Circuit Documentation

Summary

This document provides a detailed overview of a robot car circuit designed for obstacle avoidance, Bluetooth control, and voice control. The circuit includes an Arduino UNO microcontroller, motor and wheels, an HC-SR04 Ultrasonic Sensor, an L293D motor driver, a Micro servo 9G, a 18650 Li-Ion battery, a Bluetooth HC-06 module, and a rocker switch. The Arduino UNO is programmed to control the motors and sensors to navigate and avoid obstacles.

Component List

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

Motor and Wheels

• Description: DC motors with wheels for movement.
• Pins: vcc, GND

HC-SR04 Ultrasonic Sensor

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

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

Micro Servo 9G

• Description: Small servo motor.
• Pins: GND, +5V, PWM

18650 Li-Ion

• Description: Rechargeable lithium-ion battery.
• Pins: Positive, Negative

Bluetooth HC-06

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

Rocker Switch

• Description: On/Off switch.
• Pins: output, input

Wiring Details

Arduino UNO

• Reset connected to L293D RESET
• 3.3V connected to L293D 3.3V
• 5V connected to L293D 5V
• GND connected to L293D GND
• Vin connected to L293D VIN
• 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
• D13 connected to L293D D13
• D12 connected to L293D D12
• D11 connected to L293D D11
• D10 connected to L293D D10
• D9 connected to L293D D9
• D8 connected to L293D D8
• D7 connected to L293D D7
• D6 connected to L293D D6
• D5 connected to L293D D5
• D4 connected to L293D D4
• D3 connected to L293D D3
• D2 connected to L293D D2
• D1 connected to Bluetooth HC-06 RXD and L293D TX/D1
• D0 connected to Bluetooth HC-06 TXD and L293D RX/DO

Motor and Wheels

• vcc connected to L293D +
• GND connected to L293D GND

HC-SR04 Ultrasonic Sensor

• VCC connected to L293D 5V
• TRIG connected to L293D A1
• ECHO connected to L293D A0
• GND connected to L293D GND

L293D

• RESET connected to Arduino UNO Reset
• 3.3V connected to Arduino UNO 3.3V
• 5V connected to Arduino UNO 5V
• GND connected to Arduino UNO GND
• VIN connected to Arduino UNO Vin
• 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
• D13 connected to Arduino UNO D13
• D12 connected to Arduino UNO D12
• D11 connected to Arduino UNO D11
• D10 connected to Arduino UNO D10
• D9 connected to Arduino UNO D9
• D8 connected to Arduino UNO D8
• D7 connected to Arduino UNO D7
• D6 connected to Arduino UNO D6
• D5 connected to Arduino UNO D5
• D4 connected to Arduino UNO D4
• D3 connected to Arduino UNO D3
• D2 connected to Arduino UNO D2
• TX/D1 connected to Arduino UNO D1 and Bluetooth HC-06 RXD
• RX/DO connected to Arduino UNO D0 and Bluetooth HC-06 TXD
• + connected to Motor and Wheels vcc and Rocker Switch output
• Servo1 connected to Micro Servo 9G PWM
• A0 connected to HC-SR04 Ultrasonic Sensor ECHO
• A1 connected to HC-SR04 Ultrasonic Sensor TRIG

Micro Servo 9G

• GND connected to L293D GND
• +5V connected to L293D 5V
• PWM connected to L293D Servo1

18650 Li-Ion

• Positive connected to Rocker Switch input
• Negative connected to L293D GND

Bluetooth HC-06

• VCC connected to L293D 5V
• GND connected to L293D GND
• TXD connected to Arduino UNO D0 and L293D RX/DO
• RXD connected to Arduino UNO D1 and L293D TX/D1

Rocker Switch

• output connected to L293D +
• input connected to 18650 Li-Ion Positive

Documented Code

/*obstacle avoiding, Bluetooth control, voice control robot car.
   Home Page
*/
#include <Servo.h>
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define motor 10
#define Speed 170
#define spoint 103
char value;
int distance;
int Left;
int Right;
int L = 0;
int R = 0;
int L1 = 0;
int R1 = 0;
Servo servo;
AF_DCMotor M1(1);
AF_DCMotor M2(2);
AF_DCMotor M3(3);
AF_DCMotor M4(4);
void setup() {
  Serial.begin(9600);
  pinMode(Trig, OUTPUT);
  pinMode(Echo, INPUT);
  servo.attach(motor);
  M1.setSpeed(Speed);
  M2.setSpeed(Speed);
  M3.setSpeed(Speed);
  M4.setSpeed(Speed);
}
void loop() {
  Obstacle();
  //Bluetoothcontrol();
  //voicecontrol();
}
void Bluetoothcontrol() {
  if (Serial.available() > 0) {
    value = Serial.read();
    Serial.println(value);
  }
  if (value == 'F') {
    forward();
  } else if (value == 'B') {
    backward();
  } else if (value == 'L') {
    left();
  } else if (value == 'R') {
    right();
  } else if (value == 'S') {
    Stop();
  }
}
void Obstacle() {
  distance = ultrasonic();
  if (distance <= 12) {
    Stop();
    backward();
    delay(100);
    Stop();
    L = leftsee();
    servo.write(spoint);
    delay(800);
    R = rightsee();
    servo.write(spoint);
    if (L < R) {
      right();
      delay(500);
      Stop();
      delay(