Smart Wheelchair

This is a smart wheelchair

IntermediateFull instructions provided4 hours43,413
Smart Wheelchair

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
DC motor (generic)
×1
Rocker Switch, Non Illuminated
Rocker Switch, Non Illuminated
×1
Pushbutton switch 12mm
SparkFun Pushbutton switch 12mm
×1
Buzzer
Buzzer
×1
Breadboard (generic)
Breadboard (generic)
×1
Li-Ion Battery 1000mAh
Li-Ion Battery 1000mAh
×1
5 mm LED: Red
5 mm LED: Red
×1
Jumper wires (generic)
Jumper wires (generic)
×1

Software apps and online services

Arduino IDE
Arduino IDE

Hand tools and fabrication machines

Hot glue gun (generic)
Hot glue gun (generic)
Soldering iron (generic)
Soldering iron (generic)
Solder Wire, Lead Free
Solder Wire, Lead Free
Mastech MS8217 Autorange Digital Multimeter
Digilent Mastech MS8217 Autorange Digital Multimeter

Story

Read more

Custom parts and enclosures

Smart Industry Fritzing File

Schematics

Smart Industry Schematic Disgram

Code

Wheelchair Code

C/C++
int motorRightA = 8;    //Right Motor-clockwise
int motorRightB = 9;   //Right Motor-anticlockwise
int motorLeftA = 11;   //Left Motor-clockwise
int motorLeftB = 10;   //Left Motor-clockwise
int trigPin1 = 12;     // Trig Pin
int echoPin1 = 13;     // Echo Pin
int light = 5;
long duration1;
int distance1;
char bt = 0;            //Bluetooth Control
int trigPin2 = 7;       // Trig Pin
int echoPin2 = 6;       // Echo Pin
long duration2;
int distance2;
int buzzer = 4;
int pushButton = 3;
void setup()
{
  pinMode(motorRightA, OUTPUT);
  pinMode(motorRightB, OUTPUT);
  pinMode(motorRightB, OUTPUT);
  pinMode(motorLeftB, OUTPUT);
  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(light, OUTPUT);
  pinMode(buzzer, OUTPUT);
  pinMode(pushButton, INPUT_PULLUP);
  Serial.begin(9600);
}
void loop()
{
  //Light On Off
  lightOnOff();
  //Panic Button
  panicSound();

  //  Right
  digitalWrite(trigPin1, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin1, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin1, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration1 = pulseIn(echoPin1, HIGH);
  // Calculating the distance
  distance1 = duration1 * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  Serial.print("Distance: ");
  Serial.println(distance1);

  // Left 
  digitalWrite(trigPin2, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin2, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration2 = pulseIn(echoPin2, HIGH);
  // Calculating the distance
  distance2 = duration2 * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  Serial.print("Distance: ");
  Serial.println(distance2);

  if (distance1 <= 20 || distance2 <= 20) {
    //Stop Wheel Chair
    digitalWrite(motorRightA, LOW);
    digitalWrite(motorRightB, LOW);
    digitalWrite(motorLeftA, LOW);
    digitalWrite(motorLeftB, LOW);
    control();
  }
  else {
    control(); // Call All the Control
  }
}

// All the Controls of the Wheel Chair
void control() {
  if (Serial.available() > 0)
  {
    bt = Serial.read();
    if (bt == 'F')       //move forwards
    {
      digitalWrite(motorRightA, HIGH);
      digitalWrite(motorLeftA,  HIGH);
    }
    else if (bt == 'B')       //move backwards
    {
      digitalWrite(motorRightB, HIGH);
      digitalWrite(motorLeftB, HIGH);
    }
    else if (bt == 'S')     //stop!
    {
      digitalWrite(motorRightA, LOW);
      digitalWrite(motorRightB, LOW);
      digitalWrite(motorLeftA, LOW);
      digitalWrite(motorLeftB, LOW);
    }
    else if (bt == 'R')    //right
    {
      digitalWrite(motorRightA, LOW);
      digitalWrite(motorRightB, LOW);
      digitalWrite(motorLeftA, HIGH);
      digitalWrite(motorLeftB, LOW);
    }
    else if (bt == 'L')     //left
    {
      digitalWrite(motorRightA, HIGH);
      digitalWrite(motorRightB, LOW);
      digitalWrite(motorLeftA, LOW);
      digitalWrite(motorLeftB, LOW);
    }
    else if (bt == 'I')    //forward right
    {
      digitalWrite(motorRightA, HIGH);
      digitalWrite(motorRightB, LOW);
      digitalWrite(motorLeftA, LOW);
      digitalWrite(motorLeftB, HIGH);
    }
    else if (bt == 'G')    //forward left
    {
      digitalWrite(motorRightA, LOW);
      digitalWrite(motorRightB, HIGH);
      digitalWrite(motorLeftA, HIGH);
      digitalWrite(motorLeftB, LOW);
    }
  }
}

void lightOnOff() {

  if (bt == 'O') {
    digitalWrite(light, HIGH);
  }
  else if (bt == 'o') {
    digitalWrite(light, LOW);
  }
}
void panicSound() {
  int val = digitalRead(pushButton);
  if (val == LOW) {
    digitalWrite(buzzer, HIGH);
  } else {
    digitalWrite(buzzer, LOW);
  }
}

Wheelchair Code

Credits

Khaled Md Saifullah

Khaled Md Saifullah

18 projects • 44 followers
🦸Tech Enthusiast 👨🏾‍💻Programmer 📳IoT Specialist
Shahadat Hossain Afridi

Shahadat Hossain Afridi

2 projects • 6 followers
Avijit Datta

Avijit Datta

3 projects • 5 followers
Taisir Jibian Rahi

Taisir Jibian Rahi

7 projects • 7 followers
Never regret in life.

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