Bluetooth Controlled LEGO Toy Car

Enjoy teaching your kids basic electronics and as a reward get them a unique Toy.

Aug 31, 2016

•

7353 views

•

2 respects

toys

kids

communication

Components and supplies

9V Battery Clip

Dual H-Bridge motor drivers L298

SparkFun Bluetooth Modem - BlueSMiRF Silver

Solid V Wheel Kit

Arduino UNO

Wire Cable - By the Foot

DC motor (generic)

9V battery (generic)

Apps and platforms

bluetoothchat

Project description

Code

CarritomasTAB.ino

c_cpp

1//Update No.: 2 ( Beta Version)  original version issued: August_29_2016
2//Developed   by : Hernando Bolaos
3//***********************************************************************************************************************************************
4//Disclaim   Note:
5//THIS SOFTWARE IS PROVIDED BY THE DEVELOPER "AS IS" AND ANY EXPRESSED   OR 
6//IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES   
7//OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  
8//IN   NO EVENT SHALL THE DEVELOPER OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
9//INDIRECT,   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 
10//(INCLUDING, BUT NOT   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
11//SERVICES; LOSS OF USE, DATA,   OR PROFITS; OR BUSINESS INTERRUPTION) 
12//HOWEVER CAUSED AND ON ANY THEORY OF   LIABILITY, WHETHER IN CONTRACT, 
13//STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE   OR OTHERWISE) ARISING 
14//IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF   ADVISED OF 
15//THE POSSIBILITY OF SUCH DAMAGE.
16//*************************************************************************************************************************************************
17
18
19
20
21const   int ENB = 3;
22const int IN4 = 5;
23const int IN3 = 6;
24const int ENA = 11;
25const   int IN2 = 9;
26const int IN1 = 10;
27
28
29
30byte speed = 0;
31char data=0;
32
33
34void   setup() {
35  pinMode(ENB, OUTPUT); //Set  digital output PWM as  motor 1 speed   value
36  pinMode(IN4, OUTPUT); //Set digital otuput PWM as motor 1 direction A
37   pinMode(IN3, OUTPUT); //Set digital ouput  PWM as motor 1 direction B 
38  pinMode(ENA,   OUTPUT); //Set digital output PWM as motor 2 speed value
39  pinMode(IN2, OUTPUT);   //Set digital output PWM as motor 2 direction B
40  pinMode(IN1, OUTPUT); //Set   digital output PWM as motor 2 direction A
41  
42  Serial.begin(9600);   //Sets   the baud for serial data transmission 
43}
44
45 void loop() {
46
47if(Serial.available()   > 0)      // Send data only when you receive data:
48          
49           {
50            data = Serial.read();        //Read the incoming data & store into data
51            Serial.print(data);          //Print Value inside data in Serial monitor
52            Serial.print("\
53");   
54           delay(200);    
55 
56
57              if(data == 'F')    {            // Checks whether value of data is   equal to 1 - it works as pulse and latching
58            
59            Serial.println("   Forward command Received on Bluetooth - F !!!  ");   //Send message to serial   
60            forward();
61            delay(100);
62            
63               
64          
65         }
66
67            
68            if(data == 'B')   {      //   Checks whether value of data is equal to B - it works as pulse and latching
69            
70           Serial.println(" Backward Command received on Bluetooth   - B !!!  ");   //Send message to serial 
71           
72           backward();
73            delay(100);
74
75           
76
77           
78             }
79
80   
81
82           if(data == 'S')    {            // Checks whether value of data   is equal to S - it works as pulse and latching
83
84
85
86            Serial.println("   Stop command received on  Bluetooth - S !!!  ");
87            pare();
88            delay(100);
89        
90         
91         }
92
93        if(data == 'L')    {            //   Checks whether value of data is equal to L - it works as pulse and latching
