Project Documentation

Arduino UNO-Based Bluetooth-Controlled Robotic Car with IR Sensors and DC Motors

Circuit Documentation

Summary

This document provides a detailed overview of a circuit that includes an Arduino UNO microcontroller, multiple sensors, motors, and a Bluetooth module. The circuit is designed to control various components such as IR sensors, DC motors, and micro servos, and it includes code for the Arduino UNO to manage these components.

Component List

Arduino UNO
- Description: A 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
2x 18650
- Description: A battery pack consisting of two 18650 lithium-ion cells.
- Pins: vcc, gnd
IR Sensor
- Description: An infrared sensor used for object detection.
- Pins: out, gnd, vcc
L298N DC Motor Driver
- Description: A dual H-Bridge motor driver for controlling DC motors.
- 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
HC-05 Bluetooth Module
- Description: A Bluetooth module for wireless communication.
- Pins: Key, VCC, GND, TXD, RXD, State
DC Motor
- Description: A direct current motor.
- Pins: pin 1, pin 2
Micro Servo 9G
- Description: A small servo motor for precise control.
- Pins: GND, +5V, PWM

Wiring Details

Arduino UNO

3.3V: Connected to vcc of both IR sensors.
5V: Connected to +5V of all Micro Servos and VCC of the HC-05 Bluetooth Module.
GND: Connected to gnd of both IR sensors, GND of the L298N DC motor driver, GND of the HC-05 Bluetooth Module, and GND of all Micro Servos.
Vin: Connected to 5V of the L298N DC motor driver.
D13: Connected to out of one IR sensor.
D12: Connected to out of the other IR sensor.
D11: Connected to ENB of the L298N DC motor driver.
D10: Connected to ENA of the L298N DC motor driver.
D9: Connected to PWM of one Micro Servo.
D8: Connected to IN3 of the L298N DC motor driver.
D7: Connected to IN4 of the L298N DC motor driver.
D6: Connected to PWM of another Micro Servo.
D5: Connected to PWM of another Micro Servo.
D4: Connected to IN1 of the L298N DC motor driver.
D3: Connected to PWM of another Micro Servo.
D2: Connected to IN2 of the L298N DC motor driver.
D1: Connected to RXD of the HC-05 Bluetooth Module.
D0: Connected to TXD of the HC-05 Bluetooth Module.

2x 18650

vcc: Connected to 12V of the L298N DC motor driver.
gnd: Connected to GND of the L298N DC motor driver.

IR Sensor

vcc: Connected to 3.3V of the Arduino UNO.
gnd: Connected to GND of the Arduino UNO.
out: Connected to D13 (one sensor) and D12 (another sensor) of the Arduino UNO.

L298N DC Motor Driver

GND: Connected to GND of the Arduino UNO and 2x 18650.
5V: Connected to Vin of the Arduino UNO.
12V: Connected to vcc of the 2x 18650.
ENB: Connected to D11 of the Arduino UNO.
ENA: Connected to D10 of the Arduino UNO.
IN3: Connected to D8 of the Arduino UNO.
IN4: Connected to D7 of the Arduino UNO.
IN1: Connected to D4 of the Arduino UNO.
IN2: Connected to D2 of the Arduino UNO.
OUT1: Connected to pin 2 of two DC Motors.
OUT2: Connected to pin 1 of two DC Motors.
OUT3: Connected to pin 2 of two other DC Motors.
OUT4: Connected to pin 1 of two other DC Motors.

HC-05 Bluetooth Module

VCC: Connected to 5V of the Arduino UNO.
GND: Connected to GND of the Arduino UNO.
RXD: Connected to D1 of the Arduino UNO.
TXD: Connected to D0 of the Arduino UNO.

DC Motor

pin 1: Connected to OUT2 or OUT4 of the L298N DC motor driver.
pin 2: Connected to OUT1 or OUT3 of the L298N DC motor driver.

Micro Servo 9G

+5V: Connected to 5V of the Arduino UNO.
GND: Connected to GND of the Arduino UNO.
PWM: Connected to D3, D5, D6, or D9 of the Arduino UNO.

Documented Code

Arduino UNO Code

#define Trig 8
#define Echo 9

const int in21 = 4;    // L298N-2 pin 4
const int in22 = 5;    // L298N-2 pin 5
const int in23 = 6;    // L298N-2 pin 6
const int in24 = 7;    // L298N-2 pin 7
const int enA = 10;    // L298N-2 pin 10
const int enB = 11;    // L298N-2 pin 11

void setup() 
{  
  pinMode(Trig, OUTPUT); // выход 
  pinMode(Echo, INPUT); // вход 

  pinMode(in21, OUTPUT);      // выход на L298n
  pinMode(in22, OUTPUT);      // выход на L298n
  pinMode(in23, OUTPUT);      // выход на L298n
  pinMode(in24, OUTPUT);      // выход на L298n
} 

unsigned int impulseTime=0; 
unsigned int distance_sm=0; 

void loop() 
{  
  digitalWrite(Trig, HIGH); 
  delayMicroseconds(10); // 10 микросекунд 
  digitalWrite(Trig, LOW);
  impulseTime=pulseIn(Echo, HIGH); // замеряем длину импульса 
  distance_sm=impulseTime/58; // переводим в сантиметры 

  if (distance_sm>25) // если расстояние более 25 сантиметров 
  {     
      digitalWrite(in21, LOW);
      digitalWrite(in22, HIGH);
      analogWrite(enA, 60);

      analogWrite(enB, 60);
      digitalWrite(in23, HIGH);
      digitalWrite(in24, LOW);
  }  
  else 
  {   
      digitalWrite(in21, HIGH);
      digitalWrite(in22, LOW);

      analogWrite(enA, 100);

      analogWrite(enB, 100);
      
      digitalWrite(in23, HIGH);
      digitalWrite(in24, LOW); 
      delay(1100); // если застряет или не выезжает из угла  - измените время поворота. сейчас там стоит 1,1 с.
  }   

  delay(50); 
}

IR Sensor Code

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run repeatedly:
}

L298N DC Motor Driver Code

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run repeatedly:
}

HC-05 Bluetooth Module Code

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run repeatedly:
}

DC Motor Code

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run