How To Make Your Own Robot Controlled With C#, Followed By A WebCam.

How To Make Your Own Robot Controlled With C#, Followed By A WebCam. 

Hello my dears followers, Like it is mentionned in the article title. Today i m going to demonstrate how we could make an intelligent robot, Controlled by your own C# application made in Visual Studio 2012, Followed by a WebCam.

To Make a full project like this one you have many choices to choose. 

The Hard part of this project is done using an Atmega 328p like a principal MCU. You could use any other MCU, For exemple A PIC like PIC16F877 is able also to replace the Atmega328p.

We know that the principal MCU based on the Arduino UNO is ATmega328 so You Could also use Arduino to get the robot working.

ATmega 328p pins 

   

Those Kind of project based essentially an serial communication. so you have just to use a MCU able to support UART.

There is a step in my project based in PWM so the MCU used have to support PWM also.

And for those how dont know what that means UART and PWM they have just to take a look here:

Pulse With Modulation

UART

I choosed directly the ATmega 328p because this one is easier in programming and cheap in price. 

ATmega 328p

The robot move in 4 directions using a 4 simple DC motors, and those motors are controlled by 2 L293D.
The camera is just placed in the first servomotor. and this one is place in other one to get sure that the position where the camera is putted could  cover every point. 

Placing the WebCam

I showed in this article programming ATmega like an Arduino how to program an ATmega32p like programming a simple arduino. this solution is used today also and this is the full program placed in the MCU memory to make the robot moving.

/*  Control and follow your robot using c# application and webcam 
 *  Project done by : Aymen Lachkhem
 *  Aymenlachkem@gmail.com
 *  Blog site : letselectronic.blogspot.com
 */
#include <Servo.h>
Servo myservo1;
Servo myservo2;
void setup() {
         pinMode(A0, OUTPUT);
         pinMode(A1, OUTPUT);
         pinMode(A3, OUTPUT);
         pinMode(A4, OUTPUT);
         pinMode(2, OUTPUT);
         pinMode(3, OUTPUT);
         pinMode(4, OUTPUT);
         pinMode(5, OUTPUT);
         pinMode(6, OUTPUT);
         pinMode(7, OUTPUT);         
         pinMode(11, OUTPUT);
         pinMode(12, OUTPUT);
         digitalWrite(A0,LOW);
         digitalWrite(A1,LOW);
         digitalWrite(A3,LOW);
         digitalWrite(A4,LOW);
         digitalWrite(2,LOW);
         digitalWrite(3,LOW);
         digitalWrite(4,LOW);
         digitalWrite(5,LOW);
         digitalWrite(6,LOW);
         digitalWrite(7,LOW);
         digitalWrite(11,LOW);
         digitalWrite(12,LOW);
           myservo1.attach(9);
           myservo2.attach(10);
            int i1 = 0;
            int i2 = 90;
         myservo1.write(i1);
         myservo2.write(i2);
}

void loop() {       
  blinker();
  Serial.begin(9600);  
   if (Serial.available() > 0) {
    char a = Serial.read();
if ( a == '1'){robot_left(); }  
if ( a == '2'){robot_up();}
if ( a == '3'){robot_right();}
if ( a == '4'){robot_down();}
if ( a == '5'){camera2_down();}
if ( a == '6'){camera1_up();}
if ( a == '7'){camera2_up();}
if ( a == '8'){camera1_down();}
}}
void blinker()
{ 
  digitalWrite(A3,HIGH);
  digitalWrite(A4,LOW);
  delay(100);
  digitalWrite(A3,LOW);
  digitalWrite(A4,HIGH);
  delay(100);
}  
void robot_left()
{
  digitalWrite(A1,HIGH);
  digitalWrite(A0,LOW);
  digitalWrite(2,HIGH);
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,HIGH);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);
}
void robot_up()
{
  digitalWrite(A1,HIGH);
  digitalWrite(A0,LOW);
  digitalWrite(2,HIGH);
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);
  digitalWrite(5,LOW);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);  
}  
void robot_right()
{
  digitalWrite(A0,HIGH);
  digitalWrite(A1,LOW);
  digitalWrite(3,HIGH);
  digitalWrite(2,LOW);
  digitalWrite(4,HIGH);
  digitalWrite(5,LOW);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);  
}
void robot_down()
{
  digitalWrite(A0,HIGH);
  digitalWrite(A1,LOW);
  digitalWrite(3,HIGH);
  digitalWrite(2,LOW);
  digitalWrite(5,HIGH);
  digitalWrite(4,LOW);
  digitalWrite(7,HIGH);
  digitalWrite(6,LOW);  
}

