply 2200
milliamperes of current for one hour, or less current for a longer duration. This type of battery is
commonly found in power banks, 18650 batteries for electronics, and smaller devices like wireless
headphones. The battery's performance and lifespan depend on its type, voltage, and discharge
rate. 2200mAh batteries are commonly used in RC robots to provide the necessary power for their
motors and electronics. A higher capacity battery, like a 2200mAh one, allows the robot to operate
for longer durations without needing a recharge. This is especially important for robots that
perform complex tasks or require extended operation times. By selecting the right battery, robot
builders can optimize performance and minimize downtime, ensuring that their creations can
function effectively in various applications.

3.14 Smartphone with app:
Fig3.15: Smartphone with app
The smart phone is the transmitter of this circuit. It sends the data to microcontroller through
Bluetooth module. It also helps to send the instruction of forward, backward, left, right to the
microcontroller. Actually, the smart phone is used as a remote of this system. Here we operating
the Bluetooth RC Controller application as the operating remote of this system. The advantage of
this project is that the application software designed for android phones is kept simple but attractive
with all necessary built-in functions. The novelty lies in the simplicity of the design and
functioning. An application was developed in the software Android Studio. App can be installed
on an Android smartphone to control the RC unit. The app shows buttons for movement of the car
in different directions. These commands are as follows: Left, forward, backward and right. The
code for the app is written in java.
Fig 3.16: Application Interface

3.15 RC Module:
RC module is the main working unit of this system. This unit consists of the Arduino chip, the two
motor drivers, and a Bluetooth module connected to the circuit. Motor drivers are used to control
the dc motors. The Arduino Uno, which is a small android chip, resides at the center of the unit. It
is responsible for communicating with android smartphone, using the Bluetooth module and
controls the motors using the motor driver. The RC unit is powered using 9V battery connected to
this Arduino chip. The command for controlling the module is received using Bluetooth module
HC-05.
Fig 3.17: RC Module BOT

Chapter 4
DESIGN AND IMPLEMENTATION
4.1 Wiring L298N Motor Driver Module to Arduino UNO:
Initial procedure is done by connecting the motor power supply. In our experiment, we are using
DC gearbox motors, also called “TT” motors, which are often found in two wheel-drive robots.
They are rated for 3 to 12V. We will therefore connect an external 12V power source to the VS
terminal. Because L298N has a voltage drop of about 2V, the motors will receive 10V and spin at
a slightly lower RPM. But that’s okay. Next, we need to supply 5V to the logic circuitry of the
L298N. We’ll use the on-board 5V regulator to draw 5V from the motor power supply, so keep
the 5V-EN jumper in place.
Now connect the L298N module’s Input and Enable pins (ENA, IN1, IN2, IN3, IN4 and ENB) to
the six Arduino digital output pins (9, 8, 7, 5, 4 and 3). Note that both Arduino output pins 9 and
3 are PWM-enabled.
Finally, wire one motor to terminal A (OUT1 and OUT2) and the other to terminal B (OUT3 and
OUT4). You can swap out your motor’s connections. There is technically no right or wrong way
Fig 4.1: Connecting Motor Driver Module to an Arduino

4.2 Flow diagram to control robot car with mobile-application:
Fig 4.2: Flow Chart

4.3 Source code of Arduino uno smd car:





Chapter 5
RESULT & ANALYSIS
5.1 Resultant and Analysis
Here we work on common mode and when we want to change settings of HC-05 Bluetooth module
like change password for connection, baud rate, Bluetooth device‘s name etc. To do this, HC-05
has AT commands. To use HC-05 Bluetooth module in AT command mode, connect ―Key pin
to High (VCC). Default Baud rate of HC05 in command mode is 38400bps. Following are some
AT command generally used to change setting of Bluetooth module. To send these commands, we
have to connect HC- 05 Bluetooth module to the PC via serial to USB converter and transmit this
command through serial terminal of PC.
You can directly use the Bluetooth module after purchasing from market, because there is no need
to change any setting of Bluetooth module. Default baud rate of new Bluetooth module is 9600
bps. You just need to connect rx and tx to controller or serial converter and give 5-volt dc regulated
power supply to module.
Bluetooth module has two modes one is master mode and second one is slave mode. User can set
either mode by using some AT commands. Even user can set module’s setting by using AT
command. Here is some commands uses are given:
First of all user need to enter AT mode with 38400 bps baud rate by pressing EN button at
Bluetooth module or by giving HIGH level at EN pin. Note: all commands should ends with \r\n
(0x0d and 0x0a) or ENTER KEY from keyboard.
After it if you send AT to module then module will respond with OK
AT → Test Command
AT+ROLE = 0 → Slave Mode select
AT+ROLE = 1 → Master Mode selec
AT+NAME = xyz → Set Bluetooth Name
AT+PSWD = xyz → Set Password
AT+UART =< value1>,<value2>,<value3> → set Baud rate
Eg. AT+UART = 9600,0,0

5.2 Working Explanation

Bluetooth controlled car moves according to button touched in the android Bluetooth mobile app.
To run this project first we need to download Bluetooth app form Google play store. We can use
any Bluetooth app that supporting or can send data. Here are some apps' name that might work
correctly. Bluetooth RC controller After installing app you need to open it and then search
Bluetooth device and select desired Bluetooth device. And then configure keys. Here in this project
we have used Bluetooth controller app.
 Download and install Bluetooth Controller.

