Circuit Documentation

Summary

This circuit is designed to control two 775 motors using an Arduino UNO and two BTS7960 motor drivers. The circuit also includes an HC-05 Bluetooth module for wireless communication and is powered by a USB power source and two sets of 18650 Li-ion batteries.

Component List

1. 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

2. BTS7960 Motor Driver (2 units)

   • Description: High-current motor driver module.
   • Pins: Pin 1, Pin 2, Pin 3, Pin 4, Pin 5, Pin 6, Pin 7, Pin 8, Pin 9, Pin 10, Pin 11, Pin 12

3. 18650 Li-ion Battery x 2 (2 units)

   • Description: Rechargeable lithium-ion battery.
   • Pins: +, -

4. 775 Motor (2 units)

   • Description: High-torque DC motor.
   • Pins: positive, negative

5. USB Power

   • Description: USB power source.
   • Pins: +, -

6. HC-05 Bluetooth Module

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

Wiring Details

Arduino UNO

• 5V: Connected to Pin 5 of both BTS7960 Motor Drivers and VCC of HC-05 Bluetooth Module.
• GND: Connected to GND of HC-05 Bluetooth Module, USB power (-), and Pin 1 of both BTS7960 Motor Drivers.
• Vin: Connected to USB power (+).
• D12: Connected to Pin 3 of BTS7960 Motor Driver (Right).
• D11: Connected to Pin 7 of BTS7960 Motor Driver (Right).
• D10: Connected to Pin 4 of BTS7960 Motor Driver (Right).
• D9: Connected to Pin 8 of BTS7960 Motor Driver (Right).
• D8: Connected to Pin 3 of BTS7960 Motor Driver (Left).
• D7: Connected to Pin 7 of BTS7960 Motor Driver (Left).
• D6: Connected to Pin 4 of BTS7960 Motor Driver (Left).
• D5: Connected to Pin 8 of BTS7960 Motor Driver (Left).
• D3: Connected to RXD of HC-05 Bluetooth Module.
• D2: Connected to TXD of HC-05 Bluetooth Module.

BTS7960 Motor Driver (Left)

• Pin 1: Connected to GND of Arduino UNO.
• Pin 3: Connected to D8 of Arduino UNO.
• Pin 4: Connected to D6 of Arduino UNO.
• Pin 5: Connected to 5V of Arduino UNO.
• Pin 7: Connected to D7 of Arduino UNO.
• Pin 8: Connected to D5 of Arduino UNO.
• Pin 9: Connected to negative of 775 Motor (Left).
• Pin 10: Connected to positive of 775 Motor (Left).
• Pin 11: Connected to + of 18650 Li-ion Battery.
• Pin 12: Connected to - of 18650 Li-ion Battery.

BTS7960 Motor Driver (Right)

• Pin 1: Connected to GND of Arduino UNO.
• Pin 3: Connected to D12 of Arduino UNO.
• Pin 4: Connected to D10 of Arduino UNO.
• Pin 5: Connected to 5V of Arduino UNO.
• Pin 7: Connected to D11 of Arduino UNO.
• Pin 8: Connected to D9 of Arduino UNO.
• Pin 9: Connected to negative of 775 Motor (Right).
• Pin 10: Connected to positive of 775 Motor (Right).
• Pin 11: Connected to + of 18650 Li-ion Battery.
• Pin 12: Connected to - of 18650 Li-ion Battery.

18650 Li-ion Battery x 2

• +: Connected to Pin 11 of both BTS7960 Motor Drivers.
• -: Connected to Pin 12 of both BTS7960 Motor Drivers.

775 Motor (Left)

• negative: Connected to Pin 9 of BTS7960 Motor Driver (Left).
• positive: Connected to Pin 10 of BTS7960 Motor Driver (Left).

775 Motor (Right)

• negative: Connected to Pin 9 of BTS7960 Motor Driver (Right).
• positive: Connected to Pin 10 of BTS7960 Motor Driver (Right).

USB Power

• +: Connected to Vin of Arduino UNO.
• -: Connected to GND of Arduino UNO.

HC-05 Bluetooth Module

• VCC: Connected to 5V of Arduino UNO.
• GND: Connected to GND of Arduino UNO.
• RXD: Connected to D3 of Arduino UNO.
• TXD: Connected to D2 of Arduino UNO.

Documented Code

// Motor 1 (Left) Pins
#define RPWM1 5
#define LPWM1 6
#define REN1 7
#define LEN1 8

// Motor 2 (Right) Pins
#define RPWM2 9
#define LPWM2 10
#define REN2 11
#define LEN2 12

void setup() {
  // Set pins as output
  pinMode(RPWM1, OUTPUT);
  pinMode(LPWM1, OUTPUT);
  pinMode(REN1, OUTPUT);
  pinMode(LEN1, OUTPUT);

  pinMode(RPWM2, OUTPUT);
  pinMode(LPWM2, OUTPUT);
  pinMode(REN2, OUTPUT);
  pinMode(LEN2, OUTPUT);

  // Enable both motors
  digitalWrite(REN1, HIGH);
  digitalWrite(LEN1, HIGH);
  digitalWrite(REN2, HIGH);
  digitalWrite(LEN2, HIGH);
}

void loop() {
  // Move Forward
  moveForward(200); // Speed: 0-255
  delay(2000);

  // Move Backward
  moveBackward(200); // Speed: 0-255
  delay(2000);

  // Turn Left
  turnLeft(200); // Speed: 0-255
  delay(2000);

  // Turn Right
  turnRight(200); // Speed: 0-255
  delay(2000);

  // Stop
  stopMotors();
  delay(2000);
}

// Function to move forward
void moveForward(int speed) {
  analogWrite(RPWM1, speed);
  analogWrite(LPWM1, 0);
  analogWrite(RPWM2, speed);
  analogWrite(LPWM2, 0);
}

// Function to move backward
void moveBackward(int speed) {
  analogWrite(RPWM1, 0);
  analogWrite(LPWM1, speed);
  analogWrite(RPWM2, 0);
  analogWrite(LPWM2, speed);
}

// Function to turn left
void turnLeft(int speed) {
  analogWrite(RPWM1, 0);
  analogWrite(LPWM1, speed); // Left motor moves backward
  analogWrite(RPWM2, speed);
  analogWrite(LPWM2, 0); // Right motor moves forward
}

// Function to turn right
void turnRight(int speed) {
  analogWrite(RPWM1, speed);
  analogWrite(LPWM1, 0); // Left motor moves forward
  analogWrite(RPWM2, 0);
  analogWrite(LPWM2, speed); // Right motor moves backward
}

// Function to stop both motors
void stopMotors() {
  analogWrite(RPWM1, 0);
  analogWrite(LPWM1, 0);
  analogWrite(RPWM2, 0);
  analogWrite(LPWM2, 0);
}