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Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun

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ACCELEROMETER CONTROLLED ROBOT

SUBMITTED BY: Mr.Abhishek kuumar choudhary

Mr. Mohit keshav

Mr. Nitesh singh bisht

Mr. Rohit khanna

Mr. Siddique akbar

SUPERVISOR: Dr. ATUL SIDOLA

Via Prem Nagar P.O Bodholi

Dehradun -248007 Uttrakhand


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CERTIFICATE

This is to certify that,

Mr. Abhishek kumar choudhary

Mr. Mohit keshav

Mr. Nitesh singh bisht

Mr. siddique akbar

Mr. Rohit khanna

Students of UNIVERSITY OF PETROLEUM AND ENERGY STUDIES have done a

Project ACCELEROMETER CONTROLLED ROBOT under my guidance. This

work is done to my satisfy action under requirement of PRE FINAL YEAR PROJECT

for academic year 2012 -2013.


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ACKNOWLEDGEMENT

We have a great pleasure in presenting this project report on ACCELEROMETER

CONTROLLED ROBOT and to express our deep regard to towards those who have offered their valuable

time & guidance in my hour of need.

Firstly we express our sincere gratitude to Mentor, the guide of the project who carefully and

patiently leant his valuable time and effort to give directions as well as to correct various documents with

attention and care. It is a great honor to do this project in this esteemed institution, and we would extend

our thanks to Dr. ATUL SIDOLA, member of Mechanical Dept., who have shared their vast knowledge

and experience during our stay.

We do also like to appreciate the consideration of the Project Coordinator, our Faculties and

colleagues, which enabled us to balance our work along with this project. It was their attitude that inspired

us to do such an efficient and apposite work.

We wish to avail this opportunity to express a sense of gratitude and love to all our friends and our family

for their unwavering support, strength, help and in short for everything they have done during the crucial

times of the progress of our project.


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ABSTRACT

Now a day, Robots are controlled by remote or cell phone or keyboard etc. If we think about

cost and required hardwares all this things increases the complexity, especially for low level application.

Now the robot that we have designed is different from above one. It doesnt require any type of type

of complex keys or joysticks. It is a robot which is controlled by accelerometer, which drives itself according

to position of accelerometer. Hardware required is very small, and hence low cost and small in size.


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TABLE OF CONTENTS

Certificate..2

Acknowledgement...3

Abstract ..4

Table of Contents..6

Chapter-1: Introduction...8

Chapter-2: Literature Review..11

Chapter-3: Problem Definition28

Chapter-4: Model Construction and Solution..29

Chapter-5: Program used...30

Chapter-6: Applications.37

Chapter-6: Conclusions and Recommendations for future work39

References

Appendices

Appendix-A.41


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INTRODUCTION

We generally find people working in chemical industries under different hazardous condition. These

people suffer with many dangerous diseases like skin cancer, lungs problem and many more. So we finally

thought of designing a robot that can copy that instant action of human being under various conditions and

situations.

In market many types of robots are available that are controlled by remote or cell phone or keyboard

connection. But limitations of these robots are that they are much more complex and difficult for a new comer

to learn. More over their cost are high even for low application activities. So we decided to design a robot

that doesnt require any type of remote or joystick. It should be controlled by the accelerometer which will be

driving itself according to position of it. Hardware required is very small, and hence low cost and small in

size

This robot consists of mainly three parts. First is sensor, which works as vision of robot. We

have used accelerometer that act as sensor for our robot.

A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old

buttons. You just need to wear a small transmitting device in your hand which included an acceleration meter

This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting

device included a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use to

encode the four bit data and then it will transmit by an RF Transmitter module.

At the receiving end RF Receiver modules receives the encoded data and decode it by a decoder IC (HT12D)This data is then processed by a microcontroller (P89V51RD2) and finally our motor driver to control the

motors.

As user makes movements of his hand in front of it, it senses and according to that it sends the

signal for decision. Output from accelerometer is gathered for process by microcontroller.


