Android Apps Controlled Arduino Robot Car

1#define light_FR  14    //LED Front Right   pin A0 for Arduino Uno
2#define   light_FL  15    //LED Front Left    pin A1 for Arduino Uno
3#define light_BR  16     //LED Back Right    pin A2 for Arduino Uno
4#define light_BL  17    //LED   Back Left     pin A3 for Arduino Uno
5#define horn_Buzz 18    //Horn Buzzer       pin   A4 for Arduino Uno
6
7#define ENA_m1 5        // Enable/speed motor Front Right   
8#define ENB_m1 6        // Enable/speed motor Back Right
9#define ENA_m2 10        // Enable/speed motor Front Left
10#define ENB_m2 11       // Enable/speed   motor Back Left
11
12#define IN_11  2        // L298N #1 in 1 motor Front Right
13#define   IN_12  3        // L298N #1 in 2 motor Front Right
14#define IN_13  4        //   L298N #1 in 3 motor Back Right
15#define IN_14  7        // L298N #1 in 4 motor   Back Right
16
17#define IN_21  8        // L298N #2 in 1 motor Front Left
18#define   IN_22  9        // L298N #2 in 2 motor Front Left
19#define IN_23  12       //   L298N #2 in 3 motor Back Left
20#define IN_24  13       // L298N #2 in 4 motor   Back Left
21
22int command;            //Int to store app command state.
23int   speedCar = 100;     // 50 - 255.
24int speed_Coeff = 4;
25boolean lightFront =   false;
26boolean lightBack = false;
27boolean horn = false;
28
29void setup()   {  
30   
31    pinMode(light_FR, OUTPUT);
32    pinMode(light_FL, OUTPUT);
33     pinMode(light_BR, OUTPUT);
34    pinMode(light_BL, OUTPUT);
35    pinMode(horn_Buzz,   OUTPUT);
36    
37    pinMode(ENA_m1, OUTPUT);
38    pinMode(ENB_m1, OUTPUT);
39     pinMode(ENA_m2, OUTPUT);
40    pinMode(ENB_m2, OUTPUT);
41  
42    pinMode(IN_11,   OUTPUT);
43    pinMode(IN_12, OUTPUT);
44    pinMode(IN_13, OUTPUT);
45    pinMode(IN_14,   OUTPUT);
46    
47    pinMode(IN_21, OUTPUT);
48    pinMode(IN_22, OUTPUT);
49     pinMode(IN_23, OUTPUT);
50    pinMode(IN_24, OUTPUT);
51
52  Serial.begin(9600);   
53
54  } 
55
56void goAhead(){ 
57digitalWrite(IN_11, LOW);
58      digitalWrite(IN_12,   HIGH);
59      analogWrite(ENA_m1, speedCar);
60
61
62      digitalWrite(IN_13,   HIGH);
63      digitalWrite(IN_14, LOW);
64      analogWrite(ENB_m1, speedCar);
65
66
67       digitalWrite(IN_21, HIGH);
68      digitalWrite(IN_22, LOW);
69      analogWrite(ENA_m2,   speedCar);
70
71
72      digitalWrite(IN_23, LOW);
73      digitalWrite(IN_24,   HIGH);
74      analogWrite(ENB_m2, speedCar);
75      
76  }
77
78void goBack(){   
79
80digitalWrite(light_BR, HIGH); digitalWrite(light_BL, HIGH);
81digitalWrite(IN_11,   HIGH);
82      digitalWrite(IN_12, LOW);
83      analogWrite(ENA_m1, speedCar);
84
85       digitalWrite(IN_13, LOW);
86      digitalWrite(IN_14, HIGH);
87      analogWrite(ENB_m1,   speedCar);
88
89
90      digitalWrite(IN_21, LOW);
91      digitalWrite(IN_22,   HIGH);
92      analogWrite(ENA_m2, speedCar);
93
94
95      digitalWrite(IN_23,   HIGH);
96      digitalWrite(IN_24, LOW);
97      analogWrite(ENB_m2, speedCar);
98
99
100   
101
102      
103
104  }
105
106void goRight(){ 
107
108      digitalWrite(IN_11,   LOW);
109      digitalWrite(IN_12, HIGH);
110      analogWrite(ENA_m1, speedCar);
111
112
113       digitalWrite(IN_13, HIGH);
114      digitalWrite(IN_14, LOW);
115      analogWrite(ENB_m1,   speedCar);
116
117
118      digitalWrite(IN_21, LOW);
119      digitalWrite(IN_22,   HIGH);
120      analogWrite(ENA_m2, speedCar);
121
122
123      digitalWrite(IN_23,   HIGH);
