Arduino Bluetooth Joystick Car

Arduino Robot Car Wireless Control using HC-05 Bluetooth Modules

Mar 15, 2021

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12838 views

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2 respects

Components and supplies

Resistor 1k ohm

Arduino UNO

Resistor 2k ohm

Geared DC Motor, 12 V

Dual H-Bridge motor drivers L298

Arduino Nano R3

Caster Wheel

HC-05 Bluetooth Module

Jumper wires (generic)

Tools and machines

Hot glue gun (generic)

Apps and platforms

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

Comments

Only logged in users can leave comments

Anonymous user

2 years ago

Hi,The card was great

Anonymous user

2 years ago

HI,great idea but can you make one for 2 servos insted of dc motors? Thanks!

adventurousmom

2 years ago

Please help. We are trying to run this program, but we get this error, and have no idea how to fix it. Sketch uses 2956 bytes (9%) of program storage space. Maximum is 32256 bytes. Global variables use 196 bytes (9%) of dynamic memory, leaving 1852 bytes for local variables. Maximum is 2048 bytes. An error occurred while uploading the sketch

Anonymous user

2 years ago

Hello Dear, thank you for sharing. Please can you make one for 2 servos insted of dc motors? Thanks!

Anonymous user

2 years ago

I am trying to create a two stepper motor drive system based on this concept, but am having difficulty getting the Bluetooth modules to transfer data between the arduinos. Rather than an Uno on the slave side, I'm using a Nano. I'm using A4988 Stepper Control Modules and bipolar steppers rather than the L298 module you use. The system simply reads the joystick position for direction to move, and then sends step pulses to the A4988. My system works perfectly if I hardwire between the RX/TX on the master to the TX/RX on the slave (Nano to Nano directly). However, once I replace the hardwire with the blue tooth modules, I get no data to the slave side, and the motors don't move. I have used the AT commands to pair, link and bind the two modules, set them as MASTER on the Joystick, and SLAVE on the motor control side. UART set to 38400, 1,0 (I've also tried 38400,0,0) with no luck. The modules are connected, as indicated by the blinking LED (2 flashes every few seconds). The TX LED on the joystick side does light when the joystick is positioned, and I get a very brief dim RX light on the motor control nano, but only about once per second. In contrast, with the hardwire in place, the TX on the Joystick side flashes simultaneously (or nearly so) with the RX on the Motor Control side. Can you be more specific on the AT commands you used to pair the HC 05 modules and get them to communicate?

adventurousmom

3 years ago

Anonymous user

3 years ago

Anonymous user

4 years ago

Hello Dear, thank you for sharing. Please can you make one for 2 servos insted of dc motors? Thanks!

rares9

4 years ago

HI,great idea but can you make one for 2 servos insted of dc motors? Thanks!

Anonymous user

4 years ago

Hi,The card was great

Anonymous user

4 years ago

👌

MinukaThesathYapa

3 Followers

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15 Projects

Intro

Components and supplies

Tools and machines

Apps and platforms

Project description

Code

Downloadable files