Story
Step 1. The NodeMCU
Step 2. Installing the NodeMCU board at Arduino IDE
Step 3. Uploading sketches for Arduino Uno board and NodeMCU board
Step 4. Wire connections
Step 5. Andriod App and Finish

Published August 15, 2017 © GPL3+

From BT To WiFi: Creating WiFi Controlled Arduino Robot Car

NodeMCU ESP8266 in access point mode: the simplest way to make Wi-Fi controlled Robot Car from Bluetooth Arduino Robot Car + Android App.

IntermediateProtip1 hour112,333

From BT To WiFi: Creating WiFi Controlled Arduino Robot Car

Things used in this project

Hardware components

NodeMCU ESP8266 Breakout Board

Arduino UNO

Breadboard (generic)

SparkFun Dual H-Bridge motor drivers L298

4WD Smart Robot Car Chassis Kit

LED (generic)

Resistor 221 ohm

Jumper wires (generic)

battery holder

18650 Li-ion Battery

Software apps and online services

MIT App Inventor

Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)

Story

In my project Smartphone Controlled Arduino 4WD Robot Car https://www.hackster.io/andriy-baranov/smartphone-controlled-arduino-4wd-robot-car-14d239 I presented a smartphone-controlled Arduino 4WD robot car or Bluetooth Arduino robot. Then I decided to make a Wi-Fi controlled robot car from a Bluetooth controlled one. For this purpose I simply removed Bluetooth module and added NodeMCU with the same wire connections (appropriate Andriod App was already created).

1 / 2 • Before

The NodeMCU ESP8266 works in acsess point mode in order to control robot car in open air, where there is not working Wi-Fi network.

How it works. At first we have to make connection to Wi-Fi Robot network and open Wi-Fi Robot Andriod App. When Forward button is touched down smartphone sends get request http://192.168.4.1/?State=F. Then, as we can see in sketch for the NodeMCU:

if( server.hasArg("State") ) {  Serial.println(server.arg("State"));  }

NodeMCU sends "F" to serial port. When Arduino Uno board recieves "F" via serial port it starts void goAhead():

  if (Serial.available() > 0) { command = Serial.read();   
   switch (command) { case 'F':goAhead();break;

When Forward button is touched up Robot stops. Basic steps for remaking Bluetooth Robot Car into Wi-Fi one:

Remove Bluetooth module

Install NodeMCU ESP-12E Development Kit board

Upload sketches for Arduino Uno board and NodeMCU board in Arduino IDE

Connect wires Tx, Rx, +5v and GND to NodeMCU

Install and open Android App

Connect your smartphone to WiFi Robot network (without password) and enjoy driving Robot Car!

Step 1. The NodeMCU

NodeMCU V3 ESP8266 (CH340)

This development board for the ESP8266 SoC inside the ESP-12E module is out-of-the-box ready for you to connect it to your computer, install USB drivers, and start writing programs that connect to your Wi-Fi network!

Step 2. Installing the NodeMCU board at Arduino IDE

1 / 3

In the Arduino IDE open the Preferences window and enter the URL: http://arduino.esp8266.com/stable/package_esp8266com_index.json into the Additional Boards Manager URLs field, and click OK.

In the MENU select: Tools → Board → Boards Manager and scroll down and to choose esp8266 by ESP8266 Community and click INSTALL. Installing takes about 3 minutes.

Install the USB Driver (in my case CH340).

Restart the Arduino IDE and select our board from the menu option: Tools → Board → NodeMCU 1.0 (ESP-12E Module).

Then, we specify the correct CPU Frequency (Tools → CPU Frequency→ 80MHz) and Upload Speed (Tools → Upload Speed → 115200).

Select the correct option for the Port (Tools → Port → COM5).

And now we are ready to upload our sketch for NodeMCU!

Step 3. Uploading sketches for Arduino Uno board and NodeMCU board

Before uploading do not forget to change selection of our board from the menu option:

Tools → Board → NodeMCU 1.0 (ESP-12E Module) or

Tools → Board → Arduino/Genuino Uno

Step 4. Wire connections

After uploading sketches we can connect Tx, Rx wires to NodeMCU board and +5v and GND wires.