124      digitalWrite(IN_24, LOW);
125      analogWrite(ENB_m2, speedCar);
126
127
128   }
129
130void goLeft(){
131
132      digitalWrite(IN_11, HIGH);
133      digitalWrite(IN_12,   LOW);
134      analogWrite(ENA_m1, speedCar);
135
136
137      digitalWrite(IN_13,   LOW);
138      digitalWrite(IN_14, HIGH);
139      analogWrite(ENB_m1, speedCar);
140
141         
142      digitalWrite(IN_21, HIGH);
143      digitalWrite(IN_22, LOW);
144       analogWrite(ENA_m2, speedCar);
145
146
147      digitalWrite(IN_23, LOW);
148       digitalWrite(IN_24, HIGH);
149      analogWrite(ENB_m2, speedCar);
150
151         
152  }
153
154void goAheadRight(){
155      
156      digitalWrite(IN_11,   HIGH);
157      digitalWrite(IN_12, LOW);
158      analogWrite(ENA_m1, speedCar/speed_Coeff);
159
160       digitalWrite(IN_13, LOW);
161      digitalWrite(IN_14, HIGH);
162      analogWrite(ENB_m1,   speedCar/speed_Coeff);
163
164
165      digitalWrite(IN_21, LOW);
166      digitalWrite(IN_22,   HIGH);
167      analogWrite(ENA_m2, speedCar);
168
169
170      digitalWrite(IN_23,   HIGH);
171      digitalWrite(IN_24, LOW);
172      analogWrite(ENB_m2, speedCar);
173   
174  }
175
176void goAheadLeft(){
177      
178      digitalWrite(IN_11, HIGH);
179       digitalWrite(IN_12, LOW);
180      analogWrite(ENA_m1, speedCar);
181
182       digitalWrite(IN_13, LOW);
183      digitalWrite(IN_14, HIGH);
184      analogWrite(ENB_m1,   speedCar);
185
186
187      digitalWrite(IN_21, LOW);
188      digitalWrite(IN_22,   HIGH);
189      analogWrite(ENA_m2, speedCar/speed_Coeff);
190
191
192      digitalWrite(IN_23,   HIGH);
193      digitalWrite(IN_24, LOW);
194      analogWrite(ENB_m2, speedCar/speed_Coeff);
195   
196  }
197
198void goBackRight(){ 
199
200      digitalWrite(IN_11, LOW);
201      digitalWrite(IN_12,   HIGH);
202      analogWrite(ENA_m1, speedCar/speed_Coeff);
203
204
205      digitalWrite(IN_13,   HIGH);
206      digitalWrite(IN_14, LOW);
207      analogWrite(ENB_m1, speedCar/speed_Coeff);
208
209
210       digitalWrite(IN_21, HIGH);
211      digitalWrite(IN_22, LOW);
212      analogWrite(ENA_m2,   speedCar);
213
214
215      digitalWrite(IN_23, LOW);
216      digitalWrite(IN_24,   HIGH);
217      analogWrite(ENB_m2, speedCar);
218
219  }
220
221void goBackLeft(){   
222
223      digitalWrite(IN_11, LOW);
224      digitalWrite(IN_12, HIGH);
225       analogWrite(ENA_m1, speedCar);
226
227
228      digitalWrite(IN_13, HIGH);
229       digitalWrite(IN_14, LOW);
230      analogWrite(ENB_m1, speedCar);
231
232
233       digitalWrite(IN_21, HIGH);
234      digitalWrite(IN_22, LOW);
235      analogWrite(ENA_m2,   speedCar/speed_Coeff);
236
237
238      digitalWrite(IN_23, LOW);
239      digitalWrite(IN_24,   HIGH);
240      analogWrite(ENB_m2, speedCar/speed_Coeff);
241
242  }
243
244void   stopRobot(){  
245
246      digitalWrite(IN_11, LOW);
247      digitalWrite(IN_12,   LOW);
248      analogWrite(ENA_m1, speedCar);
249
250
251      digitalWrite(IN_13,   LOW);
252      digitalWrite(IN_14, LOW);
253      analogWrite(ENB_m1, speedCar);
254
255   
256      digitalWrite(IN_21, LOW);
257      digitalWrite(IN_22, LOW);
258      analogWrite(ENA_m2,   speedCar);
259
260      
261      digitalWrite(IN_23, LOW);
262      digitalWrite(IN_24,   LOW);
263      analogWrite(ENB_m2, speedCar);
264  
265  }
266  
267void loop(){
268   
269if (Serial.available() > 0) {
270  command = Serial.read();
271  stopRobot();       //Initialize with motors stopped.