void camera2_down()
{
  int i3 = myservo2.read();
  myservo2.write(i3 - 1);
}
void camera2_up()
{
  int i4 = myservo2.read();
  myservo2.write(i4 + 1);
}
void camera1_down()
{
  int i5 = myservo1.read();
  myservo1.write(i5 - 1);
}
void camera1_up()
{
  int i6 = myservo1.read();
  myservo1.write(i6 + 1);
}

   

This is The Complet Circuit that you have to draw.

Full Circuit

The Hard part of the project is just done so let's talk about the soft part.

We have here to build an Application based in serial communication able to connect directly the robot.

There is many solution to do this, for exemple Labview is one of the best interfacing system also Visual Basic or C#.

I  used C# to do this. A simple application in one only panel with a serial communication platform.

Many Buttons to control the robot and the camera.

How The Application Work ?

This is simple, We have just to add a serial platform to the app. This one will always ask for the port com and the baud rate. Since the moment your choose your serial parametres the fonctionnemnet of buttons starts. 

Every button you will click will send a code to the MCU and exactly like this that's working.

How the WebCam Works ?

In fact, there is a direct library you have to add to your visual studio named AFroge.net Direct Download. After adding this one to your visual studio you have to add this two reference to your project.

The rest is easy, you have just to give the application the permission to look for webcam devices plug in your computer, starts showing what she see, Capture button to save directly the view.

This is the full program written with C# in Visual Studio 2012.

/* Robot controlled by C# , Follewed by a Webcam
Letselectronic.blogspot.com
aymenlachkem@gmail.com
*/
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using AForge.Video.DirectShow;
using System.IO.Ports;
using System.Diagnostics;


namespace Camera_Project_Lachkhem
{
    public partial class Form1 : Form
    {
        VideoCaptureDevice capture;

        public Form1()
        {
            InitializeComponent();
            getAvailablePorts();


            FilterInfoCollection info = new FilterInfoCollection(FilterCategory.VideoInputDevice);
            if (info != null)
            {
                capture = new VideoCaptureDevice(info[0].MonikerString);
                capture.NewFrame += (s, e) => pictureBox1.Image = (Bitmap)e.Frame.Clone();
                capture.Start();
            }
        }
        void getAvailablePorts()
        {
            string[] Ports = SerialPort.GetPortNames();
            portcom.Items.AddRange(Ports);
        }
        private void button1_Click(object sender, EventArgs e)
        {
            pictureBox1.Image.Save("snapchot.png", System.Drawing.Imaging.ImageFormat.Png);
        }
        protected override void OnClosed(EventArgs e)
        {
            base.OnClosed(e);
            if (capture != null && capture.IsRunning)
            {
                capture.SignalToStop();
                capture = null;

            }

        }

        private void button2_Click(object sender, EventArgs e)
        {
            Close();
        }

        private void dateTimePicker1_ValueChanged(object sender, EventArgs e)
        {

        }

        private void label5_Click(object sender, EventArgs e)
        {

        }

        private void connecter_Click(object sender, EventArgs e)
        {
            {
                try
                {
                    if (portcom.Text == "" || baudrate.Text == "")
                    {
                        textbox1.Text = "Please select port setting ? ";
                    }
                    else
                    {

                        serialPort1.PortName = portcom.Text;
                        serialPort1.BaudRate = Convert.ToInt32(baudrate.Text);
                        progressBar1.Value = 100;
                        textbox1.Text = "Connected";


