RoboTronix

About the User Guide

RoboTronix is a workshop especially designed for newbie's and robotics enthusiasts. This
workshop may give you a basic brief idea of the working of a robot. It will help the students to
build the concepts of electronics. It is very easy to learn and also interesting to implement upon.
This kit consists of very basic electronic components like diode, resistor, LEDs and transistors.
Using these kit students can develop their own logic for building up a robot. This kit includes the
following types of robots:

Line follower.
Obstacle avoider
Object follower
Photophobic
Phototrophic
Wall Follower
Boomerang
Fire Fighter
Mobile controlled robot
Sound controlled robot

All these robots can be built with the help of a main board provided with this kit. The main board
is designed using basic electronic components like resistors and transistors.

PROPRIETARY NOTICE
This document contains proprietary information furnished for evaluation purposes only; except with the express written permission of Technophilia, such information
may not be published, disclosed, or used for any other purpose. You acknowledge and agree that this document and all portions thereof, including, but not limited to,
any copyright, trade secret and other intellectual property rights relating thereto, are and at all times shall remain the sole property Technophilia and that title and full
ownership rights in the information contained herein and all portions thereof are reserved to and at all times shall remain with Technophilia. You acknowledge and
agree that the information contained herein constitutes a valuable trade secret of Technophilia. You agree to use utmost care in protecting the proprietary and
confidential nature of the information contained herein.

Contents
1. RobotTronix Package Content .................................................................................................... 6
1.1 MAIN BOARD ..................................................................................................................... 7
1.1.1 Transistor ....................................................................................................................... 7
1.1.2 Berg strip ........................................................................................................................ 7
1.1.3 Diode .............................................................................................................................. 8
1.1.4 Resistor .......................................................................................................................... 8
1.1.5 Capacitor ........................................................................................................................ 8
1.1.6 LED ................................................................................................................................ 9
1.1.7 Circuit diagram mother board ........................................................................................ 9
1.1.8 Description ..................................................................................................................... 9
1.2 MULTIPURPOSE OPTICAL SENSOR (MPOS) ........................................................... 11
1.2.1 Circuit diagram ............................................................................................................ 11
1.2.2 Description ................................................................................................................. 11
1.3 General purpose robotic vehicle chassis ............................................................................. 12
1.4 DC geared motors ............................................................................................................... 12
1.5 Caster wheels ...................................................................................................................... 12
1.6 Battery (9V) ........................................................................................................................ 13
1.7 Batter snapper ..................................................................................................................... 13
1.8 Screws and nuts................................................................................................................... 13
1.9 Screw driver ........................................................................................................................ 13
2. LINE FOLLOWER .................................................................................................................. 14
2.1 Description ........................................................................................................................ 14
2.2 Connection diagram ............................................................................................................ 14
2.3 Logic ................................................................................................................................... 14
2.4 Configuration ...................................................................................................................... 15
2.4.1 White surface black line follower ................................................................................ 15
2.4.2 Black surface white line follower ................................................................................ 15
2.5 Working .............................................................................................................................. 15
3. OBSTACLE AVOIDER ........................................................................................................... 16
3.1 Description .......................................................................................................................... 16
3.2 Connection diagram ............................................................................................................ 16

3.3 Logic ................................................................................................................................... 16