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As per sensor output, the controller is made to work according to the program written inside it and it

sends the respective signal to third part which is motors. This is the last part which drives the wheel of our

Robot. It uses two dc motors to make movement. To drive them one motor driver is IC used which

provides sufficient current to motors. All this material is mounted on metal chassis. As we move our hand

to right robot will move to right side. Similar to this it will copy all our movements.


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LITERARURE REVIEW

1) Accelerometer ADXL335

Small,

Low Power,

3-Axis 3 g Accelerometer

What is an accelerometer?

An accelerometer is an electromechanical device that will measure acceleration forces. These forces

may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by

moving or vibrating the accelerometer.

What are accelerometers useful for?

By measuring the amount of static acceleration due to gravity, you can find out the angle the

device is tilted at with respect to the earth. By sensing the amount of dynamic acceleration, you can

analyze the way the device is moving. At first, measuring tilt and acceleration doesn't seem all that

exciting. However, engineers have come up with many ways to make really useful products with them.

An accelerometer can help your project understand its surroundings better. Is it driving uphill? Is it going

to fall over when it takes another step? Is it flying horizontally or is it dive bombing your professor? A

good programmer can write code to answer all of these questions using the data provided by an

accelerometer.


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How do accelerometers work?

There are many different ways to make an accelerometer! Some accelerometers use the piezoelectric

effect - they contain microscopic crystal structures that get stressed by accelerative forces, which cause a

voltage to be generated. Another way to do it is by sensing changes in capacitance. If you have two

microstructures next to each other, they have a certain capacitance between them. If an accelerative force

moves one of the structures, then the capacitance will change. Add some circuitry to convert from

capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of

the piezoresistive effect, hot air bubbles, and light

Types of Accelerometer

There are several different principles upon which an analog accelerometer can be built. Two very

common types utilize capacitive sensing and the piezoelectric effect to sense the displacement of the proof

mass proportional to the applied acceleration.

CapacitiveAccelerometers that implement capacitive sensing output a voltage dependent on the distance between

two planar surfaces. One or both of these plates are charged with an electrical current. Changing the gap

between the plates changes the electrical capacity of the system, which can be measured as a voltage output.

This method of sensing is known for its high accuracy and stability. Capacitive accelerometers are also less

prone to noise and variation with temperature, typically dissipates less power, and can have larger bandwidths

due to internal feedback circuitry. (Elwenspoek 1993)

Piezoelectric

Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force. When

certain types of crystal are compressed, charges of opposite polarity accumulate on opposite sides of the

crystal. This is known as the piezoelectric effect. In a piezoelectric accelerometer, charge accumulates on the

crystal and is translated and amplified into either an output current or voltage.


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Piezoelectric accelerometers only respond to AC phenomenon such as vibration or shock. They have a

wide dynamic range, but can be expensive depending on their quality (Doscher 2005)

Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or shock,

rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond to other

phenomenon such as temperature, sound, and pressure (Doscher 2005)

Other

There are many other types of accelerometer that are less important to musical applications,

including:

Piezoresistive

Thermal

Null-balance

Servo force balance

Strain gauge

Resonance

Magnetic induction

Optical

Surface acoustic wave (SAW)


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Specifications

A typical accelerometer has the following basic specifications:

Analog/digital

Number of axes

Output range (maximum swing)

Sensitivity (voltage output per g)

Bandwidth

Amplitude stability

The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at the

XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz to

1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.


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ADXL335

Figure -1 Accelerometer ADXL335

An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or

may be X,Y direction only depends on the type of the sensor. Here is a small image of an Accelerometer shown

We can see in the image that there are some arrows showing if we tilt these sensors in that direction then the

data at that corresponding pin will change in the analog form


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The Accelerometer having 6 pins-

1- VDD- We will give the +5volt to this pin

2- GND- We simply connects this pin to the ground for biasing.

3- X- On this pin we will receive the analog data for x direction movement. 4-

Y- On this pin we will receive the analog data for y direction movement. 5- Z-

On this pin we will receive the analog data for z direction movement.

6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.