                    }
                }
                catch (UnauthorizedAccessException)
                {
                    baudrate.Text = "Unauthorized Access";
                }
            }
        }

        private void button3_Click(object sender, EventArgs e)
        {
            serialPort1.Close();
            progressBar1.Value = 0;
        }

        private void Contact_Me_Click(object sender, EventArgs e)
        {
            ProcessStartInfo startInfo = new ProcessStartInfo("iexplore.exe", "http://https://letselectronic.blogspot.com/p/blog-page.html/");
            Process.Start(startInfo);
        }

        private void Visit_My_Blog_Click(object sender, EventArgs e)
        {
            ProcessStartInfo startInfo = new ProcessStartInfo("iexplore.exe", "http://https://letselectronic.blogspot.com/p/blog-page.html/");
            Process.Start(startInfo);
        }

        private void button12_Click(object sender, EventArgs e)
        {
            var myLines = new List<string>();

            myLines.Add("Hello, This Windows application give their Users the ability to control serially or with wirless communication a Robot Followed By a WebCam.");
            myLines.Add("- The MCU used is The high-performance Atmel 8-bit AVR RISC-based microcontroller ATmega 328 ");
            myLines.Add("- The Control Application was made in Visual Studio 2012, written using C# ");
            

            myLines.Add("----------------------------------------- Blog: Letselectronic.blogspot.com ----------------------------------------------------------------------");
            myLines.Add("----------------------------------------- Contact: Aymenlachkem@gmail.com ------------------------------------------------------------------");

            textBox2.Lines = myLines.ToArray();
        }

        private void button7_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("1");
            serialPort1.Close();
        }

        private void button5_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("2");
            serialPort1.Close();
        }

        private void button8_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("3");
            serialPort1.Close();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("4");
            serialPort1.Close();
        }

        private void button11_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("6");
            serialPort1.Close();
        }

        private void button4_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("5");
            serialPort1.Close();
        }

        private void button9_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("7");
            serialPort1.Close();
        }

        private void button10_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("8");
            serialPort1.Close();
        }

        private void turn_on_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("9");
            serialPort1.Close();
        }

        private void turn_off_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("a");
            serialPort1.Close();
        }
    }
}

Built your application, Get your file.exe and the Setup. Like always this is a video for more details.

I have all files of this project collected in compressed directory so just contact me to have your free files.



                                                                 See you Soon AYMEN LACHKHEM

   

Interfacing Old Mobile Phone (Siemens,Nokia,Sony Ericsson) With Pic Or Arduino. (Cheapest GSM Project)

Interfacing Old Mobile Phone With Pic Or Arduino. (Cheapest GSM Project).

 Hi my dears followers, Like it is mentionned in the article title. Today i m trying to demonstrate how we could make a GSM project using any type of MCU Connected to an Old mobile phone. 

MCU Interfacing

The idea was not the same used usually, In Fact i m not going to use a GSM Module like SIM900. 

GSM usually used module

The idea is since there is many old mobile phone (cheap phone) why not to hack their GSM Circuit to used an our project.

To make this real idea I collect a lot of old mobile phone

You dont have to collect many mobile phone like i did. To make your project. Just look for one, google it and collect any information could help you.

Information like: 

• Which Communication Protocol is using
• Current and Voltage Adaptation
• Is there a naked TX/RX like in Nokia 1100

  

  Nokia 1100

  
  
• F-Bus, M-Bus, Both, None ???
• Sms Text,PDU ??

This project idea was given to me by a friend of mine, he explain me that was very nice to have an GSM based Control project without using a module but by using a simple old phone like this one (Nokia 1100).
 I remember that I saw this guy trying to connect Tx Rx pins of  Nokia 1100 to Tx  Rx pins of a simple PIC (16F877). In this moment I noticed thats there is a mistake because the voltage in both side is different.
I thought thats the only problem is here, and I start thinking why to pay 50 € for a GSM module when we could use a simple old mobile phone.

In fact mobile phones are different from one to other.