3.4 Configuration ...................................................................................................................... 16
3.5 Working .............................................................................................................................. 16
4. OBSTACLE FOLLOWER ...................................................................................................... 17
4.1 Description .......................................................................................................................... 17
4.2 Connection Diagram ........................................................................................................... 17
4.3 Logic ................................................................................................................................... 17
4.4 Configuration ...................................................................................................................... 17
4.5 Working .............................................................................................................................. 17
5. PHOTOPHOBIC....................................................................................................................... 18
5.1 Description .......................................................................................................................... 18
5.2 Connection diagram ............................................................................................................ 18
5.3 Logic ................................................................................................................................... 18
5.4 Configuration ...................................................................................................................... 18
5.5 Working .............................................................................................................................. 18
6. PHOTOTROPHIC .................................................................................................................... 19
6.1 Description .......................................................................................................................... 19
6.2 Connection diagram ............................................................................................................ 19
6.3 Logic ................................................................................................................................... 19
6.4 Configuration ...................................................................................................................... 19
6.5 Working .............................................................................................................................. 19
7. WALL FOLLOWER ............................................................................................................... 20
7.1 Description .......................................................................................................................... 20
7.2 Connection diagram ............................................................................................................ 20
7.3 Logic ................................................................................................................................... 20
7.4 Configuration ...................................................................................................................... 20
7.5 Working .............................................................................................................................. 20
8. MOBILE CONTROLLED........................................................................................................ 21
8.1 Description .......................................................................................................................... 21
8.2 Connection diagram ............................................................................................................ 21
8.3 Logic ................................................................................................................................... 21
8.4 Configuration ...................................................................................................................... 21
8.5 Working .............................................................................................................................. 21
9. SOUND SENSOR ROBOT ...................................................................................................... 23

9.1 Description .......................................................................................................................... 23

9.2 Circuit diagram ................................................................................................................... 23
9.3 Logic ................................................................................................................................... 23
9.4 Configuration ...................................................................................................................... 23
9.5 Working .............................................................................................................................. 23
10. FIRE FIGHTING ROBOT ..................................................................................................... 24
10.1 Description ........................................................................................................................ 24
10.2 Connection Diagram ......................................................................................................... 24
10.3 Logic ................................................................................................................................. 24
10.4 Configuration .................................................................................................................... 24
10.5 Working ............................................................................................................................ 24
11. BOOMERANG ROBOT ........................................................................................................ 25
11.1 Description ........................................................................................................................ 25
11.2 Connection diagram .......................................................................................................... 25
11.3 Logic ................................................................................................................................. 25
11.4 Configuration .................................................................................................................... 25
11.5 Working ............................................................................................................................ 25

1. RobotTech Package Content

Sr. No

Product

Quantity

1.

Main board

2.

Multi Purpose Optical Sensors

3.

DTMF module

4.

Sound sensor cum timer circuit

5.

General purpose robotic vehicle chassis

6.

DC geared motors

7.

Wheels

8.

Caster

9.

9 Volt 6F22M Battery

10.

Battery Snapper (Battery Caps)

11.

Spacers, Nuts and Bolts

12.

Screw driver

1.1 MAIN BOARD

The main board of Robotronix is a multipurpose board. Students just have to connect the
sensors on its exposed data pins for its various applications. This main board consists of simple
components like (Resistors, Capacitors and Transistors).

1.1.1 Transistor
A transistor is a device used to amplify and switch electronic signals. It is made up of a
solid piece of material (silicon), with three terminals for connection to an external circuit. There
are two types of transistors used here (NPN-BC557A and PNP-BC548).
A transistor has three terminals Emitter, Base and Collector. The transistor can be
switched on or off based on the logic voltage (0 or 1) applied on the base.
Transistor Type
NPN
PNP

Voltage on base
0
1
0
1

State of Transistor
OFF
ON
ON
OFF

.
1.1.2 Berg strip
They are used for the connection of the sensors depending upon the robot to be built. On
the board you can find five three pin berg strips denoted as IN1, IN2, IN1, IN2 and BZIN. The
three pins of the berg strip are +ve, -ve and data (you can notice on the board it is written as - +
D).

1.1.3 Diode
A diode is an electronic component with two terminals that allows electric current to flow
in only one direction i.e., from positive to negative. The most common function of a diode is to
allow electric current in one direction while blocking current in the opposite direction.

1.1.4 Resistor
A Resistor is an electronic component which restricts the flow of current. A resistor has
some resistance which is measured in Ohms as weight is measured in Kilograms. The symbol of
Ohms is

1.1.5 Capacitor
A capacitor or condenser is a passive electronic component consisting of a pair of
conductors separated by a dielectric (insulator). A capacitor has some capacitance which is
measured in Farads. The symbol is F.