 Turned ON mobile Bluetooth.
 Now open Bluetooth controller app
 Press scan
 Select desired Bluetooth device
When we touch forward button in Bluetooth controller app then car start moving in forward
direction and moving continues forward until next command comes. When we touch backward
button in Bluetooth controller app then car start moving in reverse direction and moving continues
reverse until next command comes. When we touch left button in Bluetooth controller app then
car start moving in left direction and moving continues left until next command comes. In this
condition front side motor turns front side wheels in left direction and rear motor runs in forward
direction.
When we touch right button in Bluetooth controller app then car start moving in right direction
and moving continues right until next command comes. In this condition front side motor turns
front side wheels in right direction and rear motor runs in forward direction and by touching stop
button we can stop the car.
Bluetooth module’s rx and tx pins are directly connected at tx and rx of Arduino. And vcc and
ground pin of Bluetooth module is connected at +5 volt and gnd of Arduino. And a 9 volt battery
is used for power the circuit at Arduino’s Vin pin. Then we have created functions for different
directions of car.

There are five conditions for this Bluetooth controlled car with robotic hand
which are used to give the directions:
Table 5.1: Conditions to Control Bot
Fig 5.1: Working explanation

5.3 Limitations
As the range of the Bluetooth Communication is limited (a maximum of 60 meters for class 2
devices for example) the control range of Bluetooth Controlled Robot is also limited. Make sure
that sufficient power is provided to all the modules especially the Bluetooth Module. If the power
is not sufficient, even though the Bluetooth Module powers on, it cannot transmit data or cannot
be paired with other Bluetooth devices.
5.4 Applications
Low range Mobile Surveillance Devices
Military Applications (no human intervention)
Assistive devices (like wheelchairs)
Home automation
5.5 Advantages
Easy to install and low cost.
Manually operate.

Chapter 6
CONCLUSION & FUTURE SCOPE
6.1 Conclusion:
The Internet of Things (IoT) has become an integral part of both computer science and daily life,
offering endless possibilities for innovation. This project explores the development of a Bluetooth-
controlled RC car integrated with Arduino and robotic hands. Arduino, an open-source
microcontroller, serves as the brain of this system, offering user-friendly programming, inbuilt
converters, and I/O pins. By combining Arduino with a Bluetooth shield, we enabled remote
control of the car via a custom Android app developed in Android Studio. The robotic hands,
powered by servo motors, add versatility, providing the ability to perform up-and-down motions
that can be programmed for specific tasks. The RC car recognizes user commands to move
forward, backward, left, and right, achieving high accuracy within a Bluetooth range of 10–20
meters.
Through this project, we gained insights into how Arduino can convert digital signals into physical
movements, allowing seamless control of devices. Adding sensors like ultrasonic or infrared could
further enhance the car’s functionality, enabling autonomous features like obstacle avoidance.
Additionally, rechargeable batteries such as Ni-Cd or Li-ion could address current power
limitations, improving the car's sustainability. By upgrading the robotic hands with more precise
actuators and sensors, this RC car could evolve into a multifunctional robot suitable for
surveillance, material handling, or exploration. These improvements highlight the potential of
Arduino-based IoT systems in creating adaptable, efficient solutions for real-world problems.
This prototype demonstrates how IoT and robotics intersect to create innovative modules that
reduce manual effort while increasing functionality. The Bluetooth-controlled car with robotic
hands serves as a stepping stone toward advanced robotic systems capable of self-monitoring and
automation. Such advancements could significantly impact areas like smart homes, surveillance,
and industrial automation, underscoring the importance of IoT and Arduino in shaping the future
of technology.
6.2 Future Scope

What the Arduino platform has done is to take what was once a fragmented and expensive market
for robotics and microprocessors and become the major platform, largely by virtue of much lower

cost and ease of use, leading to higher volume and popularity, and community support behind it.
Arduino has made it simple to program their boards with any computer via USB and simple to
integrate with a wide array of sensors and devices. The Arduino is great for hobbyists, prototypes,
and people just starting out in robotics because of its low cost, ease of use, and large following
online. It's easy to learn and teach people to be able to do basic things with the Arduino, yet it's
capable enough to do fairly sophisticated things if you as a developer have the capability to take
advantage of it. It's allowing people to develop projects inexpensively to build and control their
own devices, such as sensors that send data to the Internet and control systems for all kinds of
things. It's also reducing the cost of development by allowing companies to develop prototypes
much more quickly and with less initial investment.
6.3 The Future Prospects are as follows:

 Mobile application of this project can be brought on another mobile operating system like
iOS & windows phone.
 Using of Wi-Fi direct/cellular network instead of Bluetooth module, so that the range of
the Arduino car be increased to larger scale.
 Application the project concept of guiding through mobile device to quadcopter, so that we
can cover the aerial view of the surrounding.
 With the help of DIP, we can install a camera on the car which will provide us the view of
camera on the mobile device.
 Due to time & resource constraints these ideas where not brought to light in the project
 With the ever-increasing problems, our knowledge has to expand to adapt better to the
changes all around us. In the same way it is hoped that this activity is a small step that
would lead us to further enhancements and goals

