SMART

TECHNOLOGY
LECTURE
1
• Signal Types

on on on
5V 5V

off off off

0V 0V

Digital signal Analog signal

• Some Digital
Digital SignalSignal app

Fire detection sensor

Movement
detection sensor
• Some Analog
Digital Signal app
Signal

Light Sensor

Variable resistance

Smoke Sensor
• Arduino Interfacing
1. Make Arduino OUTPUTs a digital signal on pin no. 7
void setup() {
pinMode(7,OUTPUT) ;
//OR pinMode(7,1);
}

2. Make Arduino receives a digital INPUT

signal on pin no. 11

void setup() {
pinMode(11,INPUT) ;
//OR pinMode(7,O);
}
• Arduino OUTPUT signal
1. Make Arduino OUTPUTs a 5 volt signal on pin no. 4
void setup() { 50 volt
pinMode(7,OUTPUT);
digitalWrite(7,HIGH);
//digitalWrite(7,1);
}
1. Make Arduino OUTPUTs a 0 volt signal on pin
no. 4
void setup() {
pinMode(7,OUTPUT);
digitalWrite(7,LOW);
//digitalWrite(7,0);
}
• Arduino INPUT signal
1. Make Arduino Reads an INPUT signal on pin no. 13
void setup() {
pinMode(13,INPUT);
digitalRead(13);
}
• Blink code
int ledPin = 13;

void setup()
{
pinMode(ledPin , OUTPUT);
}

void loop()
{
digitalWrite(ledPin, HIGH);
delay(1000);
digitalWrite(ledPin, LOW);
delay(1000);
}
• Another way of coding
int ledPin = 13;
int on = 1000;
int off = 1000;
void setup()
{
pinMode(ledPin , OUTPUT);
}

void loop()
{
digitalWrite(ledPin, HIGH);
delay(1000);
digitalWrite(ledPin, LOW);
delay(1000);
}
int red = 9;
int yellow = 10;
int green = 11;
int ON = 1000;
int OFF = 1000;

void setup()
{
pinMode(red, OUTPUT);
pinMode(yellow, OUTPUT);
pinMode(green, OUTPUT);
}

void loop()
{
digitalWrite(red, HIGH);
delay(ON);
digitalWrite(red, LOW);
delay(OFF);
digitalWrite(yellow, HIGH); delay(ON); digitalWrite(yellow, LOW); delay(OFF);
digitalWrite(green, HIGH); delay(ON); digitalWrite(green, LOW); delay(OFF);
}
int red = 9;
int yellow = 10;
int green = 11;
int ON = 1000;
int OFF = 1000;

void setup()
{
pinMode(red, OUTPUT);
pinMode(yellow, OUTPUT);
pinMode(green, OUTPUT);
}
void loop()
{
digitalWrite(red, HIGH);
digitalWrite(yellow,HIGH)
digitalWrite(green, HIGH);
delay(ON);
digitalWrite(red, LOW);
digitalWrite(yellow, LOW);
digitalWrite(green, LOW);
delay(OFF);
}
int red = 9;
int yellow = 10;
int green = 11;
int ON = 1000;
int OFF = 1000;

void setup()
{
pinMode(red, OUTPUT);
pinMode(yellow, OUTPUT);
pinMode(green, OUTPUT);
}

void loop()
{
digitalWrite(red, HIGH);
delay(ON);
digitalWrite(yellow,HIGH);
delay(ON);
digitalWrite(green, HIGH); delay(ON); digitalWrite(red, LOW); delay(OFF);
digitalWrite(yellow,LOW); delay(Off); digitalWrite(green, LOW); delay(OFF);
}
• Task
• Push Button

“Pull Down Resistor Connection”

5V GND

pin

Arduino
uno
0
V
• Code
void setup()
{ pinMode(7, INPUT);
Serial.begin(9600); }

void loop()
{ Serial.println(digitalRead(7)); }

bool reading;
void setup()
{ pinMode(7, INPUT);
Serial.begin(9600);}

void loop()
{ reading = digitalRead(7);
Serial.println(reading); }
• Task
• Make a counter on the serial monitor that
increases by one every time you hit the
pushbutton

counter
21
3
THANKS
FOR
COMING
LECTURE
2
int led = 3;
int button = 2;
int Reading = 0;

void setup()
{
pinMode(led, OUTPUT);
pinMode(button, INPUT);
}

void loop()
{
Reading = digitalRead(button); Reading
if (Reading == HIGH) { digitalWrite(led, HIGH); }
else { digitalWrite(led, LOW); } LOW
HIGH
}
int led = 3;
int button = 2;
int Reading = 0;
int counter = 0;
void setup()
{
pinMode(led, OUTPUT);
pinMode(button, INPUT);
}

void loop()
{
Reading = digitalRead(button);
if (Reading == HIGH)
{
counter++;
if(counter==1)
{ digitalWrite(led, HIGH);}
else
counter
{ digitalWrite(led, LOW); counter=0; }
delay(250);
020
1
}}
• Pulse Width Modulation PWM

• PWM frequency at about 500Hz, the green lines

would measure 2 milliseconds each.
• A call to analogWrite() is on a scale of

0 – 255 →MAX Value(255)

• analogWrite(255) requests a 100% duty cycle
(always on)
• and analogWrite(127) is a 50% duty cycle

(on half the time) for example.