1.1.6 LED
A LED (Light Emitting Diode) is nothing but a diode that emits light when a voltage is
applied to it and it is used almost everywhere because it consumes very less current.

1.1.7 Circuit diagram mother board

1.1.8 Description
The circuit seen above is of the main board, Robotronix. As we can see in the above
circuit diagram, 7 transistors have been used. Four of them are NPN (Q1, Q2, Q3 and Q4) and
the rest of the three are PNP (Q5, Q6 and Q8).

There are 6 three pin berg strip on the board. IN1, IN2, IN1 and IN2 are the data pins
which are used for switching on and off the motors. IN1 and IN1 controls one motor whereas
the other motor is controlled by pins IN2 and IN2. BZ is used for the buzzer operation.
BZOUT2 is used for giving the output to the motors.
The data pins of IN1 and IN2 are connected to the base of the transistors Q5 and Q6
respectively. Now suppose the data pins of IN1 and IN2 has got the data 0, Q5 and Q6 will be
on which in turn will switch on Q1 and Q2 respectively by giving the data 1 to the base of these
transistors. The +ve pin of the motor are connected to positive power supply by default while the
ve pin are left open. When Q1 and Q2 is switched on, the ve pin of the motor is connected to
ground which causes the motors to rotate and the robot starts moving in the forward direction.
In short, the motors are switched on when the data on IN1 and IN2 is 0 and the motors
are switched off when the data is 1.
The data pins of IN1 and IN2 are connected to the base of the transistors Q3 and Q4
respectively. Now suppose the data pins of IN1 and IN2 has got the data 1, Q3 and Q4 will be
on which in turn will switch on Q1 and Q2 by giving the data 1 to these transistors. The +ve pin
of the motor are connected to positive power supply by default while the ve pin are left open.
When Q1 and Q2 is switched on, the ve pin of the motor is connected to ground which causes
the motors to rotate and the robot starts moving in the forward direction.
In short, the motors are switched on when the data on IN1 and IN2 is 1 and the motors
are switched off when the data is 0.
The berg strip BZ is connected to a PNP transistor Q8, The fire sensor is connected to
this pin. Whenever the sensor detects fire, the data 0 from the sensor is given to Q8 because of
which the transistor is on which in turn switches on the Buzzer. The other berg strip BZ gives a
data 1 whenever the buzzer is on or data 0 whenever the buzzer is off. All the three pins on
BZOUT2 are shorted.
There are two connectors on the board i.e., LS and DS. These connectors are used for
connecting to batteries to the board. LS (Logic Supply) is used for providing power supply to the
entire board but not the motors and DS (Driver Supply) is used for providing power supply to the
motors only.
There are two slider switches on the board LSS (Logic Supply Switch) and DSS (Driver
Supply Switch). These switches are used for the switching of LS and DS.
The green colored connectors are used for connection the motors to the board. It has got 4
pins. Two pins for each motor. The ve terminal of the motors should be individually connected
to the connector denoted as C. M1 and M2 is used for connecting the +ve terminal of the motor.
The Buzzer acts as a sound output in Fire fighting robot.

1.2 MULTIPURPOSE OPTICAL SENSOR (MPOS)

1.2.1 Circuit diagram

1.2.2 Description
Multipurpose sensors mean that these sensors can be used for line sensing, obstacle
sensing and light sensing.
Students can build various robots having different application using these sensors. The
sensors are very simple to understand. They consist of a LED (transmitter) and a Photodiode
(receiver). This sensor works on the principle of reflection of light. The photodiode is connected
in the reverse bias condition. The LED converts electrical energy to light energy and the
photodiode does the opposite. The positive of photodiode is connected to the base of a NPN
transistor. The collector of the transistor is the data pin of the sensor.
When the light of the LED falls on the photodiode after being reflected from the surface,
the photodiode starts generating voltage. The base of the transistor connected to it receives the
equivalent voltage of the photodiode. If the voltage is greater than 0.7 volts, the transistor is on
and if the voltage is less than 0.7 volts the transistor is off. When the transistor is on, the data is
0 and the data is 1 when the transistor is off. This sensor is a digital sensor.
This sensor is connected to the berg strip on the board and based on the output given by
this sensor the respective operation is performed.

