Circuit Documentation

Summary

This document provides a detailed overview of a circuit that includes an Arduino 101 microcontroller, an HC-SR04 Ultrasonic Sensor, a TSOP312 IR Receiver, a Micro Servo 9G, a Bluetooth HC-06 module, an L293D motor driver, multiple Hobby Gearmotors, a TP4056 battery charger, a set battery (7V), and a solar cell. The circuit is designed to control motors and servos, receive IR signals, and communicate via Bluetooth. It also includes a solar charging system for the battery.

Component List

HC-SR04 Ultrasonic Sensor

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

Arduino 101

• Description: Microcontroller board
• Pins: A5/SCL, A4/SDA, AREF, GND, D13/SCK, D12/MISO, D11 PWM/MOSI, D10 PWM/SS, D9 PWM, D8, D7, D6 PWM, D5 PWM, D4, D3 PWM, D2, D1/TX, D0/RX, AIN, ioref, RESET, 3V3, 5V, VIN, A0, A1, A2, A3, ICSP MISO, ICSP SCK, ICSP MOSI

L293D

• Description: Motor driver
• 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

Hobby Gearmotor with 48:1 gearbox

• Description: Gearmotor
• Pins: pin 1, pin 2

Solar cell

• Description: Solar power source
• Pins: +, -

TP4056

• Description: Battery charger module
• Pins: OUT-, B-, B+, OUT+, IN-, IN+

Set battery (7V)

• Description: Battery
• Pins: +, -

Bluetooth HC-06

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

TSOP312 IR Receiver

• Description: IR receiver
• Pins: GND, Vs, Data

Micro Servo 9G

• Description: Servo motor
• Pins: GND, +5V, PWM

Wiring Details

HC-SR04 Ultrasonic Sensor

• VCC connected to Arduino 101 5V
• TRIG connected to Arduino 101 D3 PWM
• ECHO connected to Arduino 101 D4
• GND connected to Arduino 101 GND

Arduino 101

• 5V connected to HC-SR04 Ultrasonic Sensor VCC, TSOP312 IR Receiver Vs, Micro Servo 9G +5V, Bluetooth HC-06 VCC
• D3 PWM connected to HC-SR04 Ultrasonic Sensor TRIG
• D4 connected to HC-SR04 Ultrasonic Sensor ECHO
• GND connected to HC-SR04 Ultrasonic Sensor GND, L293D GND, Micro Servo 9G GND, Bluetooth HC-06 GND, TSOP312 IR Receiver GND, TP4056 OUT-, Set battery (7V) -
• D7 connected to Micro Servo 9G PWM
• D2 connected to TSOP312 IR Receiver Data
• D1/TX connected to Bluetooth HC-06 RXD
• D0/RX connected to Bluetooth HC-06 TXD
• VIN connected to TP4056 OUT+, Set battery (7V) +, L293D +

L293D

• GND connected to Arduino 101 GND, Hobby Gearmotor pin 1
• + connected to Arduino 101 VIN, Hobby Gearmotor pin 2

Hobby Gearmotor with 48:1 gearbox

• pin 1 connected to L293D GND
• pin 2 connected to L293D +

Solar cell

• + connected to TP4056 IN+
• - connected to TP4056 IN-

TP4056

• OUT- connected to Arduino 101 GND
• OUT+ connected to Arduino 101 VIN
• IN+ connected to Solar cell +
• IN- connected to Solar cell -

Set battery (7V)

• + connected to TP4056 OUT+
• - connected to TP4056 OUT-

Bluetooth HC-06

• VCC connected to Arduino 101 5V
• GND connected to Arduino 101 GND
• TXD connected to Arduino 101 D0/RX
• RXD connected to Arduino 101 D1/TX

TSOP312 IR Receiver

• Vs connected to Arduino 101 5V
• Data connected to Arduino 101 D2
• GND connected to Arduino 101 GND

Micro Servo 9G

• +5V connected to Arduino 101 5V
• PWM connected to Arduino 101 D7
• GND connected to Arduino 101 GND

Code Documentation

Arduino 101 Code

#include <AFMotor.h>
#include <IRremote.h>
#include <Servo.h>

// Pin definitions
#define IN1 5
#define IN2 6
#define IN3 9
#define IN4 10
#define ENA 3
#define ENB 11

// Motor speed
int speed = 255;  // Max speed

// Ultrasonic sensor pins
#define TRIG_PIN 3
#define ECHO_PIN 4

// Servo pin
Servo myservo;
#define SERVO_PIN 7

// IR Remote Pin
#define RECV_PIN 2

// IR receiver object
IRrecv irrecv(RECV_PIN);
decode_results results;

// Motor initialization
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

void setup() {
  // Serial monitor for debugging
  Serial.begin(9600);

  // Motor initialization
  motor1.setSpeed(speed);
  motor2.setSpeed(speed);
  motor3.setSpeed(speed);
  motor4.setSpeed(speed);

  // Set motor driver pins as outputs
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);

  // Initialize the IR receiver
  irrecv.enableIRIn();

  // Initialize ultrasonic sensor
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  // Initialize servo motor
  myservo.attach(SERVO_PIN);
}

void loop() {
  // Check for incoming IR signals
  if (irrecv.decode(&results)) {
    long int decCode = results.value;
    Serial.println(decCode);

    // Example: Control motors with IR remote
    if (decCode == 0xFF02FD) { // Forward
      moveForward();
    }
    else if (decCode == 0xFF03FC) { // Backward
      moveBackward();
    }
    else if (decCode == 0xFF01FE) { // Turn Left
      turnLeft();
    }
    else if (decCode == 0xFF08F7) { // Turn Right
      turnRight();
    }
    else if (decCode == 0xFF09F6) { // Stop
      stopMotors();
    }

    irrecv.resume();  // Receive the next value
  }

  // Obstacle avoidance using the servo-controlled ultrasonic sensor
  scanForObstacles();
}

// Motor Control Functions
void moveForward() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  motor1.run(FORWARD);
  motor2.run(FORWARD);
  motor3.run(FORWARD);
  motor4.run(FORWARD);
}

void moveBackward() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
  motor3.run(BACKWARD);
  motor4.run(BACKWARD);
}

void turnLeft() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3,