LAB MANUAL

GESTURE CONTROLLED ROBOT KIT

(Do -It- Yourself)

Version: 1.1.0
Copyright 2024, PRAGYATMIKA, The Power of Intelligence

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 HUMAN GESTURE CONTROLLED ROBOT
1. Problem Statement
The objec ve of this project is to control the robo c kit based on Human Gesture. The gesture
will be recognized over Bluetooth communica on. The robot should be able to move forward,
backward, turn le , and turn right based on the commands of Human Gesture.

2. Descrip on
This project involves designing a gesture-controlled robot using an ESP32 microcontroller. The
gesture is communicated via Bluetooth using the SriTu Hobby app. Commands from the app
control the movement of the robot by sending specific instruc ons, which are then
interpreted by the ESP32 Development Board to drive the motors accordingly.

3.
A. Hardware Used
 PRAGYATMIKA Robot Kit Control Development Board
 Robot Kit Chassis
 L293D Motor Driver fixed over Development Board
 DC motors (connected to Robot Chassis Kit)
 Bluetooth Module (Integrated in ESP32 Development Kit)
 12V Li -Ion Ba ery pack

B. So ware Used:
 Arduino IDE Development Environment
 ESP32 Development Board Libraries

C. Protocol Used:
 Bluetooth Protocol

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4. Schema c

Figure 1 Schema c Diagram of Bluetooth Control Robot

5. Block Diagram

Figure 2 Block Diagram of Bluetooth Control Robot

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6. So ware Logic
Step1: start
Step2: configure Bluetooth device name
Step3: loop start
Step4: declare a variable (eg., value) to store the character which will come from Bluetooth
Controller
Step5: if value==U then forward movement i.e., the motor driver 1 should be enabled the
front right and rear right wheel to clockwise and the motor driver 2 should be enabled the
front le and rear le wheel to An -clockwise
Step6: else if value==D then backward movement i.e., the motor driver 1 should be enabled
the front right and rear right wheel to An -clockwise and the motor driver 2 should be
enabled the front le and rear le wheel to clockwise
Step7: else if value==L then right movement i.e., the motor driver 1 should be enabled to stop
the front right and rear right wheel and the motor driver 2 should be enabled the front le
and rear le wheel to An -clockwise
Step8: else if value==R then le movement i.e., the motor driver 1 should be enabled the
front right and rear right wheel to clockwise and the motor driver 2 should be enabled to stop
the front le and rear le wheel
Step9: else stop the movement i.e., the motor driver 1 should be enabled to stop the front
right and rear right wheel and the motor driver 2 should be enabled to stop the front le and
rear le wheel
Step10: loop end
Step11: stop

7. SriTu Hobby APP Installa on for Gesture Control

Step1: Go to Play Store
Step2: Search SriTu Hobby
Step3: Install the SriTu Hobby APP

8. So ware Program for Gesture Control

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//Include the library file
#include "BluetoothSerial.h"

BluetoothSerial SerialBT;

uint8_t FIN1 = 33; // this is for L293D driver

uint8_t FIN2 = 25;
uint8_t FIN4 = 14;
uint8_t FIN3 = 27;

uint8_t BIN1 = 5; // this is for L293D driver

uint8_t BIN2 = 18;
uint8_t BIN4 = 3;
uint8_t BIN3 = 19;

uint8_t FBLEN = 32;

uint8_t FBREN = 26;

int dutycycle;

void setup()
{
Serial.begin(115200);
SerialBT.begin("sohail ahmed1"); //Bluetooth device name
Serial.println("The device started, now you can pair it with bluetooth!");

pinMode(FIN1, OUTPUT);// this is for L293D driver

pinMode(FIN2, OUTPUT);
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 pinMode(FIN3, OUTPUT);
pinMode(FIN4, OUTPUT);

pinMode(BIN1, OUTPUT);// this is for L293D driver

pinMode(BIN2, OUTPUT);
pinMode(BIN3, OUTPUT);
pinMode(BIN4, OUTPUT);

pinMode(FBLEN, OUTPUT);
pinMode(FBREN, OUTPUT);
}

void loop()
{
//speed();
if (SerialBT.available())
{
//String value = SerialBT.readString();
speed();
char value = SerialBT.read();
Serial.println(value);