1.3 General purpose robotic vehicle chassis

The physical frame on which all the components are mounted is the chassis. This is the
basic framework of a robot. It is designed in such a way considering all the physical parameters
of the robot and function which the robot is going to perform.

1.4 DC geared motors

DC geared motors are the motors which run on DC supply. They are mainly designed to
drive the wheels which are attached to it. The speed of the DC geared motor is 150 RPM at 9V.
An electric motor is all about magnets and electro-magnetism: A motor uses magnets to create
motion. If you have ever played with magnets you know about the fundamental law of all
magnets: Opposites attract and likes repel. So if you have two bar magnets with their ends
marked "north" and "south," then the north end of one magnet will attract the south end of the
other magned. On the other hand, the north end of one magnet will repel the north end of the
other (and similarly, south will repel south). Inside an electric motor, these attracting and
repelling forces create rotational motion.

1.5 Caster wheels

Caster wheels are also known as free wheels. The chassis provided is designed in such a
way that the robot cannot balance itself on the two wheels provided, it needs 2 more wheel for
balancing. These wheels will move in the direction of the main motors. It is used to provide 360
rotation.

1.6 Battery (9V)

It is required to give power supply to the main board and the motors. Another 9V battery
is required for driving the sensors.

1.7 Batter snapper

It is used to connect the battery to the main board.

1.8 Screws and nuts

The screws and nuts are mainly used for assembly of the chassis and for fixing the
sensors, motors and wheels on to the chassis.

1.9 Screw driver

It used for fastening the screws.

2. LINE FOLLOWER
2.1 Description
The line following robot is a robot which follows the line and runs on the track provided.
It follows the black line on white surface and vice versa. In this main board we are not using any
kind of micro-controller instead the robot is designed just using two sensors (MPOS).

2.2 Connection diagram

2.3 Logic
The sensors need to be placed in the holes provided at the lower front end of the chassis.
When the sensor is on the white surface the data given by the sensor is 0 and when the sensor is
on the black surface, the data given by the sensor is 1.
When the sensor is on the white surface the data given by the sensor is 0 and when the
sensor is on the black surface, the data given by the sensor is 1.
If the circuit diagram is perfectly observed, it can be noted that the sensors connected
onto IN1 and IN2 will make the motors work only if the input is 0 and the sensors connected on
IN1 and IN2 will make the motors work only if the input is 1.

2.4 Configuration
2.4.1 White surface black line follower
Connect the left sensor on IN1 and right sensor on IN2
When both the sensors are on white, the data on IN1 and IN2 is 0
When the sensor is on black surface, the data is 1
2.4.2 Black surface white line follower
Connect the left sensor on IN1 and right sensor on IN2
When both the sensors are on white, the data on IN1 and IN2 is 0
When the sensor is on black surface, the data is 1

2.5 Working
Let us consider the example of a robot following a black line on a white surface, when
both the sensors are on the white surface the robot will move forward because the data on both
the sensors is 0. Now when the left sensor is on the black line the left motor (wheel) will stop
because the data on IN1 is 1 and the right wheel will be moving because the data on IN2 is 0. So
the robot will take a left turn. Similarly when the right sensor is on the black line, the right motor
(wheel) will stop because the data on IN1 is 1 and the right wheel will be moving because the
data on IN2 is 0. So the robot will take a right turn.

