surya pratap
Published © LGPL

Bluetooth Controlled Obstacle Avoiding Arduino Robotic Car

This robot controlled by Bluetooth with the help of Android App. It also senses obstacles and stop to avoid collision.

AdvancedFull instructions provided2 days5,008
Bluetooth Controlled Obstacle Avoiding Arduino Robotic Car

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×2
Female/Female Jumper Wires
Female/Female Jumper Wires
×1
LED (generic)
LED (generic)
×4
Resistor 330 ohm
Resistor 330 ohm
×4
Rechargeable Battery, Lithium Ion
Rechargeable Battery, Lithium Ion
×4
DC motor (generic)
×4

Software apps and online services

Aaware Bluetooth RC Controller

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Hot glue gun (generic)
Hot glue gun (generic)

Story

Read more

Schematics

Circuit Diagram.

Code

MY CODE

C/C++
#define light_FR  14    //LED Front Right   pin A0 for Arduino Uno
#define light_FL  15    //LED Front Left    pin A1 for Arduino Uno
#define light_BR  16    //LED Back Right    pin A2 for Arduino Uno
//#define light_BL  17   LED Back Left     pin A3 for Arduino Uno
#define horn_Buzz 18    //Horn Buzzer       pin A4 for Arduino Uno

#define ENA_m1 5        // Enable/speed motor Front Right 
#define ENB_m1 6        // Enable/speed motor Back Right
#define ENA_m2 10       // Enable/speed motor Front Left
#define ENB_m2 11       // Enable/speed motor Back Left

#define IN_11  2        // L298N #1 in 1 motor Front Right
#define IN_12  3        // L298N #1 in 2 motor Front Right
#define IN_13  4        // L298N #1 in 3 motor Back Right
#define IN_14  7        // L298N #1 in 4 motor Back Right

#define IN_21  8        // L298N #2 in 1 motor Front Left
#define IN_22  9        // L298N #2 in 2 motor Front Left
#define IN_23  12       // L298N #2 in 3 motor Back Left
#define IN_24  13       // L298N #2 in 4 motor Back Left

int command;            //Int to store app command state.
int speedCar = 100;  
int speedCarM = 95;// 50 - 255.
int speed_Coeff = 4;
const int trigPin = A5;
const int echoPin = A3;

// defines variables
long duration;
int distance;
int safetyDistance;

boolean lightFront = false;
boolean lightBack = false;
boolean horn = false;

void setup() {  
   
    pinMode(light_FR, OUTPUT);
    pinMode(light_FL, OUTPUT);
    pinMode(light_BR, OUTPUT);
    pinMode(light_BR, OUTPUT);
    pinMode(horn_Buzz, OUTPUT);
    
    pinMode(ENA_m1, OUTPUT);
    pinMode(ENB_m1, OUTPUT);
    pinMode(ENA_m2, OUTPUT);
    pinMode(ENB_m2, OUTPUT);
  
    pinMode(IN_11, OUTPUT);
    pinMode(IN_12, OUTPUT);
    pinMode(IN_13, OUTPUT);
    pinMode(IN_14, OUTPUT);
    
    pinMode(IN_21, OUTPUT);
    pinMode(IN_22, OUTPUT);
    pinMode(IN_23, OUTPUT);
    pinMode(IN_24, OUTPUT);


    pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
    pinMode(echoPin, INPUT); // Sets the echoPin as an Input

  Serial.begin(9600); 

  } 

void goAhead(){ 

      digitalWrite(IN_11, HIGH);
      digitalWrite(IN_12, LOW);
      analogWrite(ENA_m1, speedCar);

      digitalWrite(IN_13, LOW);
      digitalWrite(IN_14, HIGH);
      analogWrite(ENB_m1, speedCar);


      digitalWrite(IN_21, LOW);
      digitalWrite(IN_22, HIGH);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, HIGH);
      digitalWrite(IN_24, LOW);
      analogWrite(ENB_m2, speedCar);

  }

void goBack(){ 

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, HIGH);
      analogWrite(ENA_m1, speedCar);


      digitalWrite(IN_13, HIGH);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCar);


      digitalWrite(IN_21, HIGH);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, HIGH);
      analogWrite(ENB_m2, speedCar);

  }

void goBackM(){ 

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, HIGH);
      analogWrite(ENA_m1, speedCarM);


      digitalWrite(IN_13, HIGH);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCarM);


      digitalWrite(IN_21, HIGH);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCarM);


      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, HIGH);
      analogWrite(ENB_m2, speedCarM);

  }  

void goRight(){ 

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, HIGH);
      analogWrite(ENA_m1, speedCar);


      digitalWrite(IN_13, HIGH);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCar);


      digitalWrite(IN_21, LOW);
      digitalWrite(IN_22, HIGH);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, HIGH);
      digitalWrite(IN_24, LOW);
      analogWrite(ENB_m2, speedCar);


