S.Ranjith Reddy
Published © LGPL

Robotic Car controlledover Bluetooth with Obstacle Avoidance

This is a small robot car which can be controlled over Bluetooth using Android devices.

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Robotic Car controlledover Bluetooth with Obstacle Avoidance

Things used in this project

Hardware components

Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×1
motor driver l293d
×1
ir sensor
×4
metal chassis
×1
DC motor (generic)
×2
Breadboard (generic)
Breadboard (generic)
×1
9V 1A Switching Wall Power Supply
9V 1A Switching Wall Power Supply
×1
Jumper wires (generic)
Jumper wires (generic)
×20

Software apps and online services

Arduino IDE
Arduino IDE
SENA BTerm Bluetooth Terminal

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)

Story

Read more

Schematics

Bluetooth connection

how to connect bluetooth module to arduino

IR sensor connections

how to connect ir sensors to the arduino

IR sensor connections LAB View

how to connect ir sensors to the arduino

Motor driver connections

how to connect Motordriver to the arduino

Code

bluetoothbot_wiith_4_ir_obstricle_bot

Arduino
//code by Ranjith Reddy
//email me at : meetranjithreddy@gmail.com
//connect motordriver to 8,9,10,11 digitial pins of arduino
//connect front ir sensor to 2 digitial pin of arduino
//connect right ir sensor to 3 digitial pin of arduino
//connect back ir sensor to 4 digitial pin of arduino
//connect left ir sensor to 5 digitial pin of arduino
////connect Rx pin of arduino to Tx pin of hc-05 bluetooth trans-reciever 
////connect Tx pin of arduino to Rx pin of hc-05 bluetooth trans-reciever



int LmotorUp = 10; //initialising Arduino port 10 be be called as LmotorUp
int LmotorDn = 11; //initialising Arduino port 11 be be called as LmotorDn
int RmotorUp = 8;  //initialising Arduino port 8 be be called as RmotorUp
int RmotorDn = 9;  //initialising Arduino port 9 be be called as RmotorDn
int ir1 = 2;
int ir2 = 3;
int ir3 = 4;
int ir4 = 5;
int ir11 = HIGH;
int ir12 = HIGH;
int ir13 = HIGH;
int ir14 = HIGH;

void setup()
{
  Serial.begin(9600);
  pinMode(LmotorUp,OUTPUT);//Setting ports as OUTPUTS as they 
  pinMode(LmotorDn,OUTPUT);//supply signal values to motor driver
  pinMode(RmotorUp,OUTPUT);
  pinMode(RmotorDn,OUTPUT);
  pinMode(ir1,INPUT);
  pinMode(ir2,INPUT);
  pinMode(ir3,INPUT);
  pinMode(ir4,INPUT);
  Serial.println("<Robot name> Welcomes you"); //begining statement because i can :P
  delay(1000);
} 
  

void loop()
{
  if(Serial.available()>0)//Checking is Serial data available
  ir11= digitalRead(ir1);
  ir12= digitalRead(ir2);
  ir13= digitalRead(ir3);
  ir14= digitalRead(ir4);
  {
    int input = Serial.read(); //Storing value of read data into variable assigned
    
    switch(input)
    {
     case 'w' : MoveF(); //Calling respective functions if mathced with case label 
     break;
     case 's' : MoveB(); // here is it important to use '' as that stores the ASCII value is the letter in the variable
     break;
     case 'a' : MoveL(); // and hence we can use the int keyword
     break;
     case 'd' : MoveR();
     break;
     case 'x' : Stop();
     break;
     default : break;
    }
  } 
  delay(50);
}

void MoveF()
{
  ir11 = digitalRead(ir1);
  if (ir11 == HIGH ) 
  {
  Serial.println("<Robot Name> Forward");
  digitalWrite(LmotorUp,HIGH); //As said in video we are writing a Digital HIGH to the upper left pin of the motor driver
  digitalWrite(LmotorDn,LOW); //As said in video we are writing a Digital LOW to the lower left pin of the motor driver
  digitalWrite(RmotorUp,HIGH); //As said in video we are writing a Digital HIGH to the upper right pin of the motor driver
  digitalWrite(RmotorDn,LOW); //As said in video we are writing a Digital LOW to the lower right pin of the motor driver
 
   delay (2000);
   digitalWrite(LmotorUp,LOW);//Writing a digital LOW to all pins associated with movement of motor driver causes all motors to stop
  digitalWrite(LmotorDn,LOW);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
   

  }
  else {

Serial.println("<Robot Name> forward obstricle");
} 
}
void MoveB()
{
ir13 = digitalRead(ir3);
  if (ir13 == LOW )
{
  Serial.println("<Robot Name> Backward");
  digitalWrite(LmotorUp,LOW); //Reverse logic of above
  digitalWrite(LmotorDn,HIGH);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,HIGH);
  delay (2000);
   digitalWrite(LmotorUp,LOW);//Writing a digital LOW to all pins associated with movement of motor driver causes all motors to stop
  digitalWrite(LmotorDn,LOW);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
   
}
else {

Serial.println("<Robot Name> backward obstricle");
}
}
void MoveL()
{
ir14 = digitalRead(ir4);
  if (ir14 == LOW )
 {
  Serial.println("<Robot Name> Left");
  digitalWrite(LmotorUp,LOW); //we are completely stopping the left motor and allowing the right motor to move forward
  digitalWrite(LmotorDn,LOW); //this will cause the robot to move left
  digitalWrite(RmotorUp,HIGH);
  digitalWrite(RmotorDn,LOW);
  delay (1000);
   digitalWrite(LmotorUp,LOW);//Writing a digital LOW to all pins associated with movement of motor driver causes all motors to stop
  digitalWrite(LmotorDn,LOW);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
   
}
else {

Serial.println("<Robot Name> Leftside obstricle");
}

}
void MoveR()
{
ir12 = digitalRead(ir2);
  if (ir12 == LOW )
 {  Serial.println("<Robot Name> Right");
  digitalWrite(LmotorUp,HIGH);//we are completely stopping the right motor and allowing the left motor to move forward
  digitalWrite(LmotorDn,LOW);//this will cause the robot to move right
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
delay (1000);
   digitalWrite(LmotorUp,LOW);//Writing a digital LOW to all pins associated with movement of motor driver causes all motors to stop
  digitalWrite(LmotorDn,LOW);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
   
}
else {

Serial.println("<Robot Name> Rightside obstricle");
}

}

void Stop()
{
  Serial.println("<Robot Name> Stop");
  digitalWrite(LmotorUp,LOW);//Writing a digital LOW to all pins associated with movement of motor driver causes all motors to stop
  digitalWrite(LmotorDn,LOW);
  digitalWrite(RmotorUp,LOW);
  digitalWrite(RmotorDn,LOW);
}

Credits

S.Ranjith Reddy

S.Ranjith Reddy

2 projects • 12 followers
Work Hard till you no need to introduce your self !!

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