94
95
96
97             Serial.println(" Left command Received on Bluetooth - L !!!  ");
98            leftF();
99           delay(2000);
100           forward();
101       
102          
103      }
104
105          if(data == 'R')    {            // Checks   whether value of data is equal to R - funciona como pulso
106
107
108
109            Serial.println("   Right command received on Bluetooth - R !!!  ");//Send message to serial 
110            rightF();
111            delay(2000);
112           forward();
113       
114         
115        }
116
117        if(data == 'X')    {            // Checks whether value of data is equal   to R - it works as pulse and latching
118
119
120
121            Serial.println("   Left command received on Bluetooth - R !!!  ");//Send message to serial 
122            leftB();
123            delay(2000);
124           backward();
125       
126         
127        }
128
129       if(data == 'Y')    {            // Checks whether value of data is equal to   R - it works as pulse and latching
130
131
132
133            Serial.println("   Right command received on Bluetooth - R !!!  ");//Send message to serial 
134           rightB();
135            delay(2000);
136           backward();
137       
138         
139        }
140
141
142
143
144       if(data == 'V')    {            // Checks whether value of data is equal to   R - funciona como pulso
145
146
147
148            Serial.println(" Vmin received   on Bluetooth - V !!!  ");//Send message to serial 
149            speed = 80; //   Sets Vmin output = 80
150       
151         
152        }
153
154
155     if(data   == 'W')    {            // Checks whether value of data is equal to R - funciona   como pulso
156
157
158
159            Serial.println(" Vmed received on Bluetooth   -W !!!  ");//Send message to serial 
160            speed = 128;// Sets Vmed output   = 128
161       
162         
163        }
164
165
166
167     if(data == 'Z')    {             // Checks whether value of data is equal to R - funciona como pulso
168
169
170
171             Serial.println(" Vmax received on Bluetooth - Z !!!  ");//Send message   to serial 
172            speed = 255;// Sets Vmax output = 255
173       
174         
175         }
176       
177           }
178
179
180 
181 
182}
183
184void backward()   { //Backward routine
185
186  digitalWrite (IN1, HIGH);
187  digitalWrite (IN2,   LOW);
188  digitalWrite (IN3, HIGH);
189  digitalWrite (IN4, LOW);
190
191analogWrite(ENA,   speed);
192analogWrite(ENB, speed);
193
194
195}
196
197void forward() {  //Forward   routine
198  digitalWrite (IN1, LOW);  
199  digitalWrite (IN2, HIGH);
200  digitalWrite   (IN3, LOW);
201  digitalWrite (IN4, HIGH);
202
203analogWrite(ENA, speed);
204analogWrite(ENB,   speed);
205
206}
207
208
209void pare() {        //Stop
210  analogWrite(ENA, 0);
211   analogWrite(ENB, 0);
212
213}
214
215
216void leftF() {             //Left going   Forward routine
217digitalWrite (IN1, LOW);
218  digitalWrite (IN2, HIGH);
219  digitalWrite   (IN3, LOW);
220  digitalWrite (IN4, HIGH);
221
222analogWrite(ENA, speed);
223analogWrite(ENB,   0);
224}
225
226
227void rightF() {         //Right going forward routine 
228digitalWrite   (IN1, LOW);
229  digitalWrite (IN2, HIGH);
230  digitalWrite (IN3, LOW);
231  digitalWrite   (IN4, HIGH);
232
233analogWrite(ENA, 0);
234analogWrite(ENB, speed);
235}
236
237
238void   leftB() {             //Left going backward routine
239digitalWrite (IN1, HIGH);
240   digitalWrite (IN2, LOW);
241  digitalWrite (IN3, HIGH);
242  digitalWrite (IN4,   LOW);
243
244analogWrite(ENA, speed);
245analogWrite(ENB, 0);
246}
247
248
249void   rightB() {         //Right going backward routine
250  digitalWrite (IN1, HIGH);
251   digitalWrite (IN2, LOW);
252  digitalWrite (IN3, HIGH);
253  digitalWrite (IN4,   LOW);
254
255analogWrite(ENA, 0);
256analogWrite(ENB, speed);
257}
258
259
260

