Arduino Bluetooth Joystick Car

Arduino Robot Car Wireless Control using HC-05 Bluetooth Modules

Mar 15, 2021

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Devices & Components

Arduino Uno Rev3

Arduino Nano

Resistor 1k ohm

Resistor 2k ohm

Geared DC Motor, 12 V

Dual H-Bridge motor drivers L298

Caster Wheel

HC-05 Bluetooth Module

Jumper wires (generic)

Hardware & Tools

Hot glue gun (generic)

Software & Tools

Arduino IDE

Project description

Code

HC-05 Slave code

arduino

1#define enA 9
2#define in1 4
3#define in2 5
4#define enB 10
5#define   in3 6
6#define in4 7
7
8int xAxis, yAxis;
9unsigned int  x = 0;
10unsigned   int  y = 0;
11
12int motorSpeedA = 0;
13int motorSpeedB = 0;
14
15void setup()   
16{
17  pinMode(enA, OUTPUT);
18  pinMode(enB, OUTPUT);
19  pinMode(in1, OUTPUT);
20   pinMode(in2, OUTPUT);
21  pinMode(in3, OUTPUT);
22  pinMode(in4, OUTPUT);
23
24   Serial.begin(38400);
25}
26
27void loop() 
28{
29  x = 510 / 4;
30  y =   510 / 4;
31
32  while (Serial.available() >= 2) 
33  {
34    x = Serial.read();
35     delay(10);
36    y = Serial.read();
37  }
38  delay(10);
39  xAxis = x*4;
40   yAxis = y*4;
41
42  if (yAxis < 470) {
43    digitalWrite(in1, HIGH);
44    digitalWrite(in2,   LOW);
45    digitalWrite(in3, HIGH);
46    digitalWrite(in4, LOW);
47    motorSpeedA   = map(yAxis, 470, 0, 0, 255);
48    motorSpeedB = map(yAxis, 470, 0, 0, 255);
49   }
50  
51  else if (yAxis > 550) 
52  {
53    digitalWrite(in1, LOW);
54     digitalWrite(in2, HIGH);
55    digitalWrite(in3, LOW);
56    digitalWrite(in4,   HIGH);
57    motorSpeedA = map(yAxis, 550, 1023, 0, 255);
58    motorSpeedB =   map(yAxis, 550, 1023, 0, 255);
59  }
60  
61  else 
62  {
63    motorSpeedA   = 0;
64    motorSpeedB = 0;
65  }
66
67  if (xAxis < 470) {
68   
69    int   xMapped = map(xAxis, 470, 0, 0, 255);
70    motorSpeedA = motorSpeedA - xMapped;
71     motorSpeedB = motorSpeedB + xMapped;
72    
73    if (motorSpeedA < 0) 
74     {
75      motorSpeedA = 0;
76    }
77    if (motorSpeedB > 255) 
78    {
79       motorSpeedB = 255;
80    }
81 }
82     if (xAxis > 550) 
83    {
84    int   xMapped = map(xAxis, 550, 1023, 0, 255);
85    motorSpeedA = motorSpeedA + xMapped;
86     motorSpeedB = motorSpeedB - xMapped;
87    if (motorSpeedA > 255) 
88    {
89       motorSpeedA = 255;
90    }
91    if (motorSpeedB < 0) 
92    {
93      motorSpeedB   = 0;
94    }
95  }
96 
97  if (motorSpeedA < 70) 
98  {
99    motorSpeedA   = 0;
100  }
101  if (motorSpeedB < 70) 
102  {
103    motorSpeedB = 0;
104  }
105   analogWrite(enA, motorSpeedA);
106  analogWrite(enB, motorSpeedB);
107}

#define enA 9
#define in1 4
#define in2 5
#define enB 10
#define   in3 6
#define in4 7

int xAxis, yAxis;
unsigned int  x = 0;
unsigned   int  y = 0;

int motorSpeedA = 0;
int motorSpeedB = 0;

void setup()   
{
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
   pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

