Circuit Documentation

Summary

This circuit is designed to control multiple servos and DC motors using an Arduino UNO microcontroller. It includes a Bluetooth module for wireless communication, a DC motor driver for controlling the motors, and a DC buck step-down converter for power regulation. The circuit is powered by a 12V battery.

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. XL4015 5A DC Buck Step-down

   • Description: DC-DC buck converter for voltage regulation.
   • Pins: Output +, Output -, Input +, Input -

3. HC-05 Bluetooth Module

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

4. L298N DC Motor Driver

   • Description: Dual H-Bridge motor driver for controlling 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

5. Servo

   • Description: Servo motor for precise control of angular position.
   • Pins: gnd, vcc, pulse

6. Battery 12V

   • Description: 12V battery for powering the circuit.
   • Pins: +, -

7. DC Motor

   • Description: DC motor for rotational motion.
   • Pins: pin 1, pin 2

Wiring Details

Arduino UNO

• 5V connected to VCC of HC-05 Bluetooth Module
• GND connected to vcc of multiple Servos and GND of HC-05 Bluetooth Module
• Vin connected to gnd of multiple Servos and Output + of XL4015 5A DC Buck Step-down
• A0 connected to IN4 of L298N DC Motor Driver
• A1 connected to IN3 of L298N DC Motor Driver
• A2 connected to IN2 of L298N DC Motor Driver
• A3 connected to IN1 of L298N DC Motor Driver
• D12 connected to pulse of a Servo
• D11 connected to pulse of a Servo
• D10 connected to pulse of a Servo
• D9 connected to pulse of a Servo
• D8 connected to pulse of multiple Servos
• D5 connected to ENA and ENB of L298N DC Motor Driver
• D1 connected to RXD of HC-05 Bluetooth Module
• D0 connected to TXD of HC-05 Bluetooth Module

XL4015 5A DC Buck Step-down

• Output - connected to vcc of multiple Servos and GND of Arduino UNO
• Output + connected to gnd of multiple Servos and Vin of Arduino UNO
• Input + connected to 12V of L298N DC Motor Driver and + of Battery 12V
• Input - connected to GND of L298N DC Motor Driver and - of Battery 12V

HC-05 Bluetooth Module

• VCC connected to 5V of Arduino UNO
• GND connected to GND of Arduino UNO
• TXD connected to D0 of Arduino UNO
• RXD connected to D1 of Arduino UNO

L298N DC Motor Driver

• IN4 connected to A0 of Arduino UNO
• IN3 connected to A1 of Arduino UNO
• IN2 connected to A2 of Arduino UNO
• IN1 connected to A3 of Arduino UNO
• ENA connected to D5 of Arduino UNO
• ENB connected to D5 of Arduino UNO
• 12V connected to Input + of XL4015 5A DC Buck Step-down and + of Battery 12V
• GND connected to Input - of XL4015 5A DC Buck Step-down and - of Battery 12V
• OUT1 connected to pin 1 of a DC Motor
• OUT2 connected to pin 2 of a DC Motor
• OUT3 connected to pin 2 of a DC Motor
• OUT4 connected to pin 1 of a DC Motor

Servo

• vcc connected to GND of Arduino UNO and Output - of XL4015 5A DC Buck Step-down
• gnd connected to Vin of Arduino UNO and Output + of XL4015 5A DC Buck Step-down
• pulse connected to various digital pins (D8, D9, D10, D11, D12) of Arduino UNO

Battery 12V

• + connected to Input + of XL4015 5A DC Buck Step-down and 12V of L298N DC Motor Driver
• - connected to Input - of XL4015 5A DC Buck Step-down and GND of L298N DC Motor Driver

DC Motor

• pin 1 connected to OUT1 of L298N DC Motor Driver
• pin 2 connected to OUT2 of L298N DC Motor Driver
• pin 1 connected to OUT4 of L298N DC Motor Driver
• pin 2 connected to OUT3 of L298N DC Motor Driver

Documented Code

Arduino UNO Code

#include <Servo.h>

Servo motor_1;
Servo motor_2;
Servo motor_3;
Servo motor_4;
Servo motor_5;

#define enA 5  //Enable1 L298 Pin enA 
#define in1 A3 //Motor1  L298 Pin in1 
#define in2 A2 //Motor1  L298 Pin in1 
#define in3 A1 //Motor2  L298 Pin in1 
#define in4 A0 //Motor2  L298 Pin in1 
#define enB 5  //Enable2 L298 Pin enB 

int servo1 = 90;
int servo2 = 110;
int servo3 = 40;
int servo4 = 50;
int servo5 = 90;

int bt_data;
int Speed = 255;

void setup(){
  
  Serial.begin(9600); // initialize serial communication at 9600 bits per second:
  
  motor_1.attach(8);
  motor_2.attach(9);
  motor_3.attach(10);
  motor_4.attach(11);
  motor_5.attach(12); 
  
  motor_1.write(servo1); 
  motor_2.write(servo2); 
  motor_3.write(servo3); 
  motor_4.write(servo4); 
  motor_5.write(servo5); 
  
  pinMode(enA, OUTPUT); // declare as output for L298 Pin enA 
  pinMode(in1, OUTPUT); // declare as output for L298 Pin in1 
  pinMode(in2, OUTPUT); // declare as output for L298 Pin in2 
  pinMode(in3, OUTPUT); // declare as output for L298 Pin in3   
  pinMode(in4, OUTPUT); // declare as output for L298 Pin in4 
  pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
  
  delay(1000);
}

void loop(){
  //if some date is sent, reads it and saves in state
  
  if(Serial.available() > 0){     
    bt_data = Serial.read(); 
    Serial.println(bt_data);
    if(bt_data > 20){Speed = bt_data;}      
  }
  
  analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed 
  analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed 
  
  if(bt_data == 1){forword(); }  // if the bt_data is '1' the DC motor will go forward
  else if(bt_data == 2){backword();}  // if the bt_data is '2' the motor will Reverse
  else if(bt_data == 3){turnLeft();}