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Arduino UNO and L293D Bluetooth-Controlled Robotic Car with Ultrasonic Sensor

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Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a motorized vehicle using an Arduino UNO microcontroller, an L293D motor driver, an HC-SR04 ultrasonic sensor, and an HC-06 Bluetooth module. The circuit is powered by a 9V battery and includes multiple motors and wheels for movement. The Arduino UNO is programmed to receive commands via Bluetooth and control the motors accordingly.

Component List

  1. L293D Motor Driver

    • Description: Motor driver IC used to control the direction and speed of motors.
    • Pins: 5V, GND, +, Servo1, Servo2, RX/DO, TX/D1, 9V, A0, A1, A2, A3, A4/SDA, A5/SCL, VIN, 3.3V, RESET, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13

  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-SR04 Ultrasonic Sensor

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

  4. HC-06 Bluetooth Module

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

  5. Motor and Wheels

    • Description: Motors and wheels used for vehicle movement.
    • Pins: vcc, GND

  6. 9V Battery

    • Description: Power source for the circuit.
    • Pins: -, +

Wiring Details

L293D Motor Driver

  • 5V connected to VCC of HC-SR04 Ultrasonic Sensor
  • 5V connected to VCC of HC-06 Bluetooth Module
  • GND connected to GND of HC-SR04 Ultrasonic Sensor
  • GND connected to GND of HC-06 Bluetooth Module
  • GND connected to - of 9V Battery
  • GND connected to GND of Motor and Wheels (multiple instances)
  • + connected to + of 9V Battery
  • + connected to vcc of Motor and Wheels (multiple instances)
  • RX/DO connected to TXD of HC-06 Bluetooth Module and D0 of Arduino UNO
  • TX/D1 connected to RXD of HC-06 Bluetooth Module and D1 of Arduino UNO
  • GND connected to GND of Arduino UNO
  • A0 connected to A0 of Arduino UNO
  • A1 connected to A1 of Arduino UNO
  • A2 connected to A2 of Arduino UNO
  • A3 connected to A3 of Arduino UNO
  • A4/SDA connected to A4 of Arduino UNO
  • A5/SCL connected to A5 of Arduino UNO
  • VIN connected to Vin of Arduino UNO
  • 5V connected to 5V of Arduino UNO
  • 3.3V connected to 3.3V of Arduino UNO
  • RESET connected to Reset of Arduino UNO
  • D2 connected to D2 of Arduino UNO
  • D3 connected to D3 of Arduino UNO
  • D4 connected to TRIG of HC-SR04 Ultrasonic Sensor and D4 of Arduino UNO
  • D5 connected to ECHO of HC-SR04 Ultrasonic Sensor and D5 of Arduino UNO
  • D6 connected to D6 of Arduino UNO
  • D7 connected to D7 of Arduino UNO
  • D8 connected to D8 of Arduino UNO
  • D9 connected to D9 of Arduino UNO
  • D10 connected to D10 of Arduino UNO
  • D11 connected to D11 of Arduino UNO
  • D12 connected to D12 of Arduino UNO
  • D13 connected to D13 of Arduino UNO
  • GND connected to AREF of Arduino UNO

Arduino UNO

  • D0 connected to RX/DO of L293D Motor Driver
  • D1 connected to TX/D1 of L293D Motor Driver
  • GND connected to GND of L293D Motor Driver
  • A0 connected to A0 of L293D Motor Driver
  • A1 connected to A1 of L293D Motor Driver
  • A2 connected to A2 of L293D Motor Driver
  • A3 connected to A3 of L293D Motor Driver
  • A4 connected to A4/SDA of L293D Motor Driver
  • A5 connected to A5/SCL of L293D Motor Driver
  • Vin connected to VIN of L293D Motor Driver
  • 5V connected to 5V of L293D Motor Driver
  • 3.3V connected to 3.3V of L293D Motor Driver
  • Reset connected to RESET of L293D Motor Driver
  • D2 connected to D2 of L293D Motor Driver
  • D3 connected to D3 of L293D Motor Driver
  • D4 connected to TRIG of HC-SR04 Ultrasonic Sensor and D4 of L293D Motor Driver
  • D5 connected to ECHO of HC-SR04 Ultrasonic Sensor and D5 of L293D Motor Driver
  • D6 connected to D6 of L293D Motor Driver
  • D7 connected to D7 of L293D Motor Driver
  • D8 connected to D8 of L293D Motor Driver
  • D9 connected to D9 of L293D Motor Driver
  • D10 connected to D10 of L293D Motor Driver
  • D11 connected to D11 of L293D Motor Driver
  • D12 connected to D12 of L293D Motor Driver
  • D13 connected to D13 of L293D Motor Driver
  • AREF connected to GND of L293D Motor Driver

HC-SR04 Ultrasonic Sensor

  • VCC connected to 5V of L293D Motor Driver
  • TRIG connected to D4 of L293D Motor Driver and D4 of Arduino UNO
  • ECHO connected to D5 of L293D Motor Driver and D5 of Arduino UNO
  • GND connected to GND of L293D Motor Driver

HC-06 Bluetooth Module

  • VCC connected to 5V of L293D Motor Driver
  • TXD connected to RX/DO of L293D Motor Driver and D0 of Arduino UNO
  • RXD connected to TX/D1 of L293D Motor Driver and D1 of Arduino UNO
  • GND connected to GND of L293D Motor Driver

Motor and Wheels

  • vcc connected to + of L293D Motor Driver (multiple instances)
  • GND connected to GND of L293D Motor Driver (multiple instances)

9V Battery

  • + connected to + of L293D Motor Driver
  • - connected to GND of L293D Motor Driver

Code Documentation

#include <SoftwareSerial.h>

// Define motor pins
#define IN1 9
#define IN2 8
#define IN3 7
#define IN4 6
#define ENA 10
#define ENB 5

// Bluetooth RX and TX pins
SoftwareSerial BTSerial(2, 3); // RX, TX

void setup() {
  // Motor driver pins setup
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);

  // Start Bluetooth communication
  BTSerial.begin(