• Example
int led = 3;

void setup()
{
pinMode(led, OUTPUT);
}

void loop()
{
analogWrite(led, 0);
delay(1000);
analogWrite(led, 65);
delay(1000);
analogWrite(led,128);
delay(1000);
analogWrite(led,255);
delay(1000);
}
• ADC (analog to digital converter)

• 5V divided to 1024 level volt level

between 0 and 1023 5V |
1023
|
|
• (4.9 mV) per unit 2.5V |
512

|
|
0.0098 V 2
0.0049 V 1
• What is potentiometer
• Potentiometer or “POT” is a two variable resistance that can
change its resistance value by knop
• Voltage Divider

Vout = VS X R2
R1+R2
Vout 1 = 2.5 V
R1 1K = 5 X
1+1
VS 5V Vout
Vout = 5 X 3 = 3.75 V
R2 0.33K
1K
3K 1+3
Vout 0.33 = 1.24 V
= 5 X
1+0.33
• Flasher Control
int Pot = A0;
int Led = 11;
int sensorValue=0;
void setup()
{
pinMode(Led, OUTPUT);
pinMode(Pot , INPUT);
}

void loop()
{
sensorValue = analogRead(Pot);
digitalWrite(Led, HIGH);
delay(sensorValue);
digitalWrite(Led, LOW);
delay(sensorValue);
}
• Brightness Control
int Pot = A0;
int Led = 11; analogWrite(Led, 0→255 );
int POT_Reading = 0;

void setup()
{ POT_Reading = 0→255
pinMode(Pot, INPUT);
pinMode(Led, OUTPUT);
} POT_Reading = 256→1023
void loop()
{
Over Flow
POT_Reading = analogRead(Pot); 256 → 0
analogWrite(Led, POT_Reading); 257 → 1
}
258 → 2
• Over Flow
byte x;
void setup()
{
Serial.begin(9600);
x=0; Serial.println(x);
x=100; Serial.println(x);
x=200; Serial.println(x); 0
x=255; Serial.println(x); 100
x=256; Serial.println(x);
x=257; Serial.println(x); 200
}
x=1000; Serial.println(x); 255
0
void loop() 1
{
232
}
• Map Function
Name of range : ST Name of range : smart

0 2 4 6 8 10 0 255 512 768 1023

0 2 4 6 8 10 12 14 16 18 20 0 64 128 192 255

Map ( value , fromLow, fromHigh , toLow , toHigh ) Map ( value , fromLow, fromHigh , toLow , toHigh )
Map ( ST , 0 , 10 , 0 , 20 ) Map (Smart , 0 , 1023 , 0 , 255 )
• Brightness Control
int Pot = A0;
50% sensorValue
int Led = 3;
int ledBrightness = 0;
int sensorValue = 0; 1023
512
255
0
768
5V GND
void setup()
{ ledBrightness
pinMode(Pot, INPUT);

}
pinMode(Led, OUTPUT);
A0
0
192
64
128
255
void loop() 5V GND
{
sensorValue = analogRead(Pot);
ledBrightness = map(sensorValue, 0, 1023, 0, 255);
analogWrite(Led, ledBrightness);
}
• Tone Function
• Generates a square wave of the specified frequency (and 50% duty cycle) on a pin
• the wave continues until a call to noTone()
• Only one tone can be generated at a time
• function will interfere with PWM output on pins 3 and 11
• It is not possible to generate tones lower than 31Hz
• the maximum frequency that can be produced is 65535 Hz
• the human hearing range is typically as high as 20 kHz
Syntax
tone(pin, frequency)
tone(pin, frequency, duration(
Parameters
pin: the Arduino pin on which to generate the tone.
frequency: the frequency of the tone in hertz. Allowed data types: unsigned int.
duration: the duration of the tone in milliseconds (optional). Allowed data types: unsigned long.

Notes and Warnings

If you want to play different pitches on multiple pins, you need to call noTone() on one pin before calling tone() on the next pin.
• Musical Notes
Constant Name Frequency (Hz) Constant Name Frequency (Hz) Constant Name Frequency (Hz) Constant Name Frequency (Hz)
NOTE_B0 31 NOTE_A2 110 NOTE_G4 392 NOTE_F6 1397
NOTE_C1 33 NOTE_AS2 117 NOTE_GS4 415 NOTE_FS6 1480
NOTE_CS1 35 NOTE_B2 123 NOTE_A4 440 NOTE_G6 1568
NOTE_D1 37 NOTE_C3 131 NOTE_AS4 466 NOTE_GS6 1661
NOTE_DS1 39 NOTE_CS3 139 NOTE_B4 494 NOTE_A6 1760
NOTE_E1 41 NOTE_D3 147 NOTE_C5 523 NOTE_AS6 1865
NOTE_F1 44 NOTE_DS3 156 NOTE_CS5 554 NOTE_B6 1976
NOTE_FS1 46 NOTE_E3 165 NOTE_D5 587 NOTE_C7 2093
NOTE_G1 49 NOTE_F3 175 NOTE_DS5 622 NOTE_CS7 2217
NOTE_GS1 52 NOTE_FS3 185 NOTE_E5 659 NOTE_D7 2349
NOTE_A1 55 NOTE_G3 196 NOTE_F5 698 NOTE_DS7 2489
NOTE_AS1 58 NOTE_GS3 208 NOTE_FS5 740 NOTE_E7 2637
NOTE_B1 62 NOTE_A3 220 NOTE_G5 784 NOTE_F7 2794
NOTE_C2 65 NOTE_AS3 233 NOTE_GS5 831 NOTE_FS7 2960
NOTE_CS2 69 NOTE_B3 247 NOTE_A5 880 NOTE_G7 3136
NOTE_D2 73 NOTE_C4 262 NOTE_AS5 932 NOTE_GS7 3322
NOTE_DS2 78 NOTE_CS4 277 NOTE_B5 988 NOTE_A7 3520
NOTE_E2 82 NOTE_D4 294 NOTE_C6 1047 NOTE_AS7 3729
NOTE_F2 87 NOTE_DS4 311 NOTE_CS6 1109 NOTE_B7 3951
NOTE_FS2 93 NOTE_E4 330 NOTE_D6 1175 NOTE_C8 4186
NOTE_G2 98 NOTE_F4 349 NOTE_DS6 1245 NOTE_CS8 4435
NOTE_GS2 104 NOTE_FS4 370 NOTE_E6 1319 NOTE_D8 4699
NOTE_DS8 4978
• Tone Example
void setup() { }

void loop(){
tone(6,440,200);
delay(200);
noTone(6);

tone(7,494,500);
delay(500);
noTone(7);

tone(8,523,300);
delay(300);
noTone(8);
}
• Task
• Control buzzer tones with POT
THANKS
FOR
COMING
LECTURE
3
• LDR (Light Dependent Resistor)
• An LDR is a component that has a (variable)
resistance that changes with the light
intensity that falls upon it. This allows them
to be used in light sensing circuits.