//Update No.: 2 ( Beta Version)  original version issued: August_29_2016
//Developed   by : Hernando Bolaos
//***********************************************************************************************************************************************
//Disclaim   Note:
//THIS SOFTWARE IS PROVIDED BY THE DEVELOPER "AS IS" AND ANY EXPRESSED   OR 
//IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES   
//OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  
//IN   NO EVENT SHALL THE DEVELOPER OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
//INDIRECT,   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 
//(INCLUDING, BUT NOT   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
//SERVICES; LOSS OF USE, DATA,   OR PROFITS; OR BUSINESS INTERRUPTION) 
//HOWEVER CAUSED AND ON ANY THEORY OF   LIABILITY, WHETHER IN CONTRACT, 
//STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE   OR OTHERWISE) ARISING 
//IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF   ADVISED OF 
//THE POSSIBILITY OF SUCH DAMAGE.
//*************************************************************************************************************************************************




const   int ENB = 3;
const int IN4 = 5;
const int IN3 = 6;
const int ENA = 11;
const   int IN2 = 9;
const int IN1 = 10;



byte speed = 0;
char data=0;


void   setup() {
  pinMode(ENB, OUTPUT); //Set  digital output PWM as  motor 1 speed   value
  pinMode(IN4, OUTPUT); //Set digital otuput PWM as motor 1 direction A
   pinMode(IN3, OUTPUT); //Set digital ouput  PWM as motor 1 direction B 
  pinMode(ENA,   OUTPUT); //Set digital output PWM as motor 2 speed value
  pinMode(IN2, OUTPUT);   //Set digital output PWM as motor 2 direction B
  pinMode(IN1, OUTPUT); //Set   digital output PWM as motor 2 direction A
  
  Serial.begin(9600);   //Sets   the baud for serial data transmission 
}

 void loop() {

if(Serial.available()   > 0)      // Send data only when you receive data:
          
           {
            data = Serial.read();        //Read the incoming data & store into data
            Serial.print(data);          //Print Value inside data in Serial monitor
            Serial.print("\
");   
           delay(200);    
 

              if(data == 'F')    {            // Checks whether value of data is   equal to 1 - it works as pulse and latching
            
            Serial.println("   Forward command Received on Bluetooth - F !!!  ");   //Send message to serial   
            forward();
            delay(100);
            
               
          
         }

            
            if(data == 'B')   {      //   Checks whether value of data is equal to B - it works as pulse and latching
            
           Serial.println(" Backward Command received on Bluetooth   - B !!!  ");   //Send message to serial 
           
           backward();
            delay(100);

           

           
             }

   

           if(data == 'S')    {            // Checks whether value of data   is equal to S - it works as pulse and latching



            Serial.println("   Stop command received on  Bluetooth - S !!!  ");
            pare();
            delay(100);
        
         
         }

        if(data == 'L')    {            //   Checks whether value of data is equal to L - it works as pulse and latching



             Serial.println(" Left command Received on Bluetooth - L !!!  ");
            leftF();
           delay(2000);
           forward();
       
          
      }

          if(data == 'R')    {            // Checks   whether value of data is equal to R - funciona como pulso



            Serial.println("   Right command received on Bluetooth - R !!!  ");//Send message to serial 
            rightF();
            delay(2000);
           forward();
       
         
        }

        if(data == 'X')    {            // Checks whether value of data is equal   to R - it works as pulse and latching



            Serial.println("   Left command received on Bluetooth - R !!!  ");//Send message to serial 
            leftB();
            delay(2000);
           backward();
       
         
        }

       if(data == 'Y')    {            // Checks whether value of data is equal to   R - it works as pulse and latching



            Serial.println("   Right command received on Bluetooth - R !!!  ");//Send message to serial 
           rightB();
            delay(2000);
           backward();
       
