Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a set of motors using an Arduino UNO and an L293D motor driver. The circuit also includes an HC-06 Bluetooth module for wireless communication and a 9V battery for power supply. The Arduino UNO is programmed to control the motors based on commands received via Bluetooth.

Component List

1. L293D

   • Description: Motor driver IC
   • 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
   • 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-06

   • Description: Bluetooth module
   • Pins: RXD, TXD, GND, VCC

4. Motor and Wheels

   • Description: DC motor with wheels
   • Pins: vcc, GND

5. 9V Battery

   • Description: Power supply
   • Pins: -, +

Wiring Details

L293D

• GND connected to:

  • 9V Battery (-)
  • Motor and Wheels (GND) x4
  • HC-06 (GND)
  • Arduino UNO (GND) x3
  • Arduino UNO (AREF)

• 5V connected to:

  • HC-06 (VCC)
  • Arduino UNO (5V)

• + connected to:

  • 9V Battery (+)
  • Motor and Wheels (vcc) x4

• RX/DO connected to:

  • HC-06 (TXD)
  • Arduino UNO (D0)

• TX/D1 connected to:

  • HC-06 (RXD)
  • Arduino UNO (D1)

• A0 connected to:

  • Arduino UNO (A0)

• A1 connected to:

  • Arduino UNO (A1)

• A2 connected to:

  • Arduino UNO (A2)

• A3 connected to:

  • Arduino UNO (A3)

• A4/SDA connected to:

  • Arduino UNO (A4)

• A5/SCL connected to:

  • Arduino UNO (A5)

• VIN connected to:

  • Arduino UNO (Vin)

• 3.3V connected to:

  • Arduino UNO (3.3V)

• RESET connected to:

  • Arduino UNO (Reset)

• D2 connected to:

  • Arduino UNO (D2)

• D3 connected to:

  • Arduino UNO (D3)

• D4 connected to:

  • Arduino UNO (D4)

• D5 connected to:

  • Arduino UNO (D5)

• D6 connected to:

  • Arduino UNO (D6)

• D7 connected to:

  • Arduino UNO (D7)

• D8 connected to:

  • Arduino UNO (D8)

• D9 connected to:

  • Arduino UNO (D9)

• D10 connected to:

  • Arduino UNO (D10)

• D11 connected to:

  • Arduino UNO (D11)

• D12 connected to:

  • Arduino UNO (D12)

• D13 connected to:

  • Arduino UNO (D13)

Arduino UNO

• GND connected to:

  • L293D (GND) x3

• 5V connected to:

  • L293D (5V)

• 3.3V connected to:

  • L293D (3.3V)

• Vin connected to:

  • L293D (VIN)

• Reset connected to:

  • L293D (RESET)

• D0 connected to:

  • HC-06 (TXD)
  • L293D (RX/DO)

• D1 connected to:

  • HC-06 (RXD)
  • L293D (TX/D1)

• A0 connected to:

  • L293D (A0)

• A1 connected to:

  • L293D (A1)

• A2 connected to:

  • L293D (A2)

• A3 connected to:

  • L293D (A3)

• A4 connected to:

  • L293D (A4/SDA)

• A5 connected to:

  • L293D (A5/SCL)

• AREF connected to:

  • L293D (GND)

HC-06

• GND connected to:

  • L293D (GND)

• VCC connected to:

  • L293D (5V)

• RXD connected to:

  • Arduino UNO (D1)
  • L293D (TX/D1)

• TXD connected to:

  • Arduino UNO (D0)
  • L293D (RX/DO)

Motor and Wheels

• GND connected to:

  • L293D (GND) x4

• vcc connected to:

  • L293D (+) x4

9V Battery

• - connected to:

  • L293D (GND)

• + connected to:

  • L293D (+)

Code Documentation

#include <AFMotor.h>

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

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

void Stop()
{
  motor1.setSpeed(0); //Define minimum