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Arduino UNO Bluetooth Controlled Robotic Car with L298N Motor Driver

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Circuit Documentation

Summary

This document provides a detailed overview of a Bluetooth-controlled car circuit. The circuit consists of an Arduino UNO microcontroller, an L298N DC motor driver, four motors with wheels, an HC-05 Bluetooth module, two IR sensors, an OV7670 camera, an HC-SR04 ultrasonic distance sensor, and a 2x 18650 battery pack. The Arduino UNO is programmed to control the motors based on commands received via Bluetooth.

Component List

  1. L298N DC Motor Driver

    • Description: Motor driver module used to control the speed and direction of DC motors.
    • Pins: OUT1, OUT2, 12V, GND, 5V, OUT3, OUT4, 5V-ENA-JMP-I, 5V-ENA-JMP-O, +5V-J1, +5V-J2, ENA, IN1, IN2, IN3, IN4, ENB

  2. Arduino UNO

    • Description: Microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  3. HC-05 Bluetooth Module

    • Description: Bluetooth module used for wireless communication.
    • Pins: EN, VCC, GND, TXD, RXD, STATE

  4. Motor and Wheels (x4)

    • Description: DC motors with attached wheels.
    • Pins: vcc, GND

  5. 2x 18650 Battery Pack

    • Description: Battery pack providing power to the circuit.
    • Pins: vcc, gnd

  6. IR Sensor (x2)

    • Description: Infrared sensor used for obstacle detection.
    • Pins: out, gnd, vcc

  7. OV7670 Camera

    • Description: Camera module for capturing images.
    • Pins: RET, PWDN, D1, D0, D3, D2, D4, D5, D6, PLK, XLK, D7, VS, HS, SCL, SDA, 3.3V, DGND

  8. HC-SR04 Ultrasonic Distance Sensor

    • Description: Ultrasonic sensor used for measuring distance.
    • Pins: VCC, TRIG, ECHO, GND

Wiring Details

L298N DC Motor Driver

Arduino UNO

HC-05 Bluetooth Module

Motor and Wheels 1

Motor and Wheels 2

Motor and Wheels 3

Motor and Wheels 4

2x 18650 Battery Pack

Documented Code

//Arduino Bluetooth Controlled Car
//Before uploading the code you have to install the necessary library
//Note - Disconnect the Bluetooth Module before hitting the upload button otherwise you'll get a compilation error message.
//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library-install 
//After downloading the library open Arduino IDE >> go to sketch >> Include Library >> ADD. ZIP Library >> Select the downloaded 
//ZIP File >> Open it >> Done
//Now You Can Upload the Code without any problem but make sure the bt module isn't connected with Arduino while uploading code

#include <AFMotor.h>

//initial motors pin
AF_DCMotor motor1(1, MOTOR12_1KHZ); 
AF_DCMotor motor2(2, MOTOR12_1KHZ); 
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);

char command; 

void setup() 
{       
  Serial.begin(9600);  //Set the baud rate to your Bluetooth module.
}

void loop(){
  if(Serial.available() > 0){ 
    command = Serial.read(); 
    Stop(); //initialize with motors stopped
    //Change pin mode only if new command is different from previous.   
    //Serial.println(command);
    switch(command){
    case 'F':  
      forward();
      break;
    case 'B':  
       back();
      break;
    case 'L':  
      left();
      break;
    case 'R':
      right();
      break;
    }
  } 
}

void forward()
{
  motor1.setSpeed(255); //Define maximum velocity
  motor1.run(FORWARD); //rotate the motor clockwise
  motor2.setSpeed(255); //Define maximum velocity
  motor2.run(FORWARD); //rotate the motor clockwise
  motor3.setSpeed(255);//Define maximum velocity
  motor3.run(FORWARD); //rotate the motor clockwise
  motor4.setSpeed(255);//Define maximum velocity
  motor4.run(FORWARD); //rotate the motor clockwise
}

void back()
{
  motor1.setSpeed(255); //Define maximum velocity
  motor1.run(BACKWARD); //rotate the motor anti-clockwise
  motor2.setSpeed(255); //Define maximum velocity
  motor2.run(BACKWARD); //rotate the motor anti-clockwise
  motor3.setSpeed(255); //Define maximum velocity
  motor3.run(BACKWARD); //rotate the motor anti-clockwise
  motor4.setSpeed(255); //Define maximum velocity
  motor4.run(BACKWARD); //rotate the motor anti-clockwise
}

void left()
{
  motor1.setSpeed(255); //Define maximum velocity
  motor1.run(BACKWARD); //rotate the motor anti-clockwise
  motor2.setSpeed