Dynamics_3
Published © GPL3+

Track Vehicle Controller Tx to Rx

Code and STL file for remote controlled Arduino track vehicle and track links.

BeginnerWork in progress272
Track Vehicle Controller Tx to Rx

Things used in this project

Story

Read more

Custom parts and enclosures

Track links

STL file for 3D printing your own track links.

Schematics

Wiring

All wiring info is in the code

Code

Code for remote controlled track vehicle

Arduino
int enA = 5; 
int in1 = 8; 
int in2 = 7; 
int enB = 6; 
int in3 = 4; 
int in4 = 3; 
int Ch1 = 11;
int xAxis = 9;
int yAxis = 10;

int motorA = 0; 
int motorB = 0; 
// Ch1>11
// Ch3>10
// Ch4>9 
void setup() { 
  Serial.begin(9600);
  pinMode(enA, OUTPUT); 
  pinMode(enB, OUTPUT); 
  pinMode(in1, OUTPUT); 
  pinMode(in2, OUTPUT); 
  pinMode(in3, OUTPUT); 
  pinMode(in4, OUTPUT); 
  
}
void loop() { 
  int Ch1 = pulseIn(11,HIGH);
  int xAxis = pulseIn(9,HIGH); // Read Joysticks X-axis 
  int yAxis = pulseIn(10,HIGH,25000); // Read Joysticks Y-axis 
 
// Y-axis used for forward and backward control 
  if (yAxis < 1300) { 
    // Set Motor A backward 
    digitalWrite(in1, HIGH); 
    digitalWrite(in2, LOW); 
    // Set Motor B backward 
    digitalWrite(in3, HIGH); 
    digitalWrite(in4, LOW); 
    // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed 
    motorA = map(yAxis, 1300, 1000, 0, 255); 
    motorB = map(yAxis, 1300, 1000, 0, 255); 
  } 
  else if (yAxis > 1700) { 
    // Set Motor A forward 
    digitalWrite(in1, LOW); 
    digitalWrite(in2, HIGH); 
    // Set Motor B forward 
    digitalWrite(in3, LOW); 
    digitalWrite(in4, HIGH); 
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed 
    motorA = map(yAxis, 1700, 2000, 0, 255); 
    motorB = map(yAxis, 1700, 2000, 0, 255); 
  } 
  // If joystick stays in middle the motors are not moving 
  else { 
    motorA = 0; 
    motorB = 0; 
  }  
  // X-axis used for left and right control 
  if (xAxis < 1400) { 
    // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value 
    int xMapped = map(xAxis, 1400, 1000, 0, 255); 
    // Move to left - decrease left motor speed, increase right motor speed 
    motorA = motorA - xMapped; 
    motorB = motorB + xMapped; 
    // Confine the range from 0 to 255 
    if (motorA < 0) { 
      motorA = 0; 
    } 
    if (motorB > 255) { 
      motorB = 255; 
    } 
  } 
  if (xAxis >= 1600) { 
    // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value 
    int xMapped = map(xAxis, 1600, 2000, 0, 255); 
    // Move right - decrease right motor speed, increase left motor speed 
    motorA = motorA + xMapped; 
    motorB = motorB - xMapped; 
    // Confine the range from 0 to 255 
    if (motorA > 255) { 
      motorA = 255; 
    } 
    if (motorB < 0) { 
      motorB = 0; 
    } 
  } 
  if (Ch1 >1600) {
    digitalWrite(in1, LOW); 
    digitalWrite(in2, HIGH); 
    // Set Motor B forward 
    digitalWrite(in3, HIGH); 
    digitalWrite(in4, LOW); 
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed 
    motorA = map(Ch1, 1600, 2000, 0, 255); 
    motorB = map(Ch1, 1600, 2000, 0, 255);
  }
  else if (Ch1 <1400) {
    digitalWrite(in1, HIGH); 
    digitalWrite(in2, LOW); 
    // Set Motor B forward 
    digitalWrite(in3, LOW); 
    digitalWrite(in4, HIGH); 
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed 
    motorA = map(Ch1, 1400, 1000, 0, 255); 
    motorB = map(Ch1, 1400, 1000, 0, 255);
  }
  if (xAxis,yAxis,Ch1 <900){
     motorA = 0; 
    motorB = 0;
  }
  // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70) 
  if (motorA < 70) { 
    motorA = 0; 
  } 
  if (motorB < 70) { 
    motorB = 0; 
  } 
  digitalWrite(enA, motorA); // Send PWM signal to motor A 
  digitalWrite(enB, motorB); // Send PWM signal to motor B 
  
  
}

Credits

Dynamics_3

Dynamics_3

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