• The most common type of LDR has a

resistance that falls with an increase in the
light intensity falling upon the device

• The resistance of an LDR may typically have

the following resistances:

• Daylight = 5000Ω
• Dark = 20MΩ
• Basic principle

Dark
Light

30K
5K
R1
0.16
0.83
5V Vout
R2 1K
• Code
#define ldr A0
#define led 3
int threshold = 40;
int level;
void setup() {
Serial.begin(9600);
pinMode(led, OUTPUT);
}
void loop() {
level = analogRead(ldr);
Serial.println(level);
if (level < threshold) {
digitalWrite(led, 1); }
else {
digitalWrite(led, 0);}
}
• Relay

An electrical relay is an electromagnetically

operated electrical switch - an electromechanical
switch. A relatively small current is used to
create a magnetic field in a coil within a
magnetic core and this is used to operate a
switch that can control a much larger current.
• Basic principle
• Basic principle

220V ~

5V
• Code of Relay
#define on 0
#define off 1
int relay=4 ;
void setup()
{
pinMode(relay,OUTPUT);
} VCC
GND
void loop() IN1
{
digitalWrite(relay,on);
delay(5000);
digitalWrite(relay,off);
delay(5000);
}
• Bluetooth (HC-05)
• Pin Configuration

Pin Pin Name Description

number
1 Enable / Key This pin is used to toggle between Data Mode (set low) and AT command mode (set high). By
default it is in Data mode
2 Vcc Powers the module. Connect to +5V Supply voltage
3 Ground Ground pin of module, connect to system ground.
4 TX – Transmitter Transmits Serial Data. Everything received via Bluetooth will be given out by this pin as serial
data.
5 RX – Receiver Receive Serial Data. Every serial data given to this pin will be broadcasted via Bluetooth
6 State The state pin is connected to on board LED, it can be used as a feedback to check if Bluetooth is
working properly.
7 Button Used to control the Key/Enable pin to toggle between Data and command Mode
• HC-05 Default Settings

• Default Bluetooth Name: “HC-05”

• Default Password: 1234 or 0000
• Default Communication: Slave
• Default Mode: Data Mode
• Data Mode Baud Rate: 9600
• Command Mode Baud Rate: 38400
• This Bluetooth module covers 9 meters (30ft)
• Operating Voltage: 4V to 6V (Typically +5V)
• Operating Current: 30mA
• Example
const int red = 13;
char reading; // data type used to store a character value.
void setup( )
{
pinMode(red, OUTPUT);
Serial.begin(9600);
}
void loop( ) {
if(Serial.available()>0) {
reading=Serial.read();
switch(reading){
case 'F': digitalWrite(red,1);
break;
case 'S': digitalWrite(red,0);
break;
}
}
}
• Android App.
• Setting Up
• Setting Up

drag and drop

• Bluetooth
Setting UpElectronic
• Setting Up
• Setting Up

S
• Setting Up
• Setting Up

S
• Setting Up

return to background
• Setting Up

final
control panel
password
0000 -1234
• Example
const int red = 13;
String reading; // data type used to store a character
value.
void setup( )
{
pinMode(red, OUTPUT);
Serial.begin(9600); // Adjust speed of serial monitor
}
void loop( ) {
if(Serial.available()>0) {
reading=Serial.readString();

if (reading=="turn on"){ digitalWrite(red,1);}

else if (reading=="turn off"){
digitalWrite(red,0); }
}}
• Arduino Voice Control
• UltraSonic Sensor

• The HC-SR04 ultrasonic sensor uses sonar to determine

distance to an object like bats do

• Power Supply :+5V DC

• Ranging Distance : 2cm – 400 cm

• Trigger Input Pulse width: 10uS

• waves are sound waves

• Basic Principle

• signal HIGH → 10usec trig

• We need to divide the travel time by 2 ech

o
• speed sound 343 m/s

• Arduino calculate the time

• after receiving wave echo send

low signal
• Basic Principle

D
• Time = Distance / Speed • Speed = Distance / Time
S T

• Distance = Speed * Time

• Code
#define trigPin 12
#define echoPin 11
long duration, distance;
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) * 0.0343; // 343 * (100/1000000) = 343/10000
Serial.println(distance);
delay(5); // wait till next scan
}
• Example
#define trigPin 12
#define echoPin 11
long duration, distance;
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(4, OUTPUT);
if(distance<=20){
}
digitalWrite(4,1);
void loop() {
delay(distance*30);
digitalWrite(trigPin, LOW);
digitalWrite(4,0);
delayMicroseconds(2);
delay(distance*30);
digitalWrite(trigPin, HIGH);
}}
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) * 0.0343;
Serial.println(distance);
delay(5); // wait till next scan
• Task
• Use 4 led’s to indicate distance
THANKS
FOR
COMING
 LECTURE
4
( Practical )
Automatic Night Light circuit (Wiring)

HIGH(1)
LOW(0)
• Automatic Night Light circuit (Code)