• Nokia Family 

Most of Nokia Mobile phone and here i m talking about Nokia 3310, Nokia 1100,... used F-Bus and M-Bus protocol in their GSM network circuit.
Most Nokia phones have F-Bus and M-Bus connections that can be used to connect a phone to a PC or in our case a microcontroller. The connection can be used for controlling just about all functions of the phone, as well as uploading new firmware etc. This bus will allow us to send and receive SMS messages.
M-Bus is a one pin bi-directional bus for both transmitting and receiving data from the phone. It is slow (9600bps) and only half-duplex. Only two pins on the phone are used. One ground and one data. M-Bus runs at 9600bps, 8 data bits, odd parity, one stop bit. The data terminal ready (DTR) pin must be cleared with the request to send (RTS). This powers the electronics in the cable and I think it sets it for M-Bus operation.
F-Bus is the later high-speed full-duplex bus. It uses one pin for transmitting data and one pin for receiving data plus the ground pin. Very much like a standard serial port. It is fast 115,200bps, 8 data bits, no parity, one stop bit. For F-Bus the data terminal ready (DTR) pin must be set and the request to send (RTS) pin cleared.
F-Bus is not the same protocol usually used in GSM module so to use it you have to make your own F-bus Cable converter.

F-Bus Converter

Personally I found a bit of Difficulty using this one specially when i found in the net that there is other phone like Siemens or Sony Ericsson could simply support AT command.

• Siemens Family 

Siemens Have many old phone, I remember C25, S45, S45i who could easly support AT command so we have just to know how to connect those phone to a MCU.
The solution was easy, you have just to take a look to the connector of those phone.

  

  

All what you have to do is to use their charging cable.

1.  > Vbatt - Power Charging (used for charging).
2.  > Gnd - GND  (main ground).
3.  > Tx   connected to MCU RX (using a resistor to limit current ).
4.  > Rx  connected to MCU TX (using a voltage devider from 5v to ~2,75v).
5.  > CTS  need to be connected to ground in order to work
6.  > RTS 
7.  > DCD 
8.  > Audio P - AUDIO L 
9.  > AUDIO - GND 
10.  > Audio N - AUDIO R 
11.  > GND Mic 
12.  > EPP EPP 1 (EXT MIC.) 

Noting is easier than this :)
So to connect this mobile phone to an Arduino or a PIC all what you have to do is to follow this. The resistors using is to adept current and voltage between the phone and the MCU.

Arduino interfacing

Pic Interfacing

 Now let's speak about program after connecting the phone to the MCU.

1. We send serially AT, We received OK . Fine thats Work :D
2. To check SMS format we send AT+CMGF=0 , We received OK  . Fine this phone support PDU Format message.
3. We send AT+CMGF=1 and we received error :/ here is the problem . the phone cant support text message format.

There is no problem if we convert our text message to PDU format before send it or convert received text from PDU format to TEXT.
Here i give you two link, the first is to convert PDU to Text and the second is the inverse.
First One
Second One

Lets Code...

void createSMS(){

  phone.println("AT+CMGS=66");

  delay(2000);

  phone.print("07911256536621F801000B911296683049F300043554686973206973206D652069206D2061796D656E206C6163686B68656D2C2057656C636F6D6520696E206D7920626C6F6773697465");

  phone.write(0x1A); // Ctrl+Z

  phone.write(0x0D); //CR

  phone.write(0x0A); //LF

}

...and it works ! ...an SMS with "This is me i m aymen lachkhem, Welcome in my blogsite" on it was send by calling the createSMS() function. 

And Thats it ;) 

                                                   See you soon : Aymenlachkem@gmail.com

Robotic Arm Based on ATMEGA MCU, Controlled By Windows C# Application

Hello , Today I m changing my publishing language from French to English for many reasons, one of them the countries where the followers come from and the first language that is used over there.

For those who want their french versions they have just to ask me Contact Me.
So let's Begin.

The Complet Project

Like it is mentionned in the title of this post, I m going to make a Soft/Hard parts to have finally our Robotic Arm working.

This robotic arm is controlled with :

• Soft : Windows Form Application made with C# in Visual Studio 2012.
• Atmega 328 like a principale MCU.

The Soft Part was done in Visual Studio 2012, In fact it is a little bit complicated for a beginner programmer because it include many parts.