if (value == 'U')
{
Forward();
}
else if (value == 'D')
{
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 Backward();
}
else if (value == 'L')
{
Le ();
}
else if (value == 'R')
{
Right();
}
else
{
Stop();
}
}
}

void speed()
{
dutycycle=255;
Serial.println(dutycycle);
analogWrite(FBLEN, dutycycle);
analogWrite(FBREN, dutycycle);
}

void Forward()
{
Serial.println("forward");
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 digitalWrite(FIN1, LOW);
digitalWrite(FIN2, HIGH);
digitalWrite(FIN3, LOW);
digitalWrite(FIN4, HIGH);

Serial.println("forward");
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, HIGH);
digitalWrite(BIN3, LOW);
digitalWrite(BIN4, HIGH);
}

void Backward()
{
Serial.println("backward");
digitalWrite(FIN1, HIGH);
digitalWrite(FIN2, LOW);
digitalWrite(FIN3, HIGH);
digitalWrite(FIN4, LOW);

Serial.println("backward");
digitalWrite(BIN1, HIGH);
digitalWrite(BIN2, LOW);
digitalWrite(BIN3, HIGH);
digitalWrite(BIN4, LOW);
}

void Stop()
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{
Serial.println("stop");
digitalWrite(FIN1, LOW);
digitalWrite(FIN2, LOW);
digitalWrite(FIN3, LOW);
digitalWrite(FIN4, LOW);

Serial.println("stop");
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, LOW);
digitalWrite(BIN3, LOW);
digitalWrite(BIN4, LOW);
}

void Le ()
{
Serial.println("le ");
digitalWrite(FIN1, LOW);
digitalWrite(FIN2, LOW);
digitalWrite(FIN3, LOW);
digitalWrite(FIN4, HIGH);

Serial.println("le ");
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, LOW);
digitalWrite(BIN3, LOW);
digitalWrite(BIN4, HIGH);
}
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void Right()
{
Serial.println("right");
digitalWrite(FIN1, LOW);
digitalWrite(FIN2, HIGH);
digitalWrite(FIN3, LOW);
digitalWrite(FIN4, LOW);

Serial.println("right");
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, HIGH);
digitalWrite(BIN3, LOW);
digitalWrite(BIN4, LOW);
}

9. Test
Step1: Open the Arduino IDE so ware
Step2: Go to FileNew Sketch then Write the above code
Step3: Replace the Bluetooth name with the name as your wish in the code. Give any
custom name.
Step4: Connect the ESP32 board with the PC
Step5: Go to ToolsBoardesp32select the DOIT ESP32 DEVKIT V1 board
Step6: To connect the port, go to ToolsPortselect COM
Step7: Click on the “Right” symbol to compile the code
Step8: Click on the “Arrow” symbol to upload the code in the ESP32 Board
Step9: Place the Programmed ESP32 Board in the robot hardware and power the hardware
Step10: Open the SriTu Hobby APP

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Step11: Go to Control
Step12: Click to Bluetooth Robot Remote then we can see Bluetooth Controller
Step13: Click to Gear icon
Step14: Click to Connect to device
Step15: Select our Bluetooth Device which we have configured the Bluetooth device name
in the program in Step3 then connect that Bluetooth device
Step16: Now Turn ON the Gesture Control Mode in the APP.
Step 17: Move your Mobile Phone, UP , DOWM, LEFT, RIGHT . On moving in different
direc ons, the command for FORWARD, BACKWARD, LEFT and RIGHT will be generated. This
command will be communicated to the ROBOT KIT over Bluetooth.

10. Result
 The robot successfully responds to the commands from the SriTu Hobby app, moving
forward, backward, le , and right as intended.
 The serial monitor displays the expected command outputs, confirming the correct
opera on of the control logic.

11. Conclusion
The ESP32-based robot is effec vely controlled via Bluetooth using the SriTu Hobby app using
Gesture Control. The project demonstrates the feasibility of remote control for vehicles using
microcontrollers and Bluetooth technology, providing a founda on for more advanced
robo cs projects.

12. References
 h ps://www.alldatasheet.com
 h ps://www.al um.com
 h ps://github.com
 h ps://www.arduino.cc

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