3. OBSTACLE AVOIDER
3.1 Description
Obstacle means an obstruction in the path of robot movement. As the name suggests,
the obstacle avoider robot will be moving and if any obstacle comes in its path, it avoids the
obstacle and continues its movement.

3.2 Connection diagram

3.3 Logic
Here the logic is simple. Whenever there is an obstacle in front of the robot or the sensor,
the data given by the sensor is 0, whenever there is no obstacle, the data given by the sensor is 1.
Based on the logic output data given by the sensors the robot performs its function i.e., avoiding
the obstacle.

3.4 Configuration
The MPOS sensors are used for this purpose. They are connected on the three pin berg
strips. Left sensor is connected to IN2 and right sensor is connected to IN1.

3.5 Working
The sensors which are connected are IN1 and IN2 are used for obstacle sensing. When
the right sensor which is connected on IN1 senses an obstacle, the left motor stops and the right
motor moves forward causing the robot to make a left turn. When the left sensor which is
connected to IN2 senses an obstacle, the right motor stops and the left motor moves forward
causing the robot to make a right turn. When there are no obstacles in front of the robot, the
robot will keep on moving forward.

4. OBSTACLE FOLLOWER
4.1 Description
This robot is designed in a way to follow the obstruction in its path. The robot will move
in the same direction as of the obstacle.

4.2 Connection Diagram

4.3 Logic
Here the logic of the robot whenever there is an obstacle in front of the robot or the
sensor, the data given by the sensor is 0, whenever there is no obstacle, the data given by the
sensor is 1. Based on the logic output data given by the sensors the robot performs its function
i.e., following the obstacle

4.4 Configuration
The MPOS sensors are used for this purpose. They are connected on the three pin berg
strips. Left sensor is connected to IN1 and right sensor is connected to IN2.

4.5 Working
The sensors which are connected are IN1 and IN2 are used for obstacle sensing. When
the right sensor which is connected on IN2 senses an obstacle, the right motor stops and the left
motor moves forward causing the robot to make a right turn. When the left sensor which is
connected to IN1 senses an obstacle, the left motor stops and the right motor moves forward
causing the robot to make a left turn. When there are no obstacles in front of the robot, the robot
will keep on moving forward.

5. PHOTOPHOBIC
5.1 Description
The word phobic means fear. Photophobic means fear of light. It means that whenever
light falls on the robot it changes its track and moves away from it.

5.2 Connection diagram

5.3 Logic
The logic for this robot is when light falls on the particular sensor, the robot has to move
in the opposite direction. Suppose if the light falls on left sensor then the motor should move to
the right, if the light falls on the right sensor then the robot should move to left.

5.4 Configuration
Here the MPOS are used as light sensors. The sensors are connected on the three pin berg
strips. Left sensor is connected to IN2 and right sensor is connected to IN1.

5.5 Working
MPOS which is used here as light sensor, which gives the data as 0 when light falls on it
and data as 1 when there is no light falling on it. The sensors are connected to IN1 and IN2 as
shown in the above circuit diagram. Here the robot by default will not be moving. But when light
falls on it, the robot starts moving. When light falls on the right sensor, the data on IN1 is 0
which makes only the right motor to move forward causing the robot to make a left turn. When
light falls on the left sensor, the data on IN2 is 0 which makes only the left motor to move
forward causing the robot to make a right turn. Hence our robot is avoiding the light as it is
afraid of it.

6. PHOTOTROPHIC
6.1 Description
Phototrophic means towards the direction of the light. This robot is designed in such a
way that it will always move toward the light.

6.2 Connection diagram

6.3 Logic
The logic over here is the robot should move towards the light, i.e., when light falls on
the left sensor, the robot should take a left turn and when light falls on the right sensor, the robot
should take a right turn.

6.4 Configuration
Here the MPOS are used as light sensors. The sensors are connected on the three pin berg
strips. Left sensor is connected to IN1 and right sensor is connected to IN2.