272
273if (lightFront) {digitalWrite(light_FR,   HIGH); digitalWrite(light_FL, HIGH);}
274if (!lightFront) {digitalWrite(light_FR,   LOW); digitalWrite(light_FL, LOW);}
275if (lightBack) {digitalWrite(light_BR, HIGH);   digitalWrite(light_BL, HIGH);}
276if (!lightBack) {digitalWrite(light_BR, LOW);   digitalWrite(light_BL, LOW);}
277if (horn) {digitalWrite(horn_Buzz, HIGH);}
278if   (!horn) {digitalWrite(horn_Buzz, LOW);}
279
280switch (command) {
281case 'F':goAhead();break;
282case   'B':goBack();break;
283case 'L':goLeft();break;
284case 'R':goRight();break;
285case   'I':goAheadRight();break;
286case 'G':goAheadLeft();break;
287case 'J':goBackRight();break;
288case   'H':goBackLeft();break;
289case '0':speedCar = 100;break;
290case '1':speedCar =   115;break;
291case '2':speedCar = 130;break;
292case '3':speedCar = 145;break;
293case   '4':speedCar = 160;break;
294case '5':speedCar = 175;break;
295case '6':speedCar   = 190;break;
296case '7':speedCar = 205;break;
297case '8':speedCar = 220;break;
298case   '9':speedCar = 235;break;
299case 'q':speedCar = 255;break;
300case 'W':lightFront   = true;break;
301case 'w':lightFront = false;break;
302case 'U':lightBack = true;break;
303case   'u':lightBack = false;break;
304case 'V':horn = true;break;
305case 'v':horn = false;break;
306
307}
308}
309}
310

1#define light_FR  14    //LED Front Right   pin A0 for Arduino Uno
2#define  light_FL  15    //LED Front Left    pin A1 for Arduino Uno
3#define light_BR  16    //LED Back Right    pin A2 for Arduino Uno
4#define light_BL  17    //LED  Back Left     pin A3 for Arduino Uno
5#define horn_Buzz 18    //Horn Buzzer       pin  A4 for Arduino Uno
6
7#define ENA_m1 5        // Enable/speed motor Front Right  
8#define ENB_m1 6        // Enable/speed motor Back Right
9#define ENA_m2 10       // Enable/speed motor Front Left
10#define ENB_m2 11       // Enable/speed  motor Back Left
11
12#define IN_11  2        // L298N #1 in 1 motor Front Right
13#define  IN_12  3        // L298N #1 in 2 motor Front Right
14#define IN_13  4        //  L298N #1 in 3 motor Back Right
15#define IN_14  7        // L298N #1 in 4 motor  Back Right
16
17#define IN_21  8        // L298N #2 in 1 motor Front Left
18#define  IN_22  9        // L298N #2 in 2 motor Front Left
19#define IN_23  12       //  L298N #2 in 3 motor Back Left
20#define IN_24  13       // L298N #2 in 4 motor  Back Left
21
22int command;            //Int to store app command state.
23int  speedCar = 100;     // 50 - 255.