#define ldr A0
#define led 3
int threshold = 40;
int level;
void setup() {
Serial.begin(9600);
pinMode(led, OUTPUT);
}
void loop() {
level = analogRead(ldr);
Serial.println(level);
if (level < threshold) { digitalWrite(led, 1); }
else { digitalWrite(led, 0);}
}
• Light Control with Smartphone
const int red = 13;
char reading; // data type used to store a character value.
void setup( )
{
pinMode(red, OUTPUT);
Serial.begin(9600);
}
void loop( ) {
if(Serial.available()>0) {
reading=Serial.read();
switch(reading){
case 'F': digitalWrite(red,1);
break;
case 'S': digitalWrite(red,0);
break;
}
}
}
• Light Control With Voice
const int red = 13;
String reading; // data type used to store a character value.
void setup( )
{
pinMode(red, OUTPUT);
Serial.begin(9600); // Adjust speed of serial monitor
}
void loop( ) {
if(Serial.available()>0) {
reading=Serial.readString();

if (reading=="turn on"){ digitalWrite(red,1);}

else if (reading=="turn off"){ digitalWrite(red,0); }

}}
• Lighting Control With Motion
#define trigPin 12
#define echoPin 11
long duration, distance;
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(3, OUTPUT);
}
void loop() { if(distance<=20){
digitalWrite(trigPin, LOW); digitalWrite(3,1);
delayMicroseconds(2); delay(4000);
digitalWrite(trigPin, HIGH); digitalWrite(3,0);
delayMicroseconds(10);
digitalWrite(trigPin, LOW); }}
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) * 0.0343;
Serial.println(distance);
delay(5); // wait till next scan
THANKS
FOR
COMING
LECTURE
5
• Line Tracker Sensor (TCRT5000)
• Basic Principle

reflection distance: 1mm to 25mm

Reading Reading
1 0
• Code
int lineTracker = 8;
int led = 2; OR
int state = 0;
void setup()
void setup()
{
{
pinMode(8,INPUT);
pinMode(lineTracker,INPUT);
pinMode(2,OUTPUT);
pinMode(led,OUTPUT);
}
}
void loop()
void loop()
{
{
digitalWrite(led,digitalRead(8));
state=digitalRead(lineTracker);
}
digitalWrite(led,state);
}
• DC Motor

DC Motor is any of a class of rotary electrical motors that converts

direct current electrical energy into mechanical energy
• DC Motor Specification

Operating Voltage 3V-12VDC

Maximum Torque 800g/cm max

Gear Ratio 1:48

Load Current 70mA (250mA max. @ 3V)

Weight 29g
• DC Motor

terminals
• Basic Principle

blue → positive forword

Purple → negative

VS GND
6V , 12V 0V
• Basic Principle

blue → positive backword

Purple → negative

GND VS
0V 6V , 12V
• Mobile Robot
• Differential steering

Forword
Backword
Right
Left
• Motor Driver
• What is motor driver and Why do we need it ?
• Motor Driver (l298N)

• Motor driver receives

signals from the
microprocessor and
eventually, it transmits
the converted signal to
the motors.
• Direction Control

we will agree:
car is forword when out out
blue cable → HIGH signal
purpule cable→LOW signal ML 1
out
4
out MR
2 3
left motor
blue cable →out1
purpule cable→out2
right motor
blue cable→out3
purpule cable→out4 speed L IN1 IN2 IN3 IN4 speed R

5V 0V 5V 0V
• Direction Control

we will agree:
car is forword when
blue cable → HIGH signal out out
purpule cable→LOW signal
ML 1
out
4
out MR
left motor 2 3
blue cable →out1
purpule cable→out2
right motor
blue cable→out3
purpule cable→out4
speed L IN1 IN2 IN3 IN4 speed R

0V 5V 0V 5V
• Car Direction Test
void stopp() {
#define speedL 10 void forword() void left()
digitalWrite(IN1, LOW);
#define IN1 9 { {
digitalWrite(IN2, LOW);
#define IN2 8 digitalWrite(IN1, HIGH); digitalWrite(IN1, LOW);
digitalWrite(IN3, LOW);
#define IN3 7 digitalWrite(IN2, LOW); digitalWrite(IN2, LOW);
digitalWrite(IN4, LOW);
#define IN4 6 digitalWrite(IN3, HIGH); digitalWrite(IN3, HIGH);
analogWrite(speedL,0);
#define speedR 5 digitalWrite(IN4, LOW); digitalWrite(IN4, LOW);
analogWrite(speedR,0); }
void setup() analogWrite(speedL,150); analogWrite(speedL,0);
void loop() {
{ analogWrite(speedR,150); analogWrite(speedR,150);
Serial.begin (9600); } }
forword(); delay(2000);
void backword() void right()
for(int i=5 ; i<=10 ; i++) backword(); delay(2000);
{ {
{ right(); delay(2000);
digitalWrite(IN1, LOW); digitalWrite(IN1, HIGH);
pinMode(i, OUTPUT); left(); delay(2000);
digitalWrite(IN2, HIGH); digitalWrite(IN2, LOW);
stopp(); delay(2000);
} digitalWrite(IN3, LOW); digitalWrite(IN3, LOW);
} digitalWrite(IN4, HIGH); digitalWrite(IN4, LOW);
}
analogWrite(speedL,150); analogWrite(speedL,150);
analogWrite(speedR,150); analogWrite(speedR,0);
} }
 battery
from 5V to 12V
• Controlled robot by Bluetooth
void stopp() {
#define speedL 10 void forword() void left()
digitalWrite(IN1, LOW);
#define IN1 9 { {
digitalWrite(IN2, LOW);
#define IN2 8 digitalWrite(IN1, HIGH); digitalWrite(IN1, LOW);
digitalWrite(IN3, LOW);
#define IN3 7 digitalWrite(IN2, LOW); digitalWrite(IN2, LOW);
digitalWrite(IN4, LOW);
#define IN4 6 digitalWrite(IN3, HIGH); digitalWrite(IN3, HIGH);
analogWrite(speedL,0);
#define speedR 5 digitalWrite(IN4, LOW); digitalWrite(IN4, LOW);
analogWrite(speedR,0); }
char Reading; analogWrite(speedL,150); analogWrite(speedL,0);
void loop() {
void setup() analogWrite(speedR,150); analogWrite(speedR,150);
if(Serial.available()>0){
{ } }
Reading=Serial.read();
Serial.begin (9600); void backword() void right()
switch(Reading){
{ {
for(int i=5 ; i<=10 ; i++) case ‘F’: forword(); break;
digitalWrite(IN1, LOW); digitalWrite(IN1, HIGH);
{ case ’B’: backword(); break;
digitalWrite(IN2, HIGH); digitalWrite(IN2, LOW);
pinMode(i, OUTPUT); case ‘R’: right(); break;
digitalWrite(IN3, LOW); digitalWrite(IN3, LOW);
case ‘L’ : left(); break;
} digitalWrite(IN4, HIGH); digitalWrite(IN4, LOW);
case ‘S’ :stopp(); break;
} analogWrite(speedL,150); analogWrite(speedL,150);
}
analogWrite(speedR,150); analogWrite(speedR,0);
}
} }
}
• Bluetooth RC App.