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THEORY OF OPERATION

The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a

measurement range of 3 g minimum. It contains poly-silicon surface micro machined sensor and signal

conditioning circuitry to implement open-loop acceleration measurement architecture. The output signals

are analog Voltages that are proportional to acceleration.

The accelerometer can measure the static acceleration of gravity in tilt-sensing applications as

well as dynamic acceleration resulting from motion, shock, or vibration. The sensor is a poly-silicon

surface-micro machined structure built on top of a silicon wafer. Poly-silicon springs suspend the structure

over the surface of the wafer and provide a resistance against acceleration forces. Deflection of the structure

is measured using a differential capacitor that consists of independent fixed plates and plates attached to the

moving mass.

If you have two microstructures next to each other, they have a certain capacitance between them. If

an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to

convert from capacitance to voltage, and you will get an accelerometer. There are even more methods,

including use of the piezoresistive effect, hot air bubbles, and light.

The fixed plates are driven By 180 out-of-phase square waves. Acceleration deflects the moving mass

and unbalances the differential capacitor resulting in a sensor output whose amplitude is proportional to

acceleration. Phase-sensitive demodulation techniques are then used to determine the magnitude and direction

of the acceleration.


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FEATURES:

3 axis sensing small, low profile package

4mm x 4mm x 1.45mm LFCSP low power: 350uA (typical)

Single operation: 1.8v to 3.6v 10,000g shock survival

Excellent temperature stability BW adjustment with a single capacitor per axis

RoHS/WEEE lead-free complement

ACCELEROMETER ADXL 335

Figure -2 Pin dia. Of ADXL 335


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Pin Function Descriptions

Pin No. Mnemonic Description

1 NC No Connect.1

2 ST Self-Test.

3 COM Common.

4 NC No Connect.1

5 COM Common.

6 COM Common.

7 COM Common.

8 ZOUT Z Channel Output.

9 NC No Connect.1

10 YOUT Y Channel Output.

11 NC No Connect. 1

12 XOUT X Channel Output.

13 NC No Connect. 1

14 VS Supply Voltage (1.8 V to 3.6 V).

15 VS Supply Voltage (1.8 V to 3.6 V).

16 NC No Connect. 1

EP Exposed Pad Not internally connected. Solder for

Mechanical integrity.


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MICROCONTROLLER (ATMEGA 16)

Pin Diagram:

FIGURE -3 AVR AT mega16


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FEATURES

High-performance, Low-power Atmel AVR 8-bit Microcontroller

Advanced RISC Architecture

131 Powerful InstructionsMost Single-clock Cycle Execution

32 x 8 General Purpose Working Registers

Fully Static Operation

Up to 16 MIPS Throughput at 16 MHz

On-chip 2-cycle Multiplier

High Endurance Non-volatile Memory segments

16 Kbytes of In-System Self-programmable Flash program memory

512 Bytes EEPROM

1 Kbyte Internal SRAM

Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

Data retention: 20 years at 85C/100 years at 25C (1)

Optional Boot Code Section with Independent Lock Bits In-

System Programming by On-chip Boot Program

True Read-While-Write Operation

Programming Lock for Software Security

JTAG (IEEE std. 1149.1 Compliant) Interface

Boundary-scan Capabilities According to the JTAG Standard

Extensive On-chip Debug Support

Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface


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Peripheral Features

Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode

Real Time Counter with Separate Oscillator

Four PWM Channels

8-channel, 10-bit ADC

8 Single-ended Channels

7 Differential Channels in TQFP Package Only

2 Differential Channels with Programmable Gain at 1x, 10 xs, or 200 xs

Byte-oriented Two-wire Serial Interface

Programmable Serial USART

Master/Slave SPI Serial Interface

Programmable Watchdog Timer with Separate On-chip Oscillator

On-chip Analog Comparator

Special Microcontroller Features

Power-on Reset and Programmable Brown-out Detection

Internal Calibrated RC Oscillator

External and Internal Interrupt Sources

Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and

Extended Standby


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I/O and Packages

32 Programmable I/O Lines

40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF

Operating Voltages

2.7V - 5.5V for ATmega16L

4.5V - 5.5V for ATmega16

Speed Grades

0 - 8 MHz for ATmega16L

0 - 16 MHz for ATmega16

Power Consumption @ 1 MHz, 3V, and 25C for ATmega16L

Active: 1.1 mA

Idle Mode: 0.35 mA

Power-down Mode: < 1 A


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2x16 LCD DISPLAY

Figure4 A typical LCD

FEATURES:

