Circuit Documentation

Summary

This circuit is designed to control a robotic vehicle using an Arduino UNO microcontroller. The vehicle is equipped with an ultrasonic sensor for obstacle detection, DC gear motors for movement, a servo motor for directional control, and a motor driver for managing the motors. The circuit also includes a rocker switch for power control and a battery pack for power supply.

Component List

1. 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

2. HC-SR04 Ultrasonic Sensor

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

3. Gearmotor DC Wheels (Left)

   • Description: DC motor for left wheels.
   • Pins: PIN1, PIN2

4. Gearmotor DC Wheels (Right)

   • Description: DC motor for right wheels.
   • Pins: PIN1, PIN2

5. Servomotor SG90

   • Description: Small servo motor for directional control.
   • Pins: SIG, VCC, GND

6. L298N DC Motor Driver

   • Description: Dual H-Bridge motor driver.
   • 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

7. Rocker Switch (SPST)

   • Description: Single-pole single-throw switch.
   • Pins: 1, 2

8. Arduino Sensor Shield v5.0

   • Description: Expansion shield for Arduino UNO.
   • Pins: VCC, SD-VCC, SD-GND, SD-D11, SD-D10, SD-D13, SD-D12, URF01-VCC, URF01-A0, URF01-A1, URF01-GND, GND, SEL1, SEL2, A0-SIG, A0-VCC, A0-GND, A1-SIG, A1-VCC, A1-GND, A2-SIG, A2-VCC, A2-GND, A3-SIG, A3-VCC, A3-GND, A4-SIG, A4-VCC, A4-GND, A5-SIG, A5-VCC, A5-GND, IIC-SCL, IIC-SDA, IIC-GND, IIC-VCC, COM-TX, COM-RX, COM-GND, COM-VCC, APC220-, APC220-D0, APC220-D1, APC220-VCC, APC220-GND, BLUETOOTH-3V3, BLUETOOTH-GND, BLUETOOTH-D0, BLUETOOTH-D1, BLUETOOTH-VCC, AREF-S, AREF-V, AREF-G, GND-S, GND-V, GND-G, 13-S, 13-V, 13-G, 12-S, 12-V, 12-G, 11-S, 11-V, 11-G, 10-S, 10-V, 10-G, 9-S, 9-V, 9-G, 8-S, 8-V, 8-G, 7-S, 7-V, 7-G, 6-S, 6-V, 6-G, 5-S, 5-V, 5-G, 4-S, 4-V, 4-G, 3-S, 3-V, 3-G, 2-S, 2-V, 2-G, 1-S, 1-V, 1-G, 0-S, 0-V, 0-G, ParallelLCD-VCC, ParallelLCD-D13, ParallelLCD-GND, ParallelLCD-D12, ParallelLCD-D2, ParallelLCD-D11, ParallelLCD-D3, ParallelLCD-D10, ParallelLCD-D4, ParallelLCD-D9, ParallelLCD-D5, ParallelLCD-D8, ParallelLCD-D6, ParallelLCD-D7, SerialLCD-D4, SerialLCD-VCC, SerialLCD-D3, SerialLCD-, SerialLCD-D2, SerialLCD-GND

9. 2x 18650 Battery Pack

   • Description: Battery pack with two 18650 cells.
   • Pins: vcc, gnd

Wiring Details

Arduino UNO

• Connected to the Arduino Sensor Shield v5.0.

HC-SR04 Ultrasonic Sensor

• VCC to Arduino Sensor Shield v5.0 (13-V)
• TRIG to Arduino Sensor Shield v5.0 (13-S)
• ECHO to Arduino Sensor Shield v5.0 (12-S)
• GND to Arduino Sensor Shield v5.0 (12-G)

Gearmotor DC Wheels (Left)

• PIN1 to L298N DC Motor Driver (OUT2)
• PIN2 to L298N DC Motor Driver (OUT1)

Gearmotor DC Wheels (Right)

• PIN1 to L298N DC Motor Driver (OUT4)
• PIN2 to L298N DC Motor Driver (OUT3)

Servomotor SG90

• SIG to Arduino Sensor Shield v5.0 (11-S)
• VCC to Arduino Sensor Shield v5.0 (11-V)
• GND to Arduino Sensor Shield v5.0 (11-G)

L298N DC Motor Driver

• OUT1 to Gearmotor DC Wheels (Left) PIN2
• OUT2 to Gearmotor DC Wheels (Left) PIN1
• OUT3 to Gearmotor DC Wheels (Right) PIN2
• OUT4 to Gearmotor DC Wheels (Right) PIN1
• 12V to Rocker Switch (SPST) pin 2
• GND to Arduino Sensor Shield v5.0 (GND) and 2x 18650 Battery Pack (gnd)
• 5V to Arduino Sensor Shield v5.0 (VCC)
• +5V-J2 to Arduino Sensor Shield v5.0 (1-V)
• ENA to Arduino Sensor Shield v5.0 (6-S)
• IN1 to Arduino Sensor Shield v5.0 (7-S)
• IN2 to Arduino Sensor Shield v5.0 (5-S)
• IN3 to Arduino Sensor Shield v5.0 (4-S)
• IN4 to Arduino Sensor Shield v5.0 (2-S)
• ENB to Arduino Sensor Shield v5.0 (3-S)

Rocker Switch (SPST)

• Pin 1 to 2x 18650 Battery Pack (vcc)
• Pin 2 to L298N DC Motor Driver (12V)

Arduino Sensor Shield v5.0

• GND to 2x 18650 Battery Pack (gnd)
• VCC to L298N DC Motor Driver (5V)

2x 18650 Battery Pack

• vcc to Rocker Switch (SPST) pin 1
• gnd to Arduino Sensor Shield v5.0 (GND) and L298N DC Motor Driver (GND)

Code Documentation

#include <Servo.h>

volatile int IN1 = 11;
volatile int IN2 = 6;
volatile int IN3 = 5;
volatile int IN4 = 3;
volatile int rightDistance;
volatile int leftDistance;
Servo servo_4;

void left_side_forward(int speed) {
  analogWrite(IN1, speed * 0.92);
  analogWrite(IN2, 0);
}

void right_side_forward(int speed) {
  analogWrite(IN3, speed);
  analogWrite(IN4, 0);
}

void left_side_backward(int speed) {
  analogWrite(IN1, 0);
  analogWrite(IN2, speed * 0.92);
}

void right_side_backward(int speed) {
  analogWrite(IN3, 0);
  analogWrite(IN4, speed);
}

float checkdistance_A1_A2() {
  digitalWrite(A1, LOW);
  delayMicroseconds(2);
  digitalWrite(A1, HIGH);
  delayMicroseconds(10);
  digitalWrite(A1, LOW);
  float distance = pulseIn(A2, HIGH) / 58.00;
  delay(10);
  return distance;
}

void forward(int speed) {
  left_side_forward(speed);
  right_side_forward(speed);
}

void backward(int speed) {
  left_side_backward(speed);
  right_side_backward(speed);
}

void left(int speed, int time) {
  left_side_backward(speed);
  right_side_forward(speed);
  delay(time);
  stop();
}

void right(int speed,