         
        }




       if(data == 'V')    {            // Checks whether value of data is equal to   R - funciona como pulso



            Serial.println(" Vmin received   on Bluetooth - V !!!  ");//Send message to serial 
            speed = 80; //   Sets Vmin output = 80
       
         
        }


     if(data   == 'W')    {            // Checks whether value of data is equal to R - funciona   como pulso



            Serial.println(" Vmed received on Bluetooth   -W !!!  ");//Send message to serial 
            speed = 128;// Sets Vmed output   = 128
       
         
        }



     if(data == 'Z')    {             // Checks whether value of data is equal to R - funciona como pulso



             Serial.println(" Vmax received on Bluetooth - Z !!!  ");//Send message   to serial 
            speed = 255;// Sets Vmax output = 255
       
         
         }
       
           }


 
 
}

void backward()   { //Backward routine

  digitalWrite (IN1, HIGH);
  digitalWrite (IN2,   LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4, LOW);

analogWrite(ENA,   speed);
analogWrite(ENB, speed);


}

void forward() {  //Forward   routine
  digitalWrite (IN1, LOW);  
  digitalWrite (IN2, HIGH);
  digitalWrite   (IN3, LOW);
  digitalWrite (IN4, HIGH);

analogWrite(ENA, speed);
analogWrite(ENB,   speed);

}


void pare() {        //Stop
  analogWrite(ENA, 0);
   analogWrite(ENB, 0);

}


void leftF() {             //Left going   Forward routine
digitalWrite (IN1, LOW);
  digitalWrite (IN2, HIGH);
  digitalWrite   (IN3, LOW);
  digitalWrite (IN4, HIGH);

analogWrite(ENA, speed);
analogWrite(ENB,   0);
}


void rightF() {         //Right going forward routine 
digitalWrite   (IN1, LOW);
  digitalWrite (IN2, HIGH);
  digitalWrite (IN3, LOW);
  digitalWrite   (IN4, HIGH);

analogWrite(ENA, 0);
analogWrite(ENB, speed);
}


void   leftB() {             //Left going backward routine
digitalWrite (IN1, HIGH);
   digitalWrite (IN2, LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4,   LOW);

analogWrite(ENA, speed);
analogWrite(ENB, 0);
}


void   rightB() {         //Right going backward routine
  digitalWrite (IN1, HIGH);
   digitalWrite (IN2, LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4,   LOW);