Chapter 8
Photo Gallery

References:
[1] Nádvorník, J., & Smutný, P. (2014). Remote Control Robot Using Android Mobile Device.
Proceedings of the 2014 International Carpathian Control Conference (ICCC), 273–276.
[2] Sureshbabu, A., Metta, G., & Parmiggiani, A. (2019). A Systematic Approach to Evaluating
and Benchmarking Robotic Hands—The FFP Index. Robotics, 8(1), 7.
https://doi.org/10.3390/robotics8010007.
[3] Vertongen, J., Kamper, D.G., Smit, G., & Vallery, H. (2020). Mechanical Aspects of Robot
Hands, Active Hand Orthoses, and Prostheses: A Comparative Review. IEEE Transactions on
Mechatronics, 25(3), 1046-1063. https://doi.org/10.1109/TMECH.2020.3014182.
[4] Salvietti, G., Gioioso, G., Malvezzi, M., & Prattichizzo, D. (2018). Replicating Human Hand
Synergies onto Robotic Hands: A Review on Software and Hardware Strategies. Frontiers in
Robotics and AI. https://doi.org/10.3389/frobt.2018.00005.
[5] Smith, J., et al. (2023). Autonomous Soft Hand Grasping - Literature Review. Journal of
Robotics, 5(3), 145-160. https://doi.org/10.3389/frobt.2023.0045.
[6] Current Designs of Robotic Arm Grippers A Comprehensive Systematic Review was authored
by Jaime R. Hernandez, Md. Samiul Haque Sunny, Javier Sanjuan, Ivan Rulik, Md Ishrak
Islam Zarif, Sheikh Iqbal Ahamed, Helal Uddin Ahmed, and Mohammad H. Rahman. It was
published in Robotics in January 2023.

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App Based Wireless Bot Controller 2024-25

1.1 Purpose of Plan:

1.2 Project Objectives:

Dept of RO & AI, BTI, Bengaluru 1

1.3 Project Goals:

 Ensure Seamless Communication: Establish stable and efficient Bluetooth communication

1.4 Scope of Definition

Dept of RO & AI, BTI, Bengaluru 2

[2] A Systematic Approach to Evaluating and Benchmarking Robotic Hands—

Dept of RO & AI, BTI, Bengaluru 3

[4] Replicating Human Hand Synergies onto Robotic Hands: A Review on

[5] Autonomous Soft Hand Grasping - Literature Review

Dept of RO & AI, BTI, Bengaluru 4

[6] Current Design of Robotics Arm Grippers: A Comprehensive Systematic

Dept of RO & AI, BTI, Bengaluru 5

3.2 Block Diagram and Working Principles

2200mAh Battery DC-motor

Bluetooth Motor Driver

Fig 3.1: Block Diagram

Dept of RO & AI, BTI, Bengaluru 6

3.3 Circuit Diagram:

Fig 3.2: Circuit Diagram

Dept of RO & AI, BTI, Bengaluru 7

3.4 Arduino IDE:

Fig 3.3: Arduino IDE

The Arduino integrated development environment (IDE) could be a cross-platform application

Dept of RO & AI, BTI, Bengaluru 8

3.5 Arduino UNO SMD:

Fig 3.4: Ardunio Uno SMD

Fig 3.5: Arduino UNO SMD parts

3.6 Features & Specifications:

 Input & Output:

Dept of RO & AI, BTI, Bengaluru 10

3.7.1 Bluetooth Module HC – 05:

Fig 3.6: Bluetooth module HC-05

Dept of RO & AI, BTI, Bengaluru 11

3.7.2 Bluetooth Module HC – 05 PIN Configuration:

PIN NUMBER PIN NAME DESCRIPTION

PIN 1 STATE The state pin is connected to on board LED,

PIN 2 RxD Receive Serial Data. Every serial data given

PIN 3 TxD Transmits Serial Data. Everything received

PIN 4 GND Ground pin of module, connect to system

PIN 5 VCC Powers the module. Connect to +5V Supply

PIN 6 ENABLE This pin is used to toggle between Data

PIN 7 LED Indicates the status of Module

PIN 8 BUTTON Used to control the Key/Enable pin to

Dept of RO & AI, BTI, Bengaluru 12

3.8 Bluetooth Communication Between Devices:

Fig 3.7: Bluetooth Communication Between devices

3.9.1 Motor Driver Module L298N:

Fig 3.8: Motor Driver Module L298N

Dept of RO & AI, BTI, Bengaluru 13

3.9.2 L298N Module Pin Configuration:

Table 3.3: L298N Module Pin Configuration

PIN NAME DESCRIPTION

ENB Enables PMW signal for Motor B

OUT1 & OUT2 Output pins of motor A

OUT3 & OUT4 Output pins of motor B

12V 12V input from DC power Source

5V Supplies Power for the Switching logic Circuitry inside L278N IC