Circuit Documentation

Summary

The circuit in question is a complex system designed to interface an Arduino UNO, an Arduino Nano, an HC-05 Bluetooth module, an InvenSense MPU6050 accelerometer/gyroscope, an L298N DC motor driver, two DC motors, and a couple of battery power sources. The Arduino UNO is the primary microcontroller, while the Arduino Nano serves as a secondary controller interfacing with the MPU6050 and an additional HC-05 Bluetooth module. The L298N motor driver controls the two DC motors, and the system is powered by a 4 x AAA battery mount and a separate battery case.

Component List

Arduino UNO

• Microcontroller board based on the ATmega328P
• Features digital I/O pins, analog input pins, and various power outputs

Arduino Nano

• Compact microcontroller board based on the ATmega328
• Includes digital I/O pins, analog inputs, and dedicated SPI/I2C pins

HC-05 Bluetooth Module (x2)

• Bluetooth to serial port module, used for wireless communication
• Features RX/TX pins for serial communication and a State pin for connection status

InvenSense MPU6050

• Motion tracking device with a 3-axis accelerometer and a 3-axis gyroscope
• Communicates via I2C protocol

L298N DC Motor Driver

• Dual H-bridge motor driver capable of driving two DC motors
• Provides pins for motor outputs, power supply, and control inputs

DC Motor (x2)

• Electric motors powered by direct current (DC)
• Each motor has two pins for power connection

4 x AAA Battery Mount

• Power source for the circuit
• Provides a positive and negative terminal for power distribution

My Battery Case

• An additional power source
• Includes positive and negative terminals

Wiring Details

Arduino UNO

• 5V and GND connected to the HC-05 Bluetooth Module for power
• Vin connected to the L298N DC motor driver's 5V for power
• Digital pins D8, D7, D4, and D2 connected to IN4, IN3, IN2, and IN1 on the L298N motor driver for motor control
• D1 and D0 connected to RXD and TXD on the HC-05 Bluetooth Module for serial communication

Arduino Nano

• 3V3 connected to the MPU6050's VCC and the HC-05 Bluetooth Module's State
• A4 and A5 connected to the MPU6050's SDA and SCL for I2C communication
• 5V connected to the HC-05 Bluetooth Module's VCC for power
• GND connected to the MPU6050's GND, the HC-05 Bluetooth Module's GND, and My battery case's - for common ground
• D0/RX and D1/TX connected to the HC-05 Bluetooth Module's TXD and RXD for serial communication
• VIN connected to My battery case's + for power

HC-05 Bluetooth Module

• One module connected to the Arduino UNO for serial communication and power
• Another module connected to the Arduino Nano for serial communication and power

InvenSense MPU6050

• VCC and GND connected to the Arduino Nano for power
• SDA and SCL connected to the Arduino Nano for I2C communication

L298N DC Motor Driver

• OUT1, OUT2, OUT3, and OUT4 connected to the DC Motors for motor output
• 12V connected to the 4 x AAA Battery Mount's + for power
• GND connected to the 4 x AAA Battery Mount's - for common ground
• IN1, IN2, IN3, and IN4 connected to the Arduino UNO for control signals

DC Motors

• Each motor connected to the L298N DC motor driver's corresponding output pins

4 x AAA Battery Mount

• + connected to the L298N DC motor driver's 12V for motor power
• - connected to the L298N DC motor driver's GND for common ground

My Battery Case

• + connected to the Arduino Nano's VIN for power
• - connected to the Arduino Nano's GND for common ground

Documented Code

Arduino UNO Code

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

int x, y;
Adafruit_MPU6050 mpu;

void setup(void) {
    Serial.begin(115200);
    while (!Serial)
        delay(10);

    Serial.println("Adafruit MPU6050 test!");

    // Try to initialize!
    if (!mpu.begin()) {
        Serial.println("Failed to find MPU6050 chip");
        while (1) {
            delay(10);
        }
    }
    Serial.println("MPU6050 Found!");

    mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
    mpu.setGyroRange(MPU6050_RANGE_500_DEG);
    mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

    Serial.println("");
    delay(100);
}

void loop() {
    sensors_event_t a, g, temp;
    mpu.getEvent(&a, &g, &temp);
    x = a.acceleration.x;
    y = a.acceleration.y;

    Serial.print("Acceleration X: ");
    Serial.print(a.acceleration.x);
    Serial.print(", Y: ");
    Serial.print(a.acceleration.y);
    Serial.print(", Z: ");
    Serial.print(a.acceleration.z);
    Serial.println(" m/s^2");

    // Rear motors control (forward and reverse)
    if (y >= 4) {
        Serial.println("Forward");
        Serial.write("F");  // Command to move forward
    } else if (y <= -4) {
        Serial.println("Backward");
        Serial.write("B");  // Command to move backward
    } else {
        Serial.println("Stop");
        Serial.write("S");  // Command to stop
    }

    // Front motors control (left and right)
    if (x >= 4) {
        Serial.println("Left");
        Serial.write("L");  // Command to turn left
    } else if (x <= -4) {
        Serial.println("Right");
        Serial.write("R");  // Command to turn right
    }
}

Arduino Nano Code (HC-05 Bluetooth Module)

/*
 * Arduino Sketch for Gesture Control Wheelchair
 *
 * This code interfaces with an HC-05 Bluetooth module to receive commands
 * and sends them to the main Arduino UNO microcontroller to control the
 * wheelchair's movement.
 */

// Pin definitions
const int bluetoothTx = 0; // TX pin of HC-05
const int bluetoothRx = 1; // RX pin of HC-05

void setup() {
  // Initialize serial communication for Bluetooth module
  Serial.begin(115200);
}

void loop() {
  // Check if data is available from Bluetooth module
  if (Serial.available() > 0) {
    char command = Serial.read();
    // Forward the received command to the main controller
    Serial.write(command);
  }
}

Arduino Nano Code (MPU6050)

/*
 * Arduino Sketch for Gesture Control Wheelchair
 *
 * This code interfaces with an HC-05 Bluetooth module to receive commands
 * and an MPU6050 accelerometer to detect gestures. The commands are then
 * forwarded to the main Arduino UNO microcontroller to control the
 * wheelchair's movement.
 */

#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

// Pin definitions
const int bluetoothTx = 1; // TX pin of HC-05
const int bluetoothRx = 0; // RX pin of HC-05

void setup() {
  // Initialize serial communication for Bluetooth module
  Serial.begin(115200);
  // Initialize MPU6050
  Wire.begin();
  mpu.initialize();
  if (!mpu.testConnection()) {
    while (1) {
      // Failed to connect to MPU6050
    }
  }
}

void loop() {
  // Read accelerometer data
  int16_t ax, ay, az;
  mpu.getAcceleration(&ax, &ay, &az);
  char command = 'S'; // Default command is Stop
  // Determine command based on accelerometer data
  if (ax > 10000) {
    command = 'F'; // Move forward
  } else if (ax < -10000) {
    command = 'B'; // Move backward
  } else if (ay > 10000) {
    command = 'L'; // Turn left
  } else if (ay < -10000) {
    command = 'R'; // Turn right
  }
  // Send command to main controller
  Serial.write(command);
  delay(100); // Delay to avoid spamming commands
}

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