• More than one only frame

• Password/Login Interface

• User/Super User interface

• Data Base

More Than One Frame:Because the complexity of the work and also because there is a possibility to add a camera interface, I chose to implement my work in more than one frame.
Password/Login InterfaceThis one will give the possibility to only registred users to control the robotic arm.
User/Super user interfaceThe super user is like a master because he have the right to modify or delete or even add a normal user.
Data Basewe want to print and save the position of the robotic arm every 60 secondes in an array composed from 4 collumns (User,Time,Date and Position).

Now the Hard side of this project is how MCU like ATmega 328 is able to control many servo motors in the same time.

We have to know exactly how a MCU could control one servomotor and for this:

I recommend to read this post click me.

How servos work

How the Soft/Hard Parts will communicate with each others ? 

The answer is UART (universal Asynchrone Receiver Transmitter) and for those how dont know it yet, just take a look here Click Me.

Our goal is not to control only one but 4,5,6 or even more in the same moment. and that's need a few things to understand like how to manage the energy and how program will be like. 

Let's imagine thats we have a tram including some data who will be sent from the soft side of the project and readable in the MCU. 

Here the MCU will react with every data one by one, converting every one to an information or order to the servo-motors.

Serial Communication

Why we chose Atmega 328 ? 

• ATmega 328 is cheaper than Arduino

• Programming ATmega is easier than PIC or 8051 or one other MCU.

How Programming ATmega is easier ?
We are all agree that's programming Arduino is the easier one so let's take advantage from Arduino here.
If you read this:Arduino .
Arduino Uno for exemple is a platform who contains like a principal MCU ATmega 328. so you have just to follow those steps:

• Take out this ATmega 328

ATmega 328

• Replaced by the one that's we are going to used in your project 

• Type your program like you are programming Arduino

• Take it back 

You have just to remember every I/O in Arduino uno is connected to wich one in ATmega328.

For that Take a look here 

Arduino/ATmega328 Connection Pin

After Programming our MCU, we have to add some electronics composants to make it work like (Capacitor,Quartz, TTL/Serial Converter,....).
Serial/TTL Converter is the circuit able to make data passed from MCU readable in the computer. The same comportement in the other direction.
 

TTL/Serial Converter

This is The complet Circuit that's you have to do:

ROBOTIC ARM BY AYMEN LACHKHEM

And The Program that we will place it ine the MCU's Mmemory is:

/* Robotic Arm Controlled by C# Windows Application
 *  Contact Me : Aymenlachkem@gmail.com */

#include <Servo.h> 

Servo Servo1, Servo2, Servo3;
String readString, firstString, secondString, thirdString;
int Goal1, Goal2, Goal3;

void setup() {
  Serial.begin(9600);
  Servo1.attach(9); 
  Servo2.attach(10);
  Servo3.attach(11);  
}
void loop() {

boolean Done = false ;
while (Serial.available()) {
delay(1);  
if (Serial.available() >0) {
      char c = Serial.read();
      readString += c;
    } }
  
  if (readString.length() == 1){ONE_BUTTON_CONTROL();}
  if (Serial.read() == '9'){if (Done){Serial.write("Done"); }}  

  if (readString.length() == 9) {Command_Control();}
 }
void ONE_BUTTON_CONTROL(){
  if (Serial.read() == '7'){
    Servo1.write(90);
    Servo2.write(90);
    Servo3.write(90);
    delay(1000);}
  if (Serial.read() == '8'){
    Servo1.write(0);
    Servo2.write(0);
    Servo3.write(0);
    delay(1000);}
  if (Serial.read() == '1')
  {
    Servo1.write(Servo1.read()+1);
  }
  if (Serial.read() == '2')
  {
    Servo1.write(Servo1.read()-1);
  }
  if (Serial.read() == '3')
  {
    Servo1.write(Servo2.read()+1);
  }
  if (Serial.read() == '4')
  {
    Servo1.write(Servo2.read()-1);
  }
  if (Serial.read() == '5')
  {
    Servo1.write(Servo3.read()+1);
  }
  if (Serial.read() == '6')
  {
    Servo1.write(Servo3.read()-1);
  }    
}
void Command_Control(){
  {
    firstString = readString.substring(0, 3); 
    secondString = readString.substring(3, 6);
    thirdString = readString.substring(6, 9);
    char carray1[5];  
    firstString.toCharArray(carray1, sizeof(carray1));
    Goal1 = atoi(carray1); 
    char carray2[5];
    secondString.toCharArray(carray2, sizeof(carray2));
    Goal2 = atoi(carray2); 
    char carray3[5];
    thirdString.toCharArray(carray3, sizeof(carray3));
    Goal3= atoi(carray3); 
  
