Connection Diagram
Click and Download App
CODE
#define in1 5 //L298n Motor Driver pins.
#define in2 6
#define in3 10
#define in4 11
#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
int command; //Int to store app command state.
int Speed = 204; // 0 - 255.
int Speedsec;
int buttonState = 0;
int lastButtonState = 0;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will malfunction if this is higher than int Speed.
int brakeTime = 45;
int brkonoff = 1; //1 for the electronic braking system, 0 for normal.
boolean lightFront = false;
boolean lightBack = false;
boolean horn = false;
void setup() {
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(light_FR, OUTPUT);
pinMode(light_FL, OUTPUT);
pinMode(light_BR, OUTPUT);
pinMode(light_BL, OUTPUT);
pinMode(horn_Buzz, OUTPUT);
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
}
void loop() {
if (Serial.available() > 0) {
command = Serial.read();
Stop(); //Initialize with motors stoped.
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':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
case 'G':
forwardleft();
break;
case 'I':
forwardright();
break;
case 'H':
backleft();
break;
case 'J':
backright();
break;
case '0':
Speed = 100;
break;
case '1':
Speed = 140;
break;
case '2':
Speed = 153;
break;
case '3':
Speed = 165;
break;
case '4':
Speed = 178;
break;
case '5':
Speed = 191;
break;
case '6':
Speed = 204;
break;
case '7':
Speed = 216;
break;
case '8':
Speed = 229;
break;
case '9':
Speed = 242;
break;
case 'q':
Speed = 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;
}
Speedsec = Turnradius;
if (brkonoff == 1) {
brakeOn();
} else {
brakeOff();
}
}
}
void forward() {
analogWrite(in1, Speed);
analogWrite(in3, Speed);
}
void back() {
analogWrite(in2, Speed);
analogWrite(in4, Speed);
}
void left() {
analogWrite(in3, Speed);
analogWrite(in2, Speed);
}
void right() {
analogWrite(in4, Speed);
analogWrite(in1, Speed);
}
void forwardleft() {
analogWrite(in1, Speedsec);
analogWrite(in3, Speed);
}
void forwardright() {
analogWrite(in1, Speed);
analogWrite(in3, Speedsec);
}
void backright() {
analogWrite(in2, Speed);
analogWrite(in4, Speedsec);
}
void backleft() {
analogWrite(in2, Speedsec);
analogWrite(in4, Speed);
}
void Stop() {
analogWrite(in1, 0);
analogWrite(in2, 0);
analogWrite(in3, 0);
analogWrite(in4, 0);
}
void brakeOn() {
//Here's the future use: an electronic braking system!
// read the pushbutton input pin:
buttonState = command;
// compare the buttonState to its previous state
if (buttonState != lastButtonState) {
// if the state has changed, increment the counter
if (buttonState == 'S') {
if (lastButtonState != buttonState) {
digitalWrite(in1, HIGH);
digitalWrite(in2, HIGH);
digitalWrite(in3, HIGH);
digitalWrite(in4, HIGH);
delay(brakeTime);
Stop();
}
}
// save the current state as the last state,
//for next time through the loop
lastButtonState = buttonState;
}
}
void brakeOff() {
}