   Serial.begin(38400);
}

void loop() 
{
  x = 510 / 4;
  y =   510 / 4;

  while (Serial.available() >= 2) 
  {
    x = Serial.read();
     delay(10);
    y = Serial.read();
  }
  delay(10);
  xAxis = x*4;
   yAxis = y*4;

  if (yAxis < 470) {
    digitalWrite(in1, HIGH);
    digitalWrite(in2,   LOW);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    motorSpeedA   = map(yAxis, 470, 0, 0, 255);
    motorSpeedB = map(yAxis, 470, 0, 0, 255);
   }
  
  else if (yAxis > 550) 
  {
    digitalWrite(in1, LOW);
     digitalWrite(in2, HIGH);
    digitalWrite(in3, LOW);
    digitalWrite(in4,   HIGH);
    motorSpeedA = map(yAxis, 550, 1023, 0, 255);
    motorSpeedB =   map(yAxis, 550, 1023, 0, 255);
  }
  
  else 
  {
    motorSpeedA   = 0;
    motorSpeedB = 0;
  }

  if (xAxis < 470) {
   
    int   xMapped = map(xAxis, 470, 0, 0, 255);
    motorSpeedA = motorSpeedA - xMapped;
     motorSpeedB = motorSpeedB + xMapped;
    
    if (motorSpeedA < 0) 
     {
      motorSpeedA = 0;
    }
    if (motorSpeedB > 255) 
    {
       motorSpeedB = 255;
    }
 }
     if (xAxis > 550) 
    {
    int   xMapped = map(xAxis, 550, 1023, 0, 255);
    motorSpeedA = motorSpeedA + xMapped;
     motorSpeedB = motorSpeedB - xMapped;
    if (motorSpeedA > 255) 
    {
       motorSpeedA = 255;
    }
    if (motorSpeedB < 0) 
    {
      motorSpeedB   = 0;
    }
  }
 
  if (motorSpeedA < 70) 
  {
    motorSpeedA   = 0;
  }
  if (motorSpeedB < 70) 
  {
    motorSpeedB = 0;
  }
   analogWrite(enA, motorSpeedA);
  analogWrite(enB, motorSpeedB);
}

HC-05 Master code

arduino

1int xAxis, yAxis;
2
3void setup() {
4  Serial.begin(38400);
5}
6
7void   loop() {
8  xAxis = analogRead(A0);
9  yAxis = analogRead(A1);
10  Serial.write(xAxis/4);   
11  Serial.write(yAxis/4);
12  delay(20);
13}

int xAxis, yAxis;

void setup() {
  Serial.begin(38400);
}

void   loop() {
  xAxis = analogRead(A0);
  yAxis = analogRead(A1);
  Serial.write(xAxis/4);   
  Serial.write(yAxis/4);
  delay(20);
}

HC-05 Master code

arduino

1int xAxis, yAxis;
2
3void setup() {
4  Serial.begin(38400);
5}
6
7void  loop() {
8  xAxis = analogRead(A0);
9  yAxis = analogRead(A1);
10  Serial.write(xAxis/4);  
11  Serial.write(yAxis/4);
12  delay(20);
13}

int xAxis, yAxis;

void setup() {
  Serial.begin(38400);
}

void  loop() {
  xAxis = analogRead(A0);
  yAxis = analogRead(A1);
  Serial.write(xAxis/4);  
  Serial.write(yAxis/4);
  delay(20);
}