    boolean  Done = ((Servo1.read() == Goal1) && (Servo2.read() == Goal2) && (Servo3.read() == Goal3));

    while (!Done) {
      int position1 = Servo1.read();
      int position2 = Servo2.read();
      int position3 = Servo3.read();

      if (position1 < Goal1){
        Servo1.write(position1 + 1);       
      }
      if (position1 > Goal1){
        Servo1.write(position1 - 1);       
      }

      if (position2 < Goal2){
        Servo2.write(position2 + 1);       
      }
      if (position2 > Goal2){
        Servo2.write(position2 - 1);       
      }

      if (position3 < Goal3){
        Servo3.write(position3 + 1);       
      }
      if (position3 > Goal3){
        Servo3.write(position3 - 1);       
      }
      delay(20);
    }}}  

Let's Talk about Soft part of This project :

A windows Application written with C# inside VisualStudio 2012 who have acces to every port Com in the computer will detect our Circuit Com and control the robotic arm  through him

To Make a C# project like i mentionned before there is two part of work to do (Design/Program).
I m working an a new playlist youtube video tutoriel about C# electronic oriented. As soon as possible i will publish it here.

And here is the robotic Arm Application frame by frame:

Frame 1

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Diagnostics;
namespace Robotic_Arm_By_Aymen_Lachkhem
{
    public partial class Robotic_Arm_By_Aymen_Lachkhem : Form
    {
        public Robotic_Arm_By_Aymen_Lachkhem()
        {
            InitializeComponent();
            textBox5.PasswordChar = '*';

        }

        private void Form1_Load(object sender, EventArgs e)
        {

        }

        private void dateTimePicker1_ValueChanged(object sender, EventArgs e)
        {

        }

        private void button4_Click(object sender, EventArgs e)
        {
            ProcessStartInfo startInfo = new ProcessStartInfo("iexplore.exe", "http://https://letselectronic.blogspot.com/p/blog-page.html/");
            Process.Start(startInfo); 
        }

        private void button2_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void button3_Click(object sender, EventArgs e)
        {
            MessageBox.Show("In Construction");

        }

        private void button6_Click(object sender, EventArgs e)
        {
            MessageBox.Show("In Construction");

        }

        private void button2_Click_1(object sender, EventArgs e)
        {
            var myLines = new List<string>();

            myLines.Add("Hello, This Windows application give their Users the ability to control serially or with wirless communication a 3 axes robotic arm.");
            myLines.Add("- The MCU used is The high-performance Atmel 8-bit AVR RISC-based microcontroller ATmega 328 ");
            myLines.Add("- The Control Application was made in Visual Studio 2012, written using C# ");
            myLines.Add(" ");

                myLines.Add("----------------------------------------- Blog: Letselectronic.blogspot.com -------------------------------------------------------------------------------");
                myLines.Add("----------------------------------------- Contact: Aymenlachkem@gmail.com --------------------------------------------------------------------------");
                myLines.Add("----------------------------------------- Youtube Channel: Youtube.com/c/AymenLachkem ---------------------------------------------------");

               textBox1.Lines = myLines.ToArray();
        }

        private void Visit_My_Blog_Click(object sender, EventArgs e)
        {
            ProcessStartInfo startInfo = new ProcessStartInfo("iexplore.exe", "http://www.letselectronic.blogspot.com/");
            Process.Start(startInfo); 

        }

        private void button1_Click(object sender, EventArgs e)
        {
            Add_user frm = new Add_user();
            frm.Show();
        }

        private void Get_The_Code_Click(object sender, EventArgs e)
        {
            MessageBox.Show("Just Contact Me :)");