analogWrite(ENA, 0);
analogWrite(ENB, speed);
}

CarritomasTAB.ino

c_cpp

1//Update No.: 2 ( Beta Version)  original version issued: August_29_2016
2//Developed  by : Hernando Bolaos
3//***********************************************************************************************************************************************
4//Disclaim  Note:
5//THIS SOFTWARE IS PROVIDED BY THE DEVELOPER "AS IS" AND ANY EXPRESSED  OR 
6//IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES  
7//OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  
8//IN  NO EVENT SHALL THE DEVELOPER OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
9//INDIRECT,  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 
10//(INCLUDING, BUT NOT  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
11//SERVICES; LOSS OF USE, DATA,  OR PROFITS; OR BUSINESS INTERRUPTION) 
12//HOWEVER CAUSED AND ON ANY THEORY OF  LIABILITY, WHETHER IN CONTRACT, 
13//STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE  OR OTHERWISE) ARISING 
14//IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF  ADVISED OF 
15//THE POSSIBILITY OF SUCH DAMAGE.
16//*************************************************************************************************************************************************
17
18
19
20
21const  int ENB = 3;
22const int IN4 = 5;
23const int IN3 = 6;
24const int ENA = 11;
25const  int IN2 = 9;
26const int IN1 = 10;
27
28
29
30byte speed = 0;
31char data=0;
32
33
34void  setup() {
35  pinMode(ENB, OUTPUT); //Set  digital output PWM as  motor 1 speed  value
36  pinMode(IN4, OUTPUT); //Set digital otuput PWM as motor 1 direction A
37  pinMode(IN3, OUTPUT); //Set digital ouput  PWM as motor 1 direction B 
38  pinMode(ENA,  OUTPUT); //Set digital output PWM as motor 2 speed value
39  pinMode(IN2, OUTPUT);  //Set digital output PWM as motor 2 direction B
40  pinMode(IN1, OUTPUT); //Set  digital output PWM as motor 2 direction A
41  
42  Serial.begin(9600);   //Sets  the baud for serial data transmission 
43}
44
45 void loop() {
46
47if(Serial.available()  > 0)      // Send data only when you receive data:
48          
49           {
50           data = Serial.read();        //Read the incoming data & store into data
51           Serial.print(data);          //Print Value inside data in Serial monitor
52           Serial.print("\
53");   
54           delay(200);    
55 
56
57             if(data == 'F')    {            // Checks whether value of data is  equal to 1 - it works as pulse and latching
58            
59            Serial.println("  Forward command Received on Bluetooth - F !!!  ");   //Send message to serial  
60            forward();
61            delay(100);
62            
63               
64         
65         }
66
67            
68            if(data == 'B')   {      //  Checks whether value of data is equal to B - it works as pulse and latching
69           
70           Serial.println(" Backward Command received on Bluetooth  - B !!!  ");   //Send message to serial 
71           
72           backward();
73           delay(100);
74
75           
76
77           
78             }
79
80  
81
82           if(data == 'S')    {            // Checks whether value of data  is equal to S - it works as pulse and latching
83
84
85
86            Serial.println("  Stop command received on  Bluetooth - S !!!  ");
87            pare();
88            delay(100);
89       
90         
91         }
92
93        if(data == 'L')    {            //  Checks whether value of data is equal to L - it works as pulse and latching
94
95
96
97            Serial.println(" Left command Received on Bluetooth - L !!!  ");
98           leftF();
99           delay(2000);
100           forward();
101       
102         
103      }
104
105          if(data == 'R')    {            // Checks  whether value of data is equal to R - funciona como pulso
106
107
108
109            Serial.println("  Right command received on Bluetooth - R !!!  ");//Send message to serial 
110            rightF();
111           delay(2000);
112           forward();
113       
114         
115        }
116
117       if(data == 'X')    {            // Checks whether value of data is equal  to R - it works as pulse and latching
118
119
120
121            Serial.println("  Left command received on Bluetooth - R !!!  ");//Send message to serial 
122            leftB();
123           delay(2000);
124           backward();
125       
126         
127        }
128
129      if(data == 'Y')    {            // Checks whether value of data is equal to  R - it works as pulse and latching
130
131
132
133            Serial.println("  Right command received on Bluetooth - R !!!  ");//Send message to serial 
134           rightB();
135           delay(2000);
136           backward();
137       
138         
139        }
140
141
142
143
144      if(data == 'V')    {            // Checks whether value of data is equal to  R - funciona como pulso
145
146
147
148            Serial.println(" Vmin received  on Bluetooth - V !!!  ");//Send message to serial 
149            speed = 80; //  Sets Vmin output = 80
150       
151         
152        }
153
154
155     if(data  == 'W')    {            // Checks whether value of data is equal to R - funciona  como pulso
156
157
158
159            Serial.println(" Vmed received on Bluetooth  -W !!!  ");//Send message to serial 
160            speed = 128;// Sets Vmed output  = 128
161       
162         
163        }
164
165
166
167     if(data == 'Z')    {            // Checks whether value of data is equal to R - funciona como pulso
168
169
170
171            Serial.println(" Vmax received on Bluetooth - Z !!!  ");//Send message  to serial 
172            speed = 255;// Sets Vmax output = 255
173       
174         
175        }
176       
177           }
178
179
180 
181 
182}
183
184void backward()  { //Backward routine
185
186  digitalWrite (IN1, HIGH);
187  digitalWrite (IN2,  LOW);
188  digitalWrite (IN3, HIGH);
189  digitalWrite (IN4, LOW);
190
191analogWrite(ENA,  speed);
192analogWrite(ENB, speed);
193
194
195}
196
197void forward() {  //Forward  routine
198  digitalWrite (IN1, LOW);  
199  digitalWrite (IN2, HIGH);
200  digitalWrite  (IN3, LOW);
201  digitalWrite (IN4, HIGH);
202
203analogWrite(ENA, speed);
204analogWrite(ENB,  speed);
205
206}
207
208
209void pare() {        //Stop
210  analogWrite(ENA, 0);
211  analogWrite(ENB, 0);
212
213}
214
215
216void leftF() {             //Left going  Forward routine
217digitalWrite (IN1, LOW);
218  digitalWrite (IN2, HIGH);
219  digitalWrite  (IN3, LOW);
220  digitalWrite (IN4, HIGH);
221
222analogWrite(ENA, speed);
223analogWrite(ENB,  0);
224}
225
226
227void rightF() {         //Right going forward routine 
228digitalWrite  (IN1, LOW);
229  digitalWrite (IN2, HIGH);
230  digitalWrite (IN3, LOW);
231  digitalWrite  (IN4, HIGH);
232
233analogWrite(ENA, 0);
234analogWrite(ENB, speed);
235}
236
237
238void  leftB() {             //Left going backward routine
239digitalWrite (IN1, HIGH);
240  digitalWrite (IN2, LOW);
241  digitalWrite (IN3, HIGH);
242  digitalWrite (IN4,  LOW);
243
244analogWrite(ENA, speed);
245analogWrite(ENB, 0);
246}
247
248
249void  rightB() {         //Right going backward routine
250  digitalWrite (IN1, HIGH);
251  digitalWrite (IN2, LOW);
252  digitalWrite (IN3, HIGH);
253  digitalWrite (IN4,  LOW);
254
255analogWrite(ENA, 0);
256analogWrite(ENB, speed);
257}
258
259
260