61 x 15.8 mm viewing area

5 x 7 dot matrix format for 2.96 x 5.56 mm character, plus cursor line

can display 224 different symbols

Low power consumption (1 mA typical)

Powerful command set and user produced characters

TTL and CMOS compiler

Connector for standard 0.1-pitch pin headers 5 x

8 dots with cursor

Built-in controller (KS 0066 or Equivalent)


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Description

This is an LCD Display designed for E-blocks. It is a 16 character, 2-line alphanumeric LCD

Display Connected to a single 9-way D-type connector. This allows the device to be connected to most E-Block

I/O ports. The LCD display requires data in a serial format, which is detailed in the user guide below. The

display also requires a 5V power supply. Please take care not to exceed 5V, as this will cause damage to the

device. The 5V is best generated from the E-blocks Multiprogrammer or a 5V fixed regulated power supply.

The potentiometer RV1 is a contrast control that should be used to adjust the contrast of the display for the

environment it is being used in.


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MOTOR DRIVER IC L293D

L293D

MOTOR

DRIVER IC

FIGURE5 Motor Driver L293D


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FEATURES

-Output current 1A per channel (600 mA for L293D).

-Peak output current 2A per channel ( 1.2A for L293D).

-Inhibit facility.

-High noise immunity.

-Separate logic supply.

-Over temperature protection

DESCRIPTION:

L293D is a dual HBridge motor driver, so with one IC we can interface two DC motors which can be

controlled in both clockwise and counter clockwise direction and if you have motor with fix direction of

motion. You can make use of all the four I/Os to connect up to four DC motors. L293D has output current of

600mA and peak output current of 1.2A per channel. Moreover for protection of circuit from back EMF output

diodes are included within the IC. The output supply (VCC2) has a wide range from 4.5V to 36V, which has

made L293D a best choice for DC motor driver.

Each channel is controlled by a TTL compatible logic input and each pair of driver is equipped with an

inhibit input which turns off all four transistor. A separate supply voltage is provided for logic so that it

may be run off a lower voltage to reduce dissipation. Additionally the L293D includes the output

clamping diodes within the IC for complete interfacing with inductive loads.


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Battery

We use 9 volt 3 amp battery

A battery is a device that converts stored chemical energy to electrical energy. Batteries are

commonly used as energy sources in many household and industrial applications.

There are two types of batteries: primary batteries (disposable batteries), which are designed to be used

once and discarded, and secondary batteries (rechargeable batteries), which are designed to be recharged and

used multiple times. Batteries come in many sizes, from miniature cells used in hearing aids and wristwatches

to room-size battery banks that serve as backup power supplies in telephone exchanges and computer data

centers.


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SOFTWARE

SOFTWARE USED:

1)

AVR STUDIO

It is most commonly used compiler software. It allows to do programming in c and compiling as well. It

supports the all AVR families

Figure6 AVR studio 4


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2)

PROTEUS

Proteus is simulation software used for various electronic circuit. It contain large library of

electronic component. We have designed of circuit using this library. We have simulated our circuit in

proteus. We use hex file created by AVR studio for simulation. And finally we got our result .

Figure6 Proteus


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PROBLEM DEFINITIONS

Problem1)

SUPPLY VOLTAGE

We did the direct connection with IC 7805.

Problem2)

CALIBRATION OF ACCELEROMETER

Problem3)

DISPLAY WITH LCD

By changing the pins, we solve the problem.


