Andriy Baranov
Published © GPL3+

Smartphone Controlled Arduino 4WD Robot Car

This is my next project, a smartphone-controlled Arduino 4WD robot car or Bluetooth Arduino robot.

IntermediateWork in progress2 hours76,699
Smartphone Controlled Arduino 4WD Robot Car

Things used in this project

Hardware components

Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
HC-06 Bluetooth Module
×1
4WD Smart Robot Car Chassis Kit
×1
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×2
LED (generic)
LED (generic)
×4
Buzzer
Buzzer
×1
Resistor 221 ohm
Resistor 221 ohm
×4

Software apps and online services

Arduino IDE
Arduino IDE
Arduino Bluetooth RC Car

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)

Story

Read more

Schematics

BT Car Wiring Diagram

BT Car Wiring Diagram \ Fritzing

Code

BTcar_v01.2.ino

Arduino
#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; 		// 50 - 255.
int speed_Coeff = 4;
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_BL, 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(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 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();
	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_BL, HIGH);}
if (!lightBack) {digitalWrite(light_BR, LOW); digitalWrite(light_BL, 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 = 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

Andriy Baranov

Andriy Baranov

1 project • 167 followers

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