//Update No.: 2 ( Beta Version)  original version issued: August_29_2016
//Developed  by : Hernando Bolaos
//***********************************************************************************************************************************************
//Disclaim  Note:
//THIS SOFTWARE IS PROVIDED BY THE DEVELOPER "AS IS" AND ANY EXPRESSED  OR 
//IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES  
//OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  
//IN  NO EVENT SHALL THE DEVELOPER OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
//INDIRECT,  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 
//(INCLUDING, BUT NOT  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
//SERVICES; LOSS OF USE, DATA,  OR PROFITS; OR BUSINESS INTERRUPTION) 
//HOWEVER CAUSED AND ON ANY THEORY OF  LIABILITY, WHETHER IN CONTRACT, 
//STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE  OR OTHERWISE) ARISING 
//IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF  ADVISED OF 
//THE POSSIBILITY OF SUCH DAMAGE.
//*************************************************************************************************************************************************




const  int ENB = 3;
const int IN4 = 5;
const int IN3 = 6;
const int ENA = 11;
const  int IN2 = 9;
const int IN1 = 10;



byte speed = 0;
char data=0;


void  setup() {
  pinMode(ENB, OUTPUT); //Set  digital output PWM as  motor 1 speed  value
  pinMode(IN4, OUTPUT); //Set digital otuput PWM as motor 1 direction A
  pinMode(IN3, OUTPUT); //Set digital ouput  PWM as motor 1 direction B 
  pinMode(ENA,  OUTPUT); //Set digital output PWM as motor 2 speed value
  pinMode(IN2, OUTPUT);  //Set digital output PWM as motor 2 direction B
  pinMode(IN1, OUTPUT); //Set  digital output PWM as motor 2 direction A
  
  Serial.begin(9600);   //Sets  the baud for serial data transmission 
}

 void loop() {

if(Serial.available()  > 0)      // Send data only when you receive data:
          