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WORKING MODEL

Figure -7 working model (complete)


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PROGRAM

#define F_CPU 1000000UL

#include

#include

#define RS PD2

#define RW PD3

#define EN PD5

#define DATA PORTB

void lcd_init();

void lcd_cmd(char);

void lcd_data(char);

void digicount(unsigned int);

void adc_init();

int adc_read(unsigned char);

void lcd_string(char *str);

int main()

{

DDRA=0x00;

DDRB=0xF0;

DDRD=0xFF;

DDRC=0xFF;

int x,y,z;

lcd_init();

adc_init();

lcd_cmd(0x01);


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lcd_string("MINOR PROJECT");

_delay_ms(500);

lcd_cmd(0x01);

lcd_string("MECHATRONICS");

_delay_ms(500);

while(1)

{

//// value of x

PORTA=0b00000010; //A06

x =adc_read(1);

_delay_ms(100);

PORTA=0b00000100; //A05

y =adc_read(2);

_delay_ms(100);

PORTA=0b00001000; //A05

z =adc_read(3);

_delay_ms(100);

if ((x>380)&&(x380)&&(y430)&&(z


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if ((x>430)&&(x375)&&(y390)&&(z310)&&(x370)&&(y375)&&(z380)&&(x445)&&(y385)&&(z360)&&(x310)&&(y350)&&(z


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lcd_data(str[i]); //for 8 bit mode

i++ ;

}

}

void digicount(unsigned int x)

{

lcd_cmd(0x04);

unsigned int i;

while(x!=0)

{

i=x%10;

lcd_data(i+48);

x=x/10;

}

lcd_cmd(0x06);

}

void adc_init()

{

ADMUX=(1


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while(!(ADCSRA&(1


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_delay_ms(1);

PORTD&=~(1


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APPLICATIONS

1.

We generally find people working in chemical industries under different hazardous

condition. These people suffer with many dangerous diseases like skin cancer, lungs

problem and many more. So we finally thought of designing a robot that can copy that

instant action of human being under various conditions and situations. So in that place of

industry it can be used.

2. Most of the computer games are now using motion detecting remote technology.

3. It is also used in mine


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FUTURE SCOPE

In future we can design a wireless robot which can sense hand gesture by using wireless

technologies.

It can be used in military applications as a robotic vehicle which can be handled by a soldier to avoid

casualties.

Our system has shown the possibility that interaction with machines through gestures is a feasible task and the

set of detected gestures could be enhanced to more commands by implementing a more complex model of a

advanced vehicle for not only in limited space while also in broader area as in the roads too .

In the future, service robot executing many different tasks from private movement to a fully-fledgedadvanced automotive that can make disabled to able in all sense.


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Conclusion

In our project we have added special features by which our robot can overcome so many problems in

industry. If it is further developed then it can be used for military application.

An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction

or may be X,Y direction only depends on the type of the sensor. Here is a small image of an Accelerometer

shown. We can see in the image that there are some arrow showing if we tilt these sensor's in that direction then

the data at that corresponding pin will change in the analog form.

An Accelerometer Controlled robot is a kind of robot which can be controlled by your handgestures not by old buttons. You just need to wear a small transmitting device in your hand which included

an acceleration meter. This will transmit an appropriate command to the robot so that it can do whatever we

want. The transmitting device included a comparator IC for analog to digital conversion and an encoder

which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the

receiving end an RF Receiver module receives the encoded data and decode it by an decoder.


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REFERENCES

www.atmel.com

www.alldatasheet.com

www.wikipedia.com

www.google.com

ieeexplore.ieee.org


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APPENDIX - A

Component list:

Sr. no. Name of component Prize(Rs)

1 Microcontroller (ATMEGA16) 220

8- bit

2 Motor driver (L293D) 75

3 Accelerometer (ADXL335) 1800

4 Dc motor (9V, 150rpm) 500

5 2x16 ALPHANUMERIC LCD 115

DISPLAY

6 Crystal 15

7 Resistor (10k, 1k) 1

8 Capacitor (0.1uf, 10uf) 1

Total 2727.00

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