Circuit Documentation

Summary

This circuit is designed to control a Mecanum wheels robot using an Arduino UNO microcontroller. The robot is powered by two 18650 batteries and can be controlled via Bluetooth using an HC-05 Bluetooth module. The movement of the robot is managed by two L298N DC motor drivers, each controlling two DC motors.

Component List

1. 2x 18650 Battery Pack

   • Pins: VCC, GND
   • Description: Provides power to the circuit.

2. Arduino UNO

   • 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
   • Description: Microcontroller used to control the robot.

3. L298N DC Motor Driver (2 units)

   • 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
   • Description: Motor driver used to control the DC motors.

4. DC Motor (4 units)

   • Pins: pin 1, pin 2
   • Description: Motors used to drive the robot.

5. HC-05 Bluetooth Module

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

6. Comment (8 units)

   • Pins: None
   • Description: Placeholder for comments in the circuit design.

Wiring Details

2x 18650 Battery Pack

• VCC connected to:

  • L298N DC motor driver (12V)
  • Arduino UNO (Vin)
  • L298N DC motor driver (12V)

• GND connected to:

  • L298N DC motor driver (GND)
  • Arduino UNO (GND)
  • L298N DC motor driver (GND)

Arduino UNO

• Vin connected to:

  • 2x 18650 Battery Pack (VCC)
  • L298N DC motor driver (12V)
  • L298N DC motor driver (12V)

• GND connected to:

  • 2x 18650 Battery Pack (GND)
  • L298N DC motor driver (GND)
  • L298N DC motor driver (GND)
  • HC-05 Bluetooth Module (GND)

• 5V connected to:

  • HC-05 Bluetooth Module (VCC)

• D9 connected to:

  • L298N DC motor driver (IN1)

• D8 connected to:

  • L298N DC motor driver (IN2)

• D7 connected to:

  • L298N DC motor driver (IN3)

• D6 connected to:

  • L298N DC motor driver (IN4)

• D5 connected to:

  • L298N DC motor driver (IN1)

• D4 connected to:

  • L298N DC motor driver (IN2)

• D3 connected to:

  • L298N DC motor driver (IN3)

• D2 connected to:

  • L298N DC motor driver (IN4)

• D1 connected to:

  • HC-05 Bluetooth Module (RXD)

• D0 connected to:

  • HC-05 Bluetooth Module (TXD)

L298N DC Motor Driver (1st Unit)

• 12V connected to:

  • 2x 18650 Battery Pack (VCC)
  • Arduino UNO (Vin)
  • L298N DC motor driver (12V)

• GND connected to:

  • 2x 18650 Battery Pack (GND)
  • Arduino UNO (GND)
  • L298N DC motor driver (GND)

• IN1 connected to:

  • Arduino UNO (D9)

• IN2 connected to:

  • Arduino UNO (D8)

• IN3 connected to:

  • Arduino UNO (D7)

• IN4 connected to:

  • Arduino UNO (D6)

• OUT1 connected to:

  • DC Motor (pin 2)

• OUT2 connected to:

  • DC Motor (pin 1)

• OUT3 connected to:

  • DC Motor (pin 2)

• OUT4 connected to:

  • DC Motor (pin 1)

L298N DC Motor Driver (2nd Unit)

• 12V connected to:

  • 2x 18650 Battery Pack (VCC)
  • Arduino UNO (Vin)
  • L298N DC motor driver (12V)

• GND connected to:

  • 2x 18650 Battery Pack (GND)
  • Arduino UNO (GND)
  • L298N DC motor driver (GND)

• IN1 connected to:

  • Arduino UNO (D5)

• IN2 connected to:

  • Arduino UNO (D4)

• IN3 connected to:

  • Arduino UNO (D3)

• IN4 connected to:

  • Arduino UNO (D2)

• OUT1 connected to:

  • DC Motor (pin 2)

• OUT2 connected to:

  • DC Motor (pin 1)

• OUT3 connected to:

  • DC Motor (pin 2)

• OUT4 connected to:

  • DC Motor (pin 1)

DC Motor (4 units)

• pin 1 connected to:

  • L298N DC motor driver (OUT2)
  • L298N DC motor driver (OUT4)
  • L298N DC motor driver (OUT2)
  • L298N DC motor driver (OUT4)

• pin 2 connected to:

  • L298N DC motor driver (OUT1)
  • L298N DC motor driver (OUT3)
  • L298N DC motor driver (OUT1)
  • L298N DC motor driver (OUT3)

HC-05 Bluetooth Module

• VCC connected to:

  • Arduino UNO (5V)

• GND connected to:

  • Arduino UNO (GND)

• TXD connected to:

  • Arduino UNO (D0)

• RXD connected to:

  • Arduino UNO (D1)

Code Documentation

//MECANUM WHEELS ROBOT

#define IN_11  2        // L298N #1 in 4 motor Front Right
#define IN_12  3        // L298N #1 in 3 motor Front Right
#define IN_13  4        // L298N #1 in 2 motor Front Left
#define IN_14  5        // L298N #1 in 1 motor Front Left

#define IN_21  6        // L298N #2 in 4 motor Back Left
#define IN_22  7       // L298N #2 in 3 motor Back Left
#define IN_23  8       // L298N #2 in 2 motor Back Right
#define IN_24  9      // L298N #2 in 1 motor Back Right

int command;             //Int to store app command state.
boolean state = 1;

void stopRobot() {
  digitalWrite(IN_11, LOW);
  digitalWrite(IN_12, LOW);

  digitalWrite(IN_13, LOW);
  digitalWrite(IN_14, LOW);
  
  digitalWrite(IN_24, LOW);
  digitalWrite(IN_23, LOW);
  
  digitalWrite(IN_22, LOW);
  digitalWrite(IN_21, LOW);
}

void back() {
  digitalWrite(IN_11, LOW);
  digitalWrite(IN_12, HIGH);

  digitalWrite(IN_13, LOW);
  digitalWrite(IN_14, HIGH);
 
  digitalWrite(IN_24, HIGH);
  digitalWrite(IN_23, LOW);
  
  digitalWrite(IN_22, HIGH);
  digitalWrite(IN_21, LOW);
}

void forward () {
  digitalWrite(IN_11, HIGH);
  digitalWrite(IN_12, LOW);

  digitalWrite(IN_13, HIGH);
  digitalWrite(IN_14, LOW);
  
  digitalWrite(IN_24, LOW);
  digitalWrite(IN_23, HIGH);
 
  digitalWrite(IN_22, LOW);
  digitalWrite(IN_21, HIGH);
}

void left() {
  digitalWrite(IN_11, HIGH);
  digitalWrite(IN_12, LOW);
  
  digitalWrite(IN_13, LOW);
  digitalWrite(IN_14, HIGH);
  
  digitalWrite(IN_24, LOW);
  digitalWrite(IN_23, HIGH);
  
  digital