not press
connect here press
with any here
bluetooth
• Bluetooth RC App.

Bluetooth is
connected
press
here

password
0000 -1234

press control with

here these buttons
• Bluetooth RC App.

press
here
• Line Follower Robot

SL SR Direction 1 1
0 1

0
Forword

1
Right
Left
Stop 0 0 0 0 0 0

N 2

1
2 =2 =4

0
N : number of sensor 0 1
 sensorL sensorR

battery
from 5V to 12V
• Line Follower Code
#define speedL 10 void forword() void left() void stopp(){
#define IN1 9 { { digitalWrite(IN1, LOW);
#define IN2 8 digitalWrite(IN1, HIGH); digitalWrite(IN1, LOW); digitalWrite(IN2, LOW);
#define IN3 7 digitalWrite(IN2, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW);
#define IN4 6 digitalWrite(IN3, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);
#define speedR 5 digitalWrite(IN4, LOW); digitalWrite(IN4, LOW); analogWrite(speedL,0);
#define sensorL 4 analogWrite(speedL,150); analogWrite(speedL,0); analogWrite(speedR,0);
#define sensorR 3 analogWrite(speedR,150); analogWrite(speedR,150); }
int sl=0; } } void loop(){
int sr=0; void backword() void right() sl=digitalRead(sensorL);
void setup() { { { sr=digitalRead(sensorR);
digitalWrite(IN1, LOW); digitalWrite(IN1, HIGH); if (sl==0&&sr==0)
for(int i=5;i<=10;i++)
digitalWrite(IN2, HIGH); digitalWrite(IN2, LOW); forword();
{ digitalWrite(IN3, LOW); digitalWrite(IN3, LOW); else if (sl==0&&sr==1)
pinMode(i, OUTPUT); digitalWrite(IN4, HIGH); digitalWrite(IN4, LOW); right();
} analogWrite(speedL,150); analogWrite(speedL,150); else if (sl==1&&sr==0)
pinMode(sensorR, INPUT); analogWrite(speedR,150); analogWrite(speedR,0); left();
pinMode(sensorL, INPUT); } } else if (sl==1&&sr==1)
} stopp(); }
• Obstacle avoiding robot

20cm 150cm
20cm
50cm
• Obstacle Avoiding Code void right()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
#define speedL 10 void Ultrasonic(){ void backword() digitalWrite(IN3, LOW);
#define IN1 9 digitalWrite(trig, LOW); { digitalWrite(IN4, LOW);
#define IN2 8 delayMicroseconds(2); digitalWrite(IN1, LOW); analogWrite(speedL,150);
#define IN3 7 digitalWrite(trig, HIGH); digitalWrite(IN2, HIGH); analogWrite(speedR,0);
#define IN4 6 delayMicroseconds(10); digitalWrite(IN3, LOW); }
#define speedR 5 digitalWrite(trig, LOW); digitalWrite(IN4, HIGH); void stopp(){
#define trig 3 duration = pulseIn(echo, HIGH); analogWrite(speedL,150); digitalWrite(speedL, LOW);
#define echo 4 distance = (duration/2) * 0.0343; analogWrite(speedR,150); digitalWrite(speedR, LOW);
long duration,distance; } } }
void setup() { void forword() void left() void loop(){
{ { Ultrasonic();
for(int i=5 ; i<=11 ; i++)
digitalWrite(IN1, HIGH); digitalWrite(IN1, LOW); if(distance<20){
{
digitalWrite(IN2, LOW); digitalWrite(IN2, LOW); stopp(); delay(250);
pinMode(i, OUTPUT); digitalWrite(IN3, HIGH); digitalWrite(IN3, HIGH); backword();delay(500);
} digitalWrite(IN4, LOW); digitalWrite(IN4, LOW); right(); delay(1000);
pinMode(echo, INPUT); analogWrite(speedL,150); analogWrite(speedL,0); }
} analogWrite(speedR,150); analogWrite(speedR,150); else{ forword(); }
} } }
• Task

• Prepare the codes for experimentation in the next lecture

THANKS
FOR
COMING
 LECTURE
6
( Practical )
THANKS
FOR
COMING
LECTURE
7
• LCD with Arduino (Wiring)
• Code of LCD display “without 𝐈 𝟐 C ”
#include <LiquidCrystal.h>
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
lcd.begin(16, 2);
lcd.print(“ST SMART");
lcd.setCursor(7,1);
lcd.print(“2020");
}
void loop() {
for(int i=0;i<15;i++){
lcd.scrollDisplayRight();
delay(200);
}
for(int i=0;i<15;i++){
lcd.scrollDisplayLeft();
delay(200);
}}
• 𝐈 𝟐 C protocol
• The two wires, or lines are called Serial Clock (or SCL)
and Serial Data (or SDA). The SCL line is the clock
signal which synchronize the data transfer between
the devices on the I2C bus and it’s generated by the
master device. The other line is the SDA line which
carries the data.

• The two lines are “open-drain” which means that

pull up resistors needs to be attached to them so
that the lines are high because the devices on the
I2C bus are active low. Commonly used values for the
resistors are from 2K for higher speeds at about 400
kbps, to 10K for lower speed at about 100 kbps.