24int speed_Coeff = 4;
25boolean lightFront =  false;
26boolean lightBack = false;
27boolean horn = false;
28
29void setup()  {  
30   
31    pinMode(light_FR, OUTPUT);
32    pinMode(light_FL, OUTPUT);
33    pinMode(light_BR, OUTPUT);
34    pinMode(light_BL, OUTPUT);
35    pinMode(horn_Buzz,  OUTPUT);
36    
37    pinMode(ENA_m1, OUTPUT);
38    pinMode(ENB_m1, OUTPUT);
39    pinMode(ENA_m2, OUTPUT);
40    pinMode(ENB_m2, OUTPUT);
41  
42    pinMode(IN_11,  OUTPUT);
43    pinMode(IN_12, OUTPUT);
44    pinMode(IN_13, OUTPUT);
45    pinMode(IN_14,  OUTPUT);
46    
47    pinMode(IN_21, OUTPUT);
48    pinMode(IN_22, OUTPUT);
49    pinMode(IN_23, OUTPUT);
50    pinMode(IN_24, OUTPUT);
51
52  Serial.begin(9600);  
53
54  } 
55
56void goAhead(){ 
57digitalWrite(IN_11, LOW);
58      digitalWrite(IN_12,  HIGH);
59      analogWrite(ENA_m1, speedCar);
60
61
62      digitalWrite(IN_13,  HIGH);
63      digitalWrite(IN_14, LOW);
64      analogWrite(ENB_m1, speedCar);
65
66
67      digitalWrite(IN_21, HIGH);
68      digitalWrite(IN_22, LOW);
69      analogWrite(ENA_m2,  speedCar);
70
71
72      digitalWrite(IN_23, LOW);
73      digitalWrite(IN_24,  HIGH);
74      analogWrite(ENB_m2, speedCar);
75      
76  }
77
78void goBack(){  
79
80digitalWrite(light_BR, HIGH); digitalWrite(light_BL, HIGH);
81digitalWrite(IN_11,  HIGH);
82      digitalWrite(IN_12, LOW);
83      analogWrite(ENA_m1, speedCar);
84
85      digitalWrite(IN_13, LOW);
86      digitalWrite(IN_14, HIGH);
87      analogWrite(ENB_m1,  speedCar);
88
89
90      digitalWrite(IN_21, LOW);
91      digitalWrite(IN_22,  HIGH);
92      analogWrite(ENA_m2, speedCar);
93
94
95      digitalWrite(IN_23,  HIGH);
96      digitalWrite(IN_24, LOW);
97      analogWrite(ENB_m2, speedCar);
98
99
100  
101
102      
103
104  }
105
106void goRight(){ 
107
108      digitalWrite(IN_11,  LOW);
109      digitalWrite(IN_12, HIGH);
110      analogWrite(ENA_m1, speedCar);
111
112
113      digitalWrite(IN_13, HIGH);
114      digitalWrite(IN_14, LOW);
115      analogWrite(ENB_m1,  speedCar);
116
117
118      digitalWrite(IN_21, LOW);
119      digitalWrite(IN_22,  HIGH);
120      analogWrite(ENA_m2, speedCar);
121
122
123      digitalWrite(IN_23,  HIGH);
124      digitalWrite(IN_24, LOW);
125      analogWrite(ENB_m2, speedCar);
126
127
128  }
129
130void goLeft(){
131
132      digitalWrite(IN_11, HIGH);
133      digitalWrite(IN_12,  LOW);
134      analogWrite(ENA_m1, speedCar);
135
136
137      digitalWrite(IN_13,  LOW);
138      digitalWrite(IN_14, HIGH);
139      analogWrite(ENB_m1, speedCar);
140
141        
142      digitalWrite(IN_21, HIGH);
143      digitalWrite(IN_22, LOW);
144      analogWrite(ENA_m2, speedCar);
145
146
147      digitalWrite(IN_23, LOW);
148      digitalWrite(IN_24, HIGH);
149      analogWrite(ENB_m2, speedCar);
150
151        
152  }
153
154void goAheadRight(){
155      
156      digitalWrite(IN_11,  HIGH);
157      digitalWrite(IN_12, LOW);
158      analogWrite(ENA_m1, speedCar/speed_Coeff);
159
160      digitalWrite(IN_13, LOW);
161      digitalWrite(IN_14, HIGH);
162      analogWrite(ENB_m1,  speedCar/speed_Coeff);
163
164
165      digitalWrite(IN_21, LOW);
166      digitalWrite(IN_22,  HIGH);
167      analogWrite(ENA_m2, speedCar);
168
169
170      digitalWrite(IN_23,  HIGH);
171      digitalWrite(IN_24, LOW);
172      analogWrite(ENB_m2, speedCar);
173  
174  }
175
176void goAheadLeft(){
177      
178      digitalWrite(IN_11, HIGH);
179      digitalWrite(IN_12, LOW);