           {
           data = Serial.read();        //Read the incoming data & store into data
           Serial.print(data);          //Print Value inside data in Serial monitor
           Serial.print("\
");   
           delay(200);    
 

             if(data == 'F')    {            // Checks whether value of data is  equal to 1 - it works as pulse and latching
            
            Serial.println("  Forward command Received on Bluetooth - F !!!  ");   //Send message to serial  
            forward();
            delay(100);
            
               
         
         }

            
            if(data == 'B')   {      //  Checks whether value of data is equal to B - it works as pulse and latching
           
           Serial.println(" Backward Command received on Bluetooth  - B !!!  ");   //Send message to serial 
           
           backward();
           delay(100);

           

           
             }

  

           if(data == 'S')    {            // Checks whether value of data  is equal to S - it works as pulse and latching



            Serial.println("  Stop command received on  Bluetooth - S !!!  ");
            pare();
            delay(100);
       
         
         }

        if(data == 'L')    {            //  Checks whether value of data is equal to L - it works as pulse and latching



            Serial.println(" Left command Received on Bluetooth - L !!!  ");
           leftF();
           delay(2000);
           forward();
       
         
      }

          if(data == 'R')    {            // Checks  whether value of data is equal to R - funciona como pulso



            Serial.println("  Right command received on Bluetooth - R !!!  ");//Send message to serial 
            rightF();
           delay(2000);
           forward();
       
         
        }

       if(data == 'X')    {            // Checks whether value of data is equal  to R - it works as pulse and latching



            Serial.println("  Left command received on Bluetooth - R !!!  ");//Send message to serial 
            leftB();
           delay(2000);
           backward();
       
         
        }

      if(data == 'Y')    {            // Checks whether value of data is equal to  R - it works as pulse and latching



            Serial.println("  Right command received on Bluetooth - R !!!  ");//Send message to serial 
           rightB();
           delay(2000);
           backward();
       
         
        }




      if(data == 'V')    {            // Checks whether value of data is equal to  R - funciona como pulso



            Serial.println(" Vmin received  on Bluetooth - V !!!  ");//Send message to serial 
            speed = 80; //  Sets Vmin output = 80
       
         
        }


     if(data  == 'W')    {            // Checks whether value of data is equal to R - funciona  como pulso



            Serial.println(" Vmed received on Bluetooth  -W !!!  ");//Send message to serial 
            speed = 128;// Sets Vmed output  = 128
       
         
        }



     if(data == 'Z')    {            // Checks whether value of data is equal to R - funciona como pulso



            Serial.println(" Vmax received on Bluetooth - Z !!!  ");//Send message  to serial 
            speed = 255;// Sets Vmax output = 255
       
         
        }
       
           }


 
 
}

void backward()  { //Backward routine

  digitalWrite (IN1, HIGH);
  digitalWrite (IN2,  LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4, LOW);

analogWrite(ENA,  speed);
analogWrite(ENB, speed);


}

void forward() {  //Forward  routine
  digitalWrite (IN1, LOW);  
  digitalWrite (IN2, HIGH);
  digitalWrite  (IN3, LOW);
  digitalWrite (IN4, HIGH);

analogWrite(ENA, speed);
analogWrite(ENB,  speed);

}


void pare() {        //Stop
  analogWrite(ENA, 0);
  analogWrite(ENB, 0);

}


void leftF() {             //Left going  Forward routine
digitalWrite (IN1, LOW);
  digitalWrite (IN2, HIGH);
  digitalWrite  (IN3, LOW);
  digitalWrite (IN4, HIGH);

analogWrite(ENA, speed);
analogWrite(ENB,  0);
}


void rightF() {         //Right going forward routine 
digitalWrite  (IN1, LOW);
  digitalWrite (IN2, HIGH);
  digitalWrite (IN3, LOW);
  digitalWrite  (IN4, HIGH);

analogWrite(ENA, 0);
analogWrite(ENB