6.5 Working
MPOS which is used here as light sensor, which gives the data as 0 when light falls on it
and data as 1 when there is no light falling on it. The sensors are connected to IN1 and IN2 as
shown in the above circuit diagram. Here the robot by default will not be moving. But when light
falls on it, the robot starts moving. When light falls on the right sensor, the data on IN2 is 0
which makes only the left motor to move forward causing the robot to make a right turn. When
light falls on the left sensor, the data on IN1 is 0 which makes only the right motor to move
forward causing the robot to make a left turn. When light falls on both the sensors, the robot
moves in the forward direction.

7. WALL FOLLOWER
7.1 Description
This particular robot is designed in a way to follow the wall which means it move along
the wall maintaining a constant distance with the wall. In accordance with the wall the robot will
change its path and follow it completely.

7.2 Connection diagram

7.3 Logic
When Sensor1 which is of more range senses the wall and the sensor2 which is of less
range is not sensing the wall, the robot will move forward. When both the sensors detect the wall
the robot should move away from the wall. When none of the sensors have detected the wall, the
robot should move towards the wall in order to maintain a constant distance with the wall.

7.4 Configuration
The sensor with more range which is placed at the front should be connected to IN2 and
the sensor with less range should be placed at the back and should be connected to IN1. With the
above configuration, the robot will follow the wall which is on its left side.

7.5 Working
Let us consider the example of a robot which is following the left wall. The sensors are
connected as mentioned in the configuration. When sensor1 which is of high range connected to
IN2 senses the wall, the data on IN2 is 0 and when sensor2 which is of less range connected to
IN1 is not sensing the wall, the robot moves in the forward direction. When both sensor1 and
sensor2 is have sensed the wall, the data on both IN1 and IN2 is 0 which makes the right motor
to stop and the left motor to move forward making the robot take a right turn which means the
robot moves away from the wall. When both the sensors are not sensing, the data on IN1 and
IN2, is 1 which makes the left motor to stop and right motor to move forward making the robot
to make a left turn, which means the robot moves towards the wall. Hence the robot moves along
the wall maintaining a constant distance with it.

8. MOBILE CONTROLLED
8.1 Description
This robot is extended by a DTMF (Dual tone Multi Frequency) module. This robot is
built in such a way that it can be controlled with the help of a cell phone. The students can
control the robot with their mobile phones from anywhere in the world.

8.2 Connection diagram

8.3 Logic
The data required by the motor to run has to be 0 and 1. When you press any button on
your keypad a corresponding unique binary code is generated. These codes are provided to the
robot. The codes are nothing but 1s and 0s which help is moving the robot.

8.4 Configuration
The DTMF module has to be connected in such a way that D0 is connected to the data
pin of IN2 and D2 is connected to the data pin of IN1.On the DTMF module, you have two
more connections of which the phone should be connected to IN and the power supply from the
board should be connected to + -.

8.5 Working
The DTMF module consists of a DTMF IC, and 6 LEDs. For driving the robot through a
mobile, you need to follow the table for giving the data to the motors. The LEDs are used for
indicating the output of the DTMF IC corresponding to the key pressed on the keypad of the
mobile phone. When a particular key from your mobile is pressed then the data is given to the
robot to move. The DTMF IC has a feature to accept the data only at a particular frequency and
the rest of all is rejected. The keypad present on your mobile phone lies in 8 different frequency
bands. When a particular key is pressed, the corresponding frequency is emitted which is
converted into binary data by the DTMF IC and given to the robot. The robot moves according to

the data provided by DTMF IC based on the frequency it had receive from the mobile phone.
The table below shows the binary data which is given as the output by the DTMF module
when a particular key on the mobile phone is pressed.

KEY PRESSED
1
2
3
4
5
6
7
8
9
0
#
*

8
0
0
0
0
0
0
0
1
1
1
1
1

D3

4
0
0
0
1
1
1
1
1
0
0
0
1

D2

2
0
1
1
0
0
1
1
O
0
1
1
O

D1

1
1
0
1
0
1
0
1
0
1
0
1
0

D0

9. SOUND CONTROLLED ROBOT

9.1 Description
This robot works on the basis of sound received by it. When anyone claps the robot will
move according to the number of claps it listens to.