HC-05 Slave code

arduino

1#define enA 9
2#define in1 4
3#define in2 5
4#define enB 10
5#define  in3 6
6#define in4 7
7
8int xAxis, yAxis;
9unsigned int  x = 0;
10unsigned  int  y = 0;
11
12int motorSpeedA = 0;
13int motorSpeedB = 0;
14
15void setup()  
16{
17  pinMode(enA, OUTPUT);
18  pinMode(enB, OUTPUT);
19  pinMode(in1, OUTPUT);
20  pinMode(in2, OUTPUT);
21  pinMode(in3, OUTPUT);
22  pinMode(in4, OUTPUT);
23
24  Serial.begin(38400);
25}
26
27void loop() 
28{
29  x = 510 / 4;
30  y =  510 / 4;
31
32  while (Serial.available() >= 2) 
33  {
34    x = Serial.read();
35    delay(10);
36    y = Serial.read();
37  }
38  delay(10);
39  xAxis = x*4;
40  yAxis = y*4;
41
42  if (yAxis < 470) {
43    digitalWrite(in1, HIGH);
44    digitalWrite(in2,  LOW);
45    digitalWrite(in3, HIGH);
46    digitalWrite(in4, LOW);
47    motorSpeedA  = map(yAxis, 470, 0, 0, 255);
48    motorSpeedB = map(yAxis, 470, 0, 0, 255);
49  }
50  
51  else if (yAxis > 550) 
52  {
53    digitalWrite(in1, LOW);
54    digitalWrite(in2, HIGH);
55    digitalWrite(in3, LOW);
56    digitalWrite(in4,  HIGH);
57    motorSpeedA = map(yAxis, 550, 1023, 0, 255);
58    motorSpeedB =  map(yAxis, 550, 1023, 0, 255);
59  }
60  
61  else 
62  {
63    motorSpeedA  = 0;
64    motorSpeedB = 0;
65  }
66
67  if (xAxis < 470) {
68   
69    int  xMapped = map(xAxis, 470, 0, 0, 255);
70    motorSpeedA = motorSpeedA - xMapped;
71    motorSpeedB = motorSpeedB + xMapped;
72    
73    if (motorSpeedA < 0) 
74    {
75      motorSpeedA = 0;
76    }
77    if (motorSpeedB > 255) 
78    {
79      motorSpeedB = 255;
80    }
81 }
82     if (xAxis > 550) 
83    {
84    int  xMapped = map(xAxis, 550, 1023, 0, 255);
85    motorSpeedA = motorSpeedA + xMapped;
86    motorSpeedB = motorSpeedB - xMapped;
87    if (motorSpeedA > 255) 
88    {
89      motorSpeedA = 255;
90    }
91    if (motorSpeedB < 0) 
92    {
93      motorSpeedB  = 0;
94    }
95  }
96 
97  if (motorSpeedA < 70) 
98  {
99    motorSpeedA  = 0;
100  }
101  if (motorSpeedB < 70) 
102  {
103    motorSpeedB = 0;
104  }
105  analogWrite(enA, motorSpeedA);
106  analogWrite(enB, motorSpeedB);
107}

#define enA 9
#define in1 4
#define in2 5
#define enB 10
#define  in3 6
#define in4 7

int xAxis, yAxis;
unsigned int  x = 0;
unsigned  int  y = 0;

int motorSpeedA = 0;
int motorSpeedB = 0;

void setup()  
{
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  Serial.begin(38400);
}

void loop() 
{
  x = 510 / 4;
  y =  510 / 4;

  while (Serial.available() >= 2) 
  {
    x = Serial.read();
    delay(10);
    y = Serial.read();
  }
  delay(10);
  xAxis = x*4;
  yAxis = y*4;

  if (yAxis < 470) {
    digitalWrite(in1, HIGH);
    digitalWrite(in2,  LOW);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    motorSpeedA  = map(yAxis, 470, 0, 0, 255);
    motorSpeedB = map(yAxis, 470, 0, 0, 255);
  }
  
  else if (yAxis > 550) 
  {
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, LOW);
    digitalWrite(in4,  HIGH);
    motorSpeedA = map(yAxis, 550, 1023, 0, 255);
    motorSpeedB =  map(yAxis, 550, 1023, 0, 255);
  }
  
  else 
  {
    motorSpeedA  = 0;
    motorSpeedB = 0;
  }

  if (xAxis < 470) {
   
    int  xMapped = map(xAxis, 470, 0, 0, 255);
    motorSpeedA = motorSpeedA - xMapped;
    motorSpeedB = motorSpeedB + xMapped;
    
    if (motorSpeedA < 0) 
    {
      motorSpeedA = 0;
    }
    if (motorSpeedB > 255) 
    {
      motorSpeedB = 255;
    }
 }
     if (xAxis > 550) 
    {
    int  xMapped = map(xAxis, 550, 1023, 0, 255);
    motorSpeedA = motorSpeedA + xMapped;
    motorSpeedB = motorSpeedB - xMapped;
    if (motorSpeedA > 255) 
    {
      motorSpeedA = 255;
    }
    if (motorSpeedB < 0) 
    {
      motorSpeedB  = 0;
    }
  }
 
  if (motorSpeedA < 70) 
  {
    motorSpeedA  = 0;
  }
  if (motorSpeedB < 70) 
  {
    motorSpeedB = 0;
  }
  analogWrite(enA, motorSpeedA);
  analogWrite(enB, motorSpeedB);
}

Downloadable files

Arduino-Robot-Car-HC-05-Bluetooth-Control-Circuit-Schematic

The circuit diagram

Arduino-Robot-Car-HC-05-Bluetooth-Control-Circuit-Schematic

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MinukaThesathYapa

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