  }

void goLeft(){

      digitalWrite(IN_11, HIGH);
      digitalWrite(IN_12, LOW);
      analogWrite(ENA_m1, speedCar);


      digitalWrite(IN_13, LOW);
      digitalWrite(IN_14, HIGH);
      analogWrite(ENB_m1, speedCar);

        
      digitalWrite(IN_21, HIGH);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, HIGH);
      analogWrite(ENB_m2, speedCar);

        
  }

void goAheadRight(){
      
      digitalWrite(IN_11, HIGH);
      digitalWrite(IN_12, LOW);
      analogWrite(ENA_m1, speedCar/speed_Coeff);

      digitalWrite(IN_13, LOW);
      digitalWrite(IN_14, HIGH);
      analogWrite(ENB_m1, speedCar/speed_Coeff);


      digitalWrite(IN_21, LOW);
      digitalWrite(IN_22, HIGH);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, HIGH);
      digitalWrite(IN_24, LOW);
      analogWrite(ENB_m2, speedCar);
 
  }

void goAheadLeft(){
      
      digitalWrite(IN_11, HIGH);
      digitalWrite(IN_12, LOW);
      analogWrite(ENA_m1, speedCar);

      digitalWrite(IN_13, LOW);
      digitalWrite(IN_14, HIGH);
      analogWrite(ENB_m1, speedCar);


      digitalWrite(IN_21, LOW);
      digitalWrite(IN_22, HIGH);
      analogWrite(ENA_m2, speedCar/speed_Coeff);


      digitalWrite(IN_23, HIGH);
      digitalWrite(IN_24, LOW);
      analogWrite(ENB_m2, speedCar/speed_Coeff);
 
  }

void goBackRight(){ 

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, HIGH);
      analogWrite(ENA_m1, speedCar/speed_Coeff);


      digitalWrite(IN_13, HIGH);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCar/speed_Coeff);


      digitalWrite(IN_21, HIGH);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCar);


      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, HIGH);
      analogWrite(ENB_m2, speedCar);

  }

void goBackLeft(){ 

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, HIGH);
      analogWrite(ENA_m1, speedCar);


      digitalWrite(IN_13, HIGH);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCar);


      digitalWrite(IN_21, HIGH);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCar/speed_Coeff);


      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, HIGH);
      analogWrite(ENB_m2, speedCar/speed_Coeff);

  }

void stopRobot(){  

      digitalWrite(IN_11, LOW);
      digitalWrite(IN_12, LOW);
      analogWrite(ENA_m1, speedCar);


      digitalWrite(IN_13, LOW);
      digitalWrite(IN_14, LOW);
      analogWrite(ENB_m1, speedCar);

  
      digitalWrite(IN_21, LOW);
      digitalWrite(IN_22, LOW);
      analogWrite(ENA_m2, speedCar);

      
      digitalWrite(IN_23, LOW);
      digitalWrite(IN_24, LOW);
      analogWrite(ENB_m2, speedCar);
  
  }
  
void loop(){


  // Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);

// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);

// Calculating the distance
distance= duration*0.034/2;

safetyDistance = distance;
  
if (Serial.available() > 0) {
  command = Serial.read();
  stopRobot();      //Initialize with motors stopped.

if (lightFront) {digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);}
if (!lightFront) {digitalWrite(light_FR, LOW); digitalWrite(light_FL, LOW);}
if (lightBack) {digitalWrite(light_BR, HIGH); digitalWrite(light_BR, HIGH);}
if (!lightBack) {digitalWrite(light_BR, LOW); digitalWrite(light_BR, LOW);}
if (horn) {digitalWrite(horn_Buzz, HIGH);}
if (!horn) {digitalWrite(horn_Buzz, LOW);}


if (safetyDistance <= 20){
  digitalWrite(light_BR, HIGH);
  digitalWrite(horn_Buzz, HIGH);
  delay(500);
  goBackM();
  delay(750);
}
else{
    switch (command) {
 case 'F':goAhead();break;
 case 'B':goBack();break;
 case 'L':goLeft();break;
 case 'R':goRight();break;
 case 'I':goAheadRight();break;
 case 'G':goAheadLeft();break;
 case 'J':goBackRight();break;
 case 'H':goBackLeft();break;
 case '0':speedCar = 100;break;
 case '1':speedCar = 115;break;
 case '2':speedCar = 130;break;
 case '3':speedCar = 145;break;
 case '4':speedCar = 160;break;
 case '5':speedCar = 175;break;
 case '6':speedCar = 190;break;
 case '7':speedCar = 205;break;
 case '8':speedCar = 220;break;
 case '9':speedCar = 235;break;
 case 'q':speedCar = 255;break;
 case 'W':lightFront = true;break;
 case 'w':lightFront = false;break;
 case 'U':lightBack = true;break;
 case 'u':lightBack = false;break;
 case 'V':horn = true;break;
 case 'v':horn = false;break;
 }
}
}
}

Credits

surya pratap

surya pratap

1 project • 5 followers
I am a Engineering student.

Comments

Related channels and tags
  • Aaware
  • Home Automation
  • Internet of Things
  • Robotics
  • SparkFun