        }

        private void Login_Click(object sender, EventArgs e)
        {
            string super_user = "aymen_lachkhem";
            string super_pass = "engineer";

            if ((textBox4.Text == super_user || textBox4.Text == Add_user.user) && (textBox5.Text == super_pass || textBox5.Text == Add_user.pass))
            {

                Main frm = new Main();
                frm.Show();
                MessageBox.Show("Welcome");
            }
            else
            {
                MessageBox.Show("Check Again Please");
            }
        }
    }
}

Frame 2

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Robotic_Arm_By_Aymen_Lachkhem
{
    public partial class Add_user : Form
    {
        public static string user = "0000";
        public static string pass = "0000";


        public Add_user()
        {
            InitializeComponent();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            this.Hide();
        }

        private void Exit_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void Register_Click(object sender, EventArgs e)
        {
            if (textBox4.Text == "" || textBox5.Text == "" || textBox6.Text == "")
            {
                MessageBox.Show("Please provide User Name and Password");
                return;
            }

            else
            {


                if (textBox5.Text == textBox6.Text)
                {
                  
                    
                    user = textBox4.Text;
                    Robotic_Arm_By_Aymen_Lachkhem frm = new Robotic_Arm_By_Aymen_Lachkhem();
                    pass = textBox5.Text;
                    Robotic_Arm_By_Aymen_Lachkhem frm1 = new Robotic_Arm_By_Aymen_Lachkhem();
                    MessageBox.Show("Welcome");
                }
                else
                {
                    MessageBox.Show("Differents Passwords");
                }

            }

        }
    }
}        

Frame3

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO.Ports;


namespace Robotic_Arm_By_Aymen_Lachkhem
{
    public partial class Main : Form
    {
        public Main()
        {
            InitializeComponent();
            getAvailablePorts();
        }
        void getAvailablePorts()
        {
            string[] Ports = SerialPort.GetPortNames();
            portcom.Items.AddRange(Ports);
        }
        private void label1_Click(object sender, EventArgs e)
        {

        }

        private void connecter_Click(object sender, EventArgs e)
        {
            try 
            {
                if (portcom.Text == "" || baudrate.Text == "")
                {
                    textbox1.Text = "Please select port setting ? ";
                }
                else
                {

                    serialPort1.PortName = portcom.Text;
                    serialPort1.BaudRate = Convert.ToInt32(baudrate.Text);
                    progressBar1.Value = 100;
                

                }
            }   
            catch (UnauthorizedAccessException)
            {
                baudrate.Text = "Unauthorized Access";
            }
        }

        private void button2_Click(object sender, EventArgs e)
        {
            serialPort1.Close();
            progressBar1.Value = 0;

        }

        private void button1_Click(object sender, EventArgs e)
        {
            this.Close();

        }

        private void annuler_Click(object sender, EventArgs e)
        {
            this.Hide();
        }

        private void button4_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("6");
            serialPort1.Close();
        }

        private void button3_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("5");
            serialPort1.Close();
        }

        private void button5_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("3");
            serialPort1.Close();
        }

        private void turn_on_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("7");
            serialPort1.Close();
        }

        private void turn_off_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("8");
            serialPort1.Close(); serialPort1.Close();
        }

        private void button10_Click(object sender, EventArgs e)
        {
            textBox3.Clear();

            serialPort1.Open();
            serialPort1.Write("9");
            string retour = serialPort1.ReadLine();
            textBox3.Text += retour + "\n";
            serialPort1.Close();
        }

        private void button8_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("1");
            serialPort1.Close();
        }

        private void button7_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("2");
            serialPort1.Close();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write("4");
            serialPort1.Close();
        }

        private void button9_Click(object sender, EventArgs e)
        {
            serialPort1.Open();
            serialPort1.Write(textBox2.Text);
            serialPort1.Close();
            textBox2.Clear();
        }     
    }
}
     

Built your application, Get your file.exe and the Setup. Like always this is a video for more details.

I have all files of this project collected in compressed directory so just contact me to have your free files.

                                                                 See you Soon AYMEN LACHKHEM

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Aymen Lachkhem