1 / 2

Step 5. Andriod App and Finish!

Install my App (Wifi Robot #4).

Power up your Wi-Fi Robot Car, go to Wi-Fi settings of your smartphone and select Wi-Fi Robot network (without password). After connection to Wi-Fi Robot network open the App and enjoy driving Wi-Fi Robot Car!

1 / 4

Andrioid App for this project was created in MIT App Inventor. You can change it as you want using .aia file.

1 / 3

Link for Wi-Fi Robot .aia file

Link for Wi-Fi Robot .apk file

I would be grateful for constructive proposals and wishes!

Schematics

Code

#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 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; 		// 50 - 255.
int speed_Coeff = 4;
boolean lightFront = false;
boolean horn = false;

void setup() {  
   
	  pinMode(light_FR, OUTPUT);
    pinMode(light_FL, 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);

	Serial.begin(115200); 

  } 

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 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(){
    
if (Serial.available() > 0) {
	command = Serial.read();
	
if (lightFront) {digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);}
if (!lightFront) {digitalWrite(light_FR, LOW); digitalWrite(light_FL, LOW);}
if (horn) {digitalWrite(horn_Buzz, HIGH);}
if (!horn) {digitalWrite(horn_Buzz, LOW);}

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 = 120;break;
case '2':speedCar = 135;break;
case '3':speedCar = 155;break;
case '4':speedCar = 170;break;
case '5':speedCar = 185;break;
case '6':speedCar = 195;break;
case '7':speedCar = 215;break;
case '8':speedCar = 235;break;
case '9':speedCar = 255;break;
case 'S':stopRobot();break;
case 'W':lightFront = true;break;
case 'w':lightFront = false;break;
case 'V':horn = true;break;
case 'v':horn = false;break;

}
}
}

#include <ESP8266WiFi.h>
#include <WiFiClient.h> 
#include <ESP8266WebServer.h>

const char* host = "WiFi_Robot4_NodeMCU";
const char* ssid = "WiFi_Robot4";

ESP8266WebServer server(80);

void setup() {
  Serial.begin(115200);
  

// Connecting WiFi

  WiFi.mode(WIFI_AP);
  WiFi.softAP(ssid);
// Starting WEB-server
    
     server.on ( "/", HTTP_handleRoot );
     server.onNotFound ( HTTP_handleRoot );
     server.begin();    
     
}

void loop() {
  server.handleClient();
   delay(50);
}

void HTTP_handleRoot(void) {

if( server.hasArg("State") ){
       Serial.println(server.arg("State"));
  }
  server.send ( 200, "text/html", "" );
}

Credits

Andriy Baranov

1 project • 293 followers

From BT To WiFi: Creating WiFi Controlled Arduino Robot Car

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Story

Step 1. The NodeMCU

Step 2. Installing the NodeMCU board at Arduino IDE

Step 3. Uploading sketches for Arduino Uno board and NodeMCU board

Step 4. Wire connections

Step 5. Andriod App and Finish!

Custom parts and enclosures

Wi-Fi Robot .apk file

Wi-Fi Robot .aia file

Schematics

wifi_robot_car_dWyN5trVCL.fzz

wifi_robot_car__E1hC3P8VcK.jpg

Code

WiFi_Robot4_arduinoUno.ino

WiFi_Robot4_NodeMCU_ESP8266.ino

Credits

Andriy Baranov

Comments

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From BT To WiFi: Creating WiFi Controlled Arduino Robot Car

From BT To WiFi: Creating WiFi Controlled Arduino Robot Car

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Story

Step 1. The NodeMCU

Step 2. Installing the NodeMCU board at Arduino IDE

Step 3. Uploading sketches for Arduino Uno board and NodeMCU board

Step 4. Wire connections

Step 5. Andriod App and Finish!

Custom parts and enclosures

Wi-Fi Robot .apk file

Wi-Fi Robot .aia file

Schematics

wifi_robot_car_dWyN5trVCL.fzz

wifi_robot_car__E1hC3P8VcK.jpg

Code

WiFi_Robot4_arduinoUno.ino

WiFi_Robot4_NodeMCU_ESP8266.ino

Credits

Andriy Baranov

Comments

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