9.2 Circuit diagram

9.3 Logic
The sound sensor consists of a microphone. The external sound we make is recognized
by this mic. Whenever we clap the data given is 1 and if not it is default 0. Based on the number
of claps generated in a given time, a two bit binary data is generated. These two bits are given
from the sound sensor to the pins IN1 and IN2. The robot moves around based on the data
generated on IN1 and IN2.

9.4 Configuration
The sound sensor should be connected to IN1 and IN2.

9.5 Working
This module consists of a microphone and an HCF4027be (flip flop IC).
The flip-flop IC is used as a counter circuit. There are 2 LEDs on the module. According to the
sequence of our clap the LEDs will glow.
According to the data displayed on the LED, the data is sent to the motor. The robot can
move forward, left, right and stop.
Also a switch has been provided on the sound sensor to simulate the clap manually
without actually clapping.
There are two potentiometers on the sound senor module. The potentiometer named sense
is used to adjust the sensitivity of the sound sensor.

10. FIRE FIGHTING ROBOT

10.1 Description
This robot will is very helpful in detecting the presence of fire which helps in avoiding
accidents. As soon as the robot detects fire, it stops and makes an alarm sound indicating the
presence of fire.

10.2 Connection Diagram

10.3 Logic
The sensor used here for making of this robot is the MPOS. Here the sensor is acting as a
fire sensor. It consists of an IR receiver. The fire (heat) always emits infrared radiation. These IR
rays can be received by this receiver and accordingly it can forward the data for the working of
robot. This sensor gives the data 0 whenever fire is detected and the buzzer is on and robot stops
moving. The data from the sensor is 1 when there is no fire and the buzzer is off and the robot is
moving forward.

10.4 Configuration
The MPOS acting as a fire sensor should be connected to BZ. And the data pin of IN1
and IN2 should be connected to BZOUT2.

10.5 Working
Whenever the sensor detects fire, it gives the data 0, which switches on the transistor Q8
which in turn will switch on the buzzer. When the buzzer is on, the data on BZOUT2 is 1 which
is given to IN1 and IN2. When the data on IN1 and IN2 is 1 the motors will stop moving.
Whenever there is no fire, the data from the sensor is 1, so the buzzer is switched off as
Q8 is off. When the buzzer is switched off, BZOUT2 is 0, so IN1 and IN2 which is connected to
BZOUT2 is also 0, this data 0 makes the robot move in the forward direction.

11. BOOMERANG ROBOT

11.1 Description
As the name itself suggests, boomerang. This robot comes back to the point from which it
started moving.

11.2 Connection diagram

11.3 Logic
There is a switch on the front end of the module. The robot is initially moving forward.
When it hits the wall, the switch is pressed and some sound is made. The MIC attached to it
detects and gives the data accordingly to the robot. The IC 555 present in the module works in
monostable mode. When it hears the sound, the trigger is given to the IC and the time for robot
to turn is set.

11.4 Configuration
The berg strip IN1 is connected is connected to the berg strip on the sound sensor. Also
one MPOS sensor has to be connected to IN2, which will act as a dummy sensor.

11.5 Working
When the board is switched on the robot moves in the forward direction because the data
on both IN1 and IN2 is 1, which is given by the sound sensor and dummy sensor respectively.
Whenever the robotic which is moving forward hits an obstacle a small sound is generated which
is absorbed by the sound sensor after which data 0 is given for particular time period to IN1
during which the robot will make the turn. The time period for which the data 0 is generated by
the sensor can be adjusted by the potentiometer named TIME. This time period decides the
angle of rotation of the robot. To get a boomerang robot, the potentiometer has to be adjusted in
such a way that the robot takes a turn of 180 only when it hits an obstacle.