180      analogWrite(ENA_m1, speedCar);
181
182      digitalWrite(IN_13, LOW);
183      digitalWrite(IN_14, HIGH);
184      analogWrite(ENB_m1,  speedCar);
185
186
187      digitalWrite(IN_21, LOW);
188      digitalWrite(IN_22,  HIGH);
189      analogWrite(ENA_m2, speedCar/speed_Coeff);
190
191
192      digitalWrite(IN_23,  HIGH);
193      digitalWrite(IN_24, LOW);
194      analogWrite(ENB_m2, speedCar/speed_Coeff);
195  
196  }
197
198void goBackRight(){ 
199
200      digitalWrite(IN_11, LOW);
201      digitalWrite(IN_12,  HIGH);
202      analogWrite(ENA_m1, speedCar/speed_Coeff);
203
204
205      digitalWrite(IN_13,  HIGH);
206      digitalWrite(IN_14, LOW);
207      analogWrite(ENB_m1, speedCar/speed_Coeff);
208
209
210      digitalWrite(IN_21, HIGH);
211      digitalWrite(IN_22, LOW);
212      analogWrite(ENA_m2,  speedCar);
213
214
215      digitalWrite(IN_23, LOW);
216      digitalWrite(IN_24,  HIGH);
217      analogWrite(ENB_m2, speedCar);
218
219  }
220
221void goBackLeft(){  
222
223      digitalWrite(IN_11, LOW);
224      digitalWrite(IN_12, HIGH);
225      analogWrite(ENA_m1, speedCar);
226
227
228      digitalWrite(IN_13, HIGH);
229      digitalWrite(IN_14, LOW);
230      analogWrite(ENB_m1, speedCar);
231
232
233      digitalWrite(IN_21, HIGH);
234      digitalWrite(IN_22, LOW);
235      analogWrite(ENA_m2,  speedCar/speed_Coeff);
236
237
238      digitalWrite(IN_23, LOW);
239      digitalWrite(IN_24,  HIGH);
240      analogWrite(ENB_m2, speedCar/speed_Coeff);
241
242  }
243
244void  stopRobot(){  
245
246      digitalWrite(IN_11, LOW);
247      digitalWrite(IN_12,  LOW);
248      analogWrite(ENA_m1, speedCar);
249
250
251      digitalWrite(IN_13,  LOW);
252      digitalWrite(IN_14, LOW);
253      analogWrite(ENB_m1, speedCar);
254
255  
256      digitalWrite(IN_21, LOW);
257      digitalWrite(IN_22, LOW);
258      analogWrite(ENA_m2,  speedCar);
259
260      
261      digitalWrite(IN_23, LOW);
262      digitalWrite(IN_24,  LOW);
263      analogWrite(ENB_m2, speedCar);
264  
265  }
266  
267void loop(){
268  
269if (Serial.available() > 0) {
270  command = Serial.read();
271  stopRobot();      //Initialize with motors stopped.
272
273if (lightFront) {digitalWrite(light_FR,  HIGH); digitalWrite(light_FL, HIGH);}
274if (!lightFront) {digitalWrite(light_FR,  LOW); digitalWrite(light_FL, LOW);}
275if (lightBack) {digitalWrite(light_BR, HIGH);  digitalWrite(light_BL, HIGH);}
276if (!lightBack) {digitalWrite(light_BR, LOW);  digitalWrite(light_BL, LOW);}
277if (horn) {digitalWrite(horn_Buzz, HIGH);}
278if  (!horn) {digitalWrite(horn_Buzz, LOW);}
279
280switch (command) {
281case 'F':goAhead();break;
282case  'B':goBack();break;
283case 'L':goLeft();break;
284case 'R':goRight();break;
285case  'I':goAheadRight();break;
286case 'G':goAheadLeft();break;
287case 'J':goBackRight();break;
288case  'H':goBackLeft();break;
289case '0':speedCar = 100;break;
290case '1':speedCar =  115;break;
291case '2':speedCar = 130;break;
292case '3':speedCar = 145;break;
293case  '4':speedCar = 160;break;
294case '5':speedCar = 175;break;
295case '6':speedCar  = 190;break;
296case '7':speedCar = 205;break;
297case '8':speedCar = 220;break;
298case  '9':speedCar = 235;break;
299case 'q':speedCar = 255;break;
300case 'W':lightFront  = true;break;
301case 'w':lightFront = false;break;
302case 'U':lightBack = true;break;
303case  'u':lightBack = false;break;
304case 'V':horn = true;break;
305case 'v':horn = false;break;
306
307}
308}
309}
310