Track Vehicle Controller Tx to Rx

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

Mar 9, 2020

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cars

communication

remote control

Components and supplies

Arduino Mega 2560

Jumper wires (generic)

SparkFun Full-Bridge Motor Driver Breakout - L298N

Project description

Code

Code for remote controlled track vehicle

arduino

1int enA = 5; 
2int in1 = 8; 
3int in2 = 7; 
4int enB = 6; 
5int   in3 = 4; 
6int in4 = 3; 
7int Ch1 = 11;
8int xAxis = 9;
9int yAxis = 10;
10
11int   motorA = 0; 
12int motorB = 0; 
13// Ch1>11
14// Ch3>10
15// Ch4>9 
16void   setup() { 
17  Serial.begin(9600);
18  pinMode(enA, OUTPUT); 
19  pinMode(enB,   OUTPUT); 
20  pinMode(in1, OUTPUT); 
21  pinMode(in2, OUTPUT); 
22  pinMode(in3,   OUTPUT); 
23  pinMode(in4, OUTPUT); 
24  
25}
26void loop() { 
27  int Ch1   = pulseIn(11,HIGH);
28  int xAxis = pulseIn(9,HIGH); // Read Joysticks X-axis 
29   int yAxis = pulseIn(10,HIGH,25000); // Read Joysticks Y-axis 
30 
31// Y-axis   used for forward and backward control 
32  if (yAxis < 1300) { 
33    // Set Motor   A backward 
34    digitalWrite(in1, HIGH); 
35    digitalWrite(in2, LOW); 
36     // Set Motor B backward 
37    digitalWrite(in3, HIGH); 
38    digitalWrite(in4,   LOW); 
39    // 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 
40     motorA = map(yAxis, 1300, 1000, 0, 255); 
41    motorB = map(yAxis, 1300, 1000,   0, 255); 
42  } 
43  else if (yAxis > 1700) { 
44    // Set Motor A forward 
45     digitalWrite(in1, LOW); 
46    digitalWrite(in2, HIGH); 
47    // Set Motor   B forward 
48    digitalWrite(in3, LOW); 
49    digitalWrite(in4, HIGH); 
50     // 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 
51    motorA   = map(yAxis, 1700, 2000, 0, 255); 
52    motorB = map(yAxis, 1700, 2000, 0, 255);   
53  } 
54  // If joystick stays in middle the motors are not moving 
55  else   { 
56    motorA = 0; 
57    motorB = 0; 
58  }  
59  // X-axis used for left   and right control 
60  if (xAxis < 1400) { 
61    // Convert the declining X-axis   readings from 470 to 0 into increasing 0 to 255 value 
62    int xMapped = map(xAxis,   1400, 1000, 0, 255); 
63    // Move to left - decrease left motor speed, increase   right motor speed 
64    motorA = motorA - xMapped; 
65    motorB = motorB + xMapped;   
66    // Confine the range from 0 to 255 
67    if (motorA < 0) { 
68      motorA   = 0; 
69    } 
70    if (motorB > 255) { 
71      motorB = 255; 
72    } 
73   } 
74  if (xAxis >= 1600) { 
75    // Convert the increasing X-axis readings   from 550 to 1023 into 0 to 255 value 
76    int xMapped = map(xAxis, 1600, 2000,   0, 255); 
77    // Move right - decrease right motor speed, increase left motor   speed 
78    motorA = motorA + xMapped; 
79    motorB = motorB - xMapped; 
80     // Confine the range from 0 to 255 
81    if (motorA > 255) { 
82      motorA   = 255; 
83    } 
84    if (motorB < 0) { 
85      motorB = 0; 
86    } 
87   } 
88  if (Ch1 >1600) {
89    digitalWrite(in1, LOW); 
90    digitalWrite(in2,   HIGH); 
91    // Set Motor B forward 
92    digitalWrite(in3, HIGH); 
93    digitalWrite(in4,   LOW); 
94    // 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 
95     motorA = map(Ch1, 1600, 2000, 0, 255); 
96    motorB = map(Ch1, 1600, 2000,   0, 255);
97  }
98  else if (Ch1 <1400) {
99    digitalWrite(in1, HIGH); 
100     digitalWrite(in2, LOW); 
101    // Set Motor B forward 
102    digitalWrite(in3,   LOW); 
103    digitalWrite(in4, HIGH); 
104    // 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 
105    motorA = map(Ch1, 1400, 1000, 0, 255); 
106     motorB = map(Ch1, 1400, 1000, 0, 255);
107  }
108  if (xAxis,yAxis,Ch1 <900){
109      motorA = 0; 
110    motorB = 0;
111  }
112  // Prevent buzzing at low speeds   (Adjust according to your motors. My motors couldn't start moving if PWM value was   below value of 70) 
113  if (motorA < 70) { 
114    motorA = 0; 
115  } 
116  if   (motorB < 70) { 
117    motorB = 0; 
118  } 
119  digitalWrite(enA, motorA); //   Send PWM signal to motor A 
120  digitalWrite(enB, motorB); // Send PWM signal to   motor B 
121  
122  
123}