• The speed (standard mode: 100 kbit/s,

full speed:400 kbit/s,
fast mode: 1 mbit/s,
high speed: 3,2 Mbit/s)

• Wire Library on Arduino programming language

• Why 𝐈 𝟐 C Module
• Address of 𝐈 𝟐 C Module
A0 A1 A2 Address
Open Open Open 0X27

Jumper Open Open 0X26

Open Jumper Open 0X25

Jumper Jumper Open 0X24

Open Open Jumper 0X23

Jumper Open Jumper 0X22

Open Jumper Jumper 0X21

Jumper Jumper Jumper 0X20

• Code of LCD display with I2C
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);
void setup() {
lcd.begin(); // or some librarys are lcd.init();
lcd.backlight();
lcd.print("ST SMART");
lcd.setCursor(7,1);
lcd.print("2023");
}
void loop() {
for(int i=0;i<15;i++){
lcd.scrollDisplayRight();
delay(200); }

for(int i=0;i<15;i++){
lcd.scrollDisplayLeft();
delay(200); }
}
• Flame sensor
• Detects a flame or a light source of a wavelength in
the range of 760nm-1100 nm.

• Detection range: up to 80 cm.

• Operating temp: -25° - 85°

• Adjustable detection range.

• Detection angle about 60 degrees, it is sensitive to

the flame spectrum.

• Operating voltage 3.3V-5V.

• Digital and Analog Output.

• Basic principle

principle that the infrared ray is sensitive to flame.

It uses the photo diode to detect flame and converts
the brightness of flame to the variable level signal.
• Calibrate Flame Sensor Module

Expose the module to flame or strong light and turn the knob of the
potentiometer gently till the D0 indicator light is on
• Code
#define flame 3
#define buzzer 5
int Val = 0;
void setup()
{ Serial.begin(9600);
pinMode(flame , INPUT);
pinMode(buzzer,OUTPUT);
}
void loop()
{ Val = digitalRead(flame);
Serial.print("value of flame:");
Serial.println(Val);
if (Val == LOW) { digitalWrite(buzzer, HIGH); }
else {digitalWrite(buzzer, LOW);}
}
• Flame With LCD & Buzzer
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup()
{ lcd.init();
lcd.backlight();
pinMode(8,INPUT);
pinMode(11,OUTPUT);
}
void loop()
{ if (digitalRead(8)==0){
lcd.setCursor(0,0);
lcd.print("Fire Detected");
digitalWrite(11,1);
delay(100);
digitalWrite(11,0);
delay(100);}
else {
lcd.setCursor(0,0);
lcd.print("NO Fire Detected");
digitalWrite(11,0);}
}
• Smoke sensor

➢ MQ2 Gas sensor works on 5V DC and draws around 800mW.

➢ It can detect LPG, Smoke, Alcohol, Propane, Hydrogen,

Butane, Methane and Carbon Monoxide concentrations
anywhere from 200 to 10000ppm
Parts-per-million (abbreviated ppm) is the ratio of one gas to
another. For example, 1,000ppm of CO means that if you could
count a million gas molecules, 1,000 of them would be of carbon
monoxide and 999,000 molecules would be some other gases.

➢ preheat time : NOT less than 48 hours

• Basic Principle
Basic principle
•
When tin dioxide (semiconductor
particles) is heated in air at high
temperature, oxygen is adsorbed on the
surface. In clean air, donor electrons in tin
dioxide are attracted toward oxygen
which is adsorbed on the surface of the
sensing material. This prevents electric
current flow.
In the presence of reducing gases, the
surface density of adsorbed oxygen
decreases as it reacts with the reducing
gases. Electrons are then released into the
tin dioxide, allowing current to flow freely
through the sensor.
• Basic principle
• The analog output voltage provided by the sensor changes in proportional to the
concentration of smoke/gas. The greater the gas concentration, the higher is the output
voltage; while lesser gas concentration results in low output voltage. The following
animation illustrates the relationship between gas concentration and output voltage.
• Calibrate MQ2 Sensor
• To calibrate the gas sensor you can hold the gas sensor near smoke/gas you want to
detect and keep turning the potentiometer until the Red LED on the module starts
glowing. Turn the screw clockwise to increase sensitivity or anticlockwise to decrease
sensitivity.
#define MQ2pin A5
#define buzzer 10
int sensorValue;
void setup()
{
Serial.begin(9600);
pinMode(buzzer,OUTPUT);
Serial.println("Gas sensor warming up!");
delay(20 000); // allow the MQ-2 to warm up
}

void loop()
{
sensorValue = analogRead(MQ2pin);
Serial.print("Sensor Value: ");
Serial.println(sensorValue);
if(sensorValue > 300){
Serial.print(" | Smoke detected!");
digitalWrite(buzzer,HIGH);
}
else { digitalWrite(buzzer,LOW); }
delay(2000); // wait 2s for next reading
}
• Smoke sensor with LCD & Buzzer
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);
void setup()
{
lcd.begin();
lcd.backlight();
lcd.print("MQ-2 worming"); delay(20 000);
}

void loop()
{
lcd.setCursor(0,0);
lcd.print("Smoke intensty");
lcd.setCursor(0,1);
lcd.print(analogRead(A0));
}
• DHT11
• DHT11 digital temperature & humidity sensor module

vcc : pin supplies power for the sensor. 5V supply is

recommended, although the supply voltage ranges from 3.3V to
5.5V. In case of 5V power supply, you can keep the sensor as
long as 20 meters. However, with 3.3V supply voltage, cable
length shall not be greater than 1 meter. Otherwise, the line
voltage drop will lead to errors in measurement.

OUT : pin is used to communication between the

sensor and the Arduino.

GND : should be connected to the ground of Arduino.

Vcc Out GND
• Basic Principle
• Humidity sensing component has two electrodes with moisture
holding substrate sandwiched between them.

• The ions are released by the substrate as water vapor is absorbed by

it, which in turn increases the conductivity
between the electrodes.

• The change in resistance between the two electrodes is proportional

to the relative humidity. Higher relative
humidity decreases the resistance between the electrodes,
while lower relative humidity increases the resistance between
the electrodes.

• DHT11 also contains a NTC/Thermistor to measure temperature. A

thermistor is a thermal resistor whose resistance changes drastically
with temperature. The term “NTC” means “Negative Temperature
Coefficient”, which means that the resistance decreases with
increase of the temperature.
• DHT 11

Temperature Range 0°C to 50°C ±2.0°C

Humidity Range 20% to 80% ±5%

Operating Voltage 3.5V to 5.5V

Operating current 0.3mA (measuring)

60uA (standby)
Sampling period 1 Second

Vcc OUT GND

• DHT 11
#include "DHT.h"
#define DHTPIN 3
#define DHTTYPE DHT11 REQUIRES the following Arduino libraries:
DHT dht(DHTPIN, DHTTYPE); 1-DHT Sensor Library: https://github.com/adafruit/DHT-sensor-library
void setup() { 2-Adafruit Unified Sensor Lib: https://github.com/adafruit/Adafruit_Sensor
Serial.begin(9600);
dht.begin();
}
void loop() {
delay(2000);
float h = dht.readHumidity();
float t = dht.readTemperature();
Serial.print("Humidity: ");
Serial.print(h);
Serial.print("% Temperature: ");
Serial.print(t);
Serial.println("°C ");
}
• DHT With LCD & Buzzer
• DHT With LCD & Buzzer
#define DHTPIN 3
#define DHTTYPE DHT11
#include <Wire.h> lcd.setCursor(0,0);
#include <LiquidCrystal_I2C.h> lcd.print("Temp=");
#include "DHT.h" lcd.setCursor(5,0);
LiquidCrystal_I2C lcd(0x27, 16, 2); lcd.print(t);
DHT dht(DHTPIN, DHTTYPE);
void setup() { lcd.setCursor(1,0);
lcd.begin(); lcd.print("Humidity=");
lcd.backlight(); lcd.setCursor(9,1);
dht.begin(); lcd.print(h);
} }
void loop() {
delay(2000);
float h = dht.readHumidity();
float t = dht.readTemperature();
• Task

• Write a code that’s combine ( DHT11 + Smoke + Flame ) with LCD

THANKS
FOR
COMING
LECTURE
8
• RGB Led
• Cathode RGB Led Testing

Q: How to test an
anode RGB led ??
#define ledR 3 • Automatic Color Change
#define ledG 5
#define ledB 6

void setup()
{
pinMode(ledR, OUTPUT);
pinMode(ledG, OUTPUT);
pinMode(ledB, OUTPUT);
}
void loop()
{
for (byte R=0, G=100, B=255 ; R<=255 || G<=255 || B>=0 ; R++, G++, B-- ){

analogWrite(ledR,R) ;
analogWrite(ledG,G) ;
analogWrite(ledB,B) ;
delay(30);
}}
• 7-Segment Types

Common Anode Common Cathode

+ - LOW HIGH
+ -
LOW HIGH

LOW HIGH
5V
LOW HIGH

LOW HIGH 0V

LOW HIGH

LOW HIGH
• 7-Segment Pins
s s s s

8
1
3

s s s
• Truth Table of 7Segment
• Connection

4 3 2 1

5 6 7
• Code
int b=1; int a=2; int f=3; int g=4;
int e=5; int d=6; int c=7; void one(){ void three(){
void setup(){ digitalWrite(a,0); digitalWrite(a,1);
pinMode(a,OUTPUT); digitalWrite(b,1); digitalWrite(b,1);
pinMode(b,OUTPUT); digitalWrite(c,1); digitalWrite(c,1);
pinMode(c,OUTPUT); digitalWrite(d,0); digitalWrite(d,1);
pinMode(d,OUTPUT); digitalWrite(e,0); digitalWrite(e,0);
pinMode(e,OUTPUT); digitalWrite(f,0); digitalWrite(f,0);
pinMode(f,OUTPUT); digitalWrite(g,0); digitalWrite(g,1);
pinMode(g,OUTPUT); } }
} void two(){ void four(){
void zero(){ digitalWrite(a,1); digitalWrite(a,0);
digitalWrite(a,1); digitalWrite(b,1); digitalWrite(b,1);
digitalWrite(b,1); digitalWrite(c,0); digitalWrite(c,1);
digitalWrite(c,1); digitalWrite(d,1); digitalWrite(d,0);
digitalWrite(d,1); digitalWrite(e,1); digitalWrite(e,0);
digitalWrite(e,1); digitalWrite(f,0); digitalWrite(f,1);
digitalWrite(f,1); digitalWrite(g,1); digitalWrite(g,1);
digitalWrite(g,0);} } }
• Code
void nine(){
void five(){ void seven(){
digitalWrite(a,1);
digitalWrite(a,1); digitalWrite(a,1);
digitalWrite(b,1);
digitalWrite(b,0); digitalWrite(b,1);
digitalWrite(c,1);
digitalWrite(c,1); digitalWrite(c,1);
digitalWrite(d,1);
digitalWrite(d,1); digitalWrite(d,0);
digitalWrite(e,0);
digitalWrite(e,0); digitalWrite(e,0);
digitalWrite(f,1);
digitalWrite(f,1); digitalWrite(f,0);
digitalWrite(g,1);}
digitalWrite(g,1); digitalWrite(g,0);
void loop(){
} }
zero(); delay(1000);
void six(){ void eight(){
one(); delay(1000);
digitalWrite(a,1); digitalWrite(a,1);
two(); delay(1000);
digitalWrite(b,0); digitalWrite(b,1);
three(); delay(1000);
digitalWrite(c,1); digitalWrite(c,1);
four(); delay(1000);
digitalWrite(d,1); digitalWrite(d,1);
five(); delay(1000);
digitalWrite(e,1); digitalWrite(e,1);
six(); delay(1000);
digitalWrite(f,1); digitalWrite(f,1);
seven(); delay(1000);
digitalWrite(g,1); digitalWrite(g,1);
eight(); delay(1000);
} }
nine(); delay(1000); }
• ATMEGA328P Pinout
• 7-Segment in 2 Line code
7 6 5 4 3 2 1 0
Truth table connection c d e g f a b
1 1 1 1 1 1 1 1
4 3 2 1
DDRD=0b11111111;

7 6 5 4 3 2 1 0
c d e g f a b
0 1 1 1 0 1 1 0

5 6 7 PORTD=0b01110110;
• What is Servo Motor
The servo motor is most commonly used for high technology devices in the industrial application like
automation technology. It is a self contained electrical device, that rotate parts of a machine with high
efficiency and great precision. The output shaft of this motor can be moved to a particular angle. Servo
motors are mainly used in home electronics, toys, cars, airplanes, etc.This article discusses about what is a
servo motor, servo motor working, servo motor types and its applications
• Servo Motor Types
1) DC Servo Motor 2) AC Servo Motor

3) Positional Rotation Servo Motor 4) Continuous Rotation Servo Motor

• Positional Vs Continuous Servo
• Positional Rotation Servo Motor

Positional rotation servo motor is a most common type of servo motor. The shaft’s o/p rotates in about
180o. It includes physical stops located in the gear mechanism to stop turning outside these limits to guard
the rotation sensor. These common servos involve in radio controlled water, radio controlled cars, aircraft,
robots, toys and many other applications.

• Continuous Rotation Servo Motor

Continuous rotation servo motor is quite related to the common positional rotation servo motor, but it can
go in any direction indefinitely. The control signal, rather than set the static position of the servo, is
understood as the speed and direction of rotation. The range of potential commands sources the servo to
rotate clockwise or anticlockwise as preferred, at changing speed, depending on the command signal. This
type of motor is used in a radar dish if you are riding one on a robot or you can use one as a drive motor on
a mobile robot.
• Servo Motor Connection

Power Supply
• Sweep code
#include <Servo.h>
Servo myservo;
int pos = 0;
void setup() {
myservo.attach(9);
}

void loop() {
for (pos = 0; pos <= 180; pos += 1) {
// in steps of 1 degree
myservo.write(pos);
delay(15);
}
for (pos = 180; pos >= 0; pos -= 1) {
myservo.write(pos);
delay(15);
}
}
• Knop Code
#include <Servo.h>
Servo myservo;
int potpin = A0;
int val;

void setup() {
myservo.attach(9);
}

void loop() {
val = analogRead(potpin);
val = map(val, 0, 1023, 0, 180);
myservo.write(val);
delay(15);
}
• Task

• Write a code that’s Show the same

number you send from your computer on
the 7-segment
THANKS
FOR
COMING
 LECTURE
9
( Practical )
 battery
from 5V to 12V
#include <Servo.h> void forword() void right()
#define speedL 3 { digitalWrite(IN1, HIGH); {
#define IN1 9 digitalWrite(IN2, LOW); digitalWrite(IN1, HIGH);
#define IN2 8 digitalWrite(IN3, HIGH); digitalWrite(IN2, LOW);
#define IN3 7 digitalWrite(IN4, LOW); digitalWrite(IN3, LOW);
#define IN4 6 analogWrite(speedL, 150); digitalWrite(IN4, LOW);
#define speedR 5 analogWrite(speedR, 150); analogWrite(speedL, 150);
#define flame 2 } analogWrite(speedR, 0);
#define buzzer 4 void backword() }
char Reading; { digitalWrite(IN1, LOW);
int pos , flame_detected=0 ; digitalWrite(IN2, HIGH); void stopp() {
Servo myservo; digitalWrite(IN3, LOW); digitalWrite(speedL, LOW);
digitalWrite(IN4, HIGH); digitalWrite(speedR, LOW);
void setup() { analogWrite(speedL, 150); }
Serial.begin(9600); analogWrite(speedR, 150); void loop() {
myservo.attach(11); } if (Serial.available() > 0) {
myservo.write(90); void left() Reading = Serial.read();
for (int i = 3 ; i <= 9 ; i++) { digitalWrite(IN1, LOW); switch (Reading) {
{ digitalWrite(IN2, LOW); case 'F' : forword(); break;
pinMode(i, OUTPUT); digitalWrite(IN3, HIGH); case 'B' : backword();break;
} digitalWrite(IN4, LOW); case 'R' : right(); break;
pinMode(flame, INPUT); analogWrite(speedL, 0); case 'L' : left(); break;
} analogWrite(speedR, 150); case 'S' : stopp(); break;
}
case 'Q' : for (pos = 90; pos <= 180; pos += 1) {
if(digitalRead(flame)==0){flame_detected++;}
myservo.write(pos);
delay(15); }

for (pos = 180; pos >= 0; pos -= 1) {

if(digitalRead(flame)==0){flame_detected++;}
myservo.write(pos);
delay(15);}

myservo.write(90);

if(flame_detected > 0){

for(int i=0 ; i<=10 ; i++){
digitalWrite(buzzer,1);
delay(100);
digitalWrite(buzzer,0);
delay(100);
}
flame_detected=0;
}

}}}
THANKS
FOR
COMING
LECTURE
10
Oral Exam
Graduation Project
• What To Do Next

Robotics1 Robotics2 Robotics3 ROS

Embedded
C\C++ Career
Systems

Classic Control PLC Career

• What To Do Next

Robotics1 Robotics2 Robotics3 ROS

Embedded
C\C++ Career
Systems

Classic Control PLC Career NLP

Statistics Numpy,
Machine Deep
Linear Algebra Python Pandas,
Probability learning learning CV
Matplotlib
THANKS
FOR
COMING