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 
  
  
}

Code for remote controlled track vehicle

arduino

1int enA = 5; 
2int in1 = 8; 
3int in2 = 7; 
4int enB = 6; 
5int  in3 = 4; 
6int in4 = 3; 
7int Ch1 = 11;
8int xAxis = 9;
9int yAxis = 10;
10
11int  motorA = 0; 
12int motorB = 0; 
13// Ch1>11
14// Ch3>10
15// Ch4>9 
16void  setup() { 
17  Serial.begin(9600);
18  pinMode(enA, OUTPUT); 
19  pinMode(enB,  OUTPUT); 
20  pinMode(in1, OUTPUT); 
21  pinMode(in2, OUTPUT); 
22  pinMode(in3,  OUTPUT); 
23  pinMode(in4, OUTPUT); 
24  
25}
26void loop() { 
27  int Ch1  = pulseIn(11,HIGH);
28  int xAxis = pulseIn(9,HIGH); // Read Joysticks X-axis 
29  int yAxis = pulseIn(10,HIGH,25000); // Read Joysticks Y-axis 
30 
31// Y-axis  used for forward and backward control 
32  if (yAxis < 1300) { 
33    // Set Motor  A backward 
34    digitalWrite(in1, HIGH); 
35    digitalWrite(in2, LOW); 
36    // Set Motor B backward 
37    digitalWrite(in3, HIGH); 
38    digitalWrite(in4,  LOW); 
39    // 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 
40    motorA = map(yAxis, 1300, 1000, 0, 255); 
41    motorB = map(yAxis, 1300, 1000,  0, 255); 
42  } 
43  else if (yAxis > 1700) { 
44    // Set Motor A forward 
45    digitalWrite(in1, LOW); 
46    digitalWrite(in2, HIGH); 
47    // Set Motor  B forward 
48    digitalWrite(in3, LOW); 
49    digitalWrite(in4, HIGH); 
50    // 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 
51    motorA  = map(yAxis, 1700, 2000, 0, 255); 
52    motorB = map(yAxis, 1700, 2000, 0, 255);  
53  } 
54  // If joystick stays in middle the motors are not moving 
55  else  { 
56    motorA = 0; 
57    motorB = 0; 
58  }  
59  // X-axis used for left  and right control 
60  if (xAxis < 1400) { 
61    // Convert the declining X-axis  readings from 470 to 0 into increasing 0 to 255 value 
62    int xMapped = map(xAxis,  1400, 1000, 0, 255); 
63    // Move to left - decrease left motor speed, increase  right motor speed 
64    motorA = motorA - xMapped; 
65    motorB = motorB + xMapped;  
66    // Confine the range from 0 to 255 
67    if (motorA < 0) { 
68      motorA  = 0; 
69    } 
70    if (motorB > 255) { 
71      motorB = 255; 
72    } 
73  } 
74  if (xAxis >= 1600) { 
75    // Convert the increasing X-axis readings  from 550 to 1023 into 0 to 255 value 
76    int xMapped = map(xAxis, 1600, 2000,  0, 255); 
77    // Move right - decrease right motor speed, increase left motor  speed 
78    motorA = motorA + xMapped; 
79    motorB = motorB - xMapped; 
80    // Confine the range from 0 to 255 
81    if (motorA > 255) { 
82      motorA  = 255; 
83    } 
84    if (motorB < 0) { 
85      motorB = 0; 
86    } 
87  } 
88  if (Ch1 >1600) {
89    digitalWrite(in1, LOW); 
90    digitalWrite(in2,  HIGH); 
91    // Set Motor B forward 
92    digitalWrite(in3, HIGH); 
93    digitalWrite(in4,  LOW); 
94    // 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 
95    motorA = map(Ch1, 1600, 2000, 0, 255); 
96    motorB = map(Ch1, 1600, 2000,  0, 255);
97  }
98  else if (Ch1 <1400) {
99    digitalWrite(in1, HIGH); 
100    digitalWrite(in2, LOW); 
101    // Set Motor B forward 
102    digitalWrite(in3,  LOW); 
103    digitalWrite(in4, HIGH); 
104    // 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 
105    motorA = map(Ch1, 1400, 1000, 0, 255); 
106    motorB = map(Ch1, 1400, 1000, 0, 255);
107  }
108  if (xAxis,yAxis,Ch1 <900){
109     motorA = 0; 
110    motorB = 0;
111  }
112  // Prevent buzzing at low speeds  (Adjust according to your motors. My motors couldn't start moving if PWM value was  below value of 70) 
113  if (motorA < 70) { 
114    motorA = 0; 
115  } 
116  if  (motorB < 70) { 
117    motorB = 0; 
118  } 
119  digitalWrite(enA, motorA); //  Send PWM signal to motor A 
120  digitalWrite(enB, motorB); // Send PWM signal to  motor B 
121  
122  
123}

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 
  
  
}

Downloadable files

Wiring

All wiring info is in the code

Wiring

All wiring info is in the code

Wiring

Documentation

Track links

STL file for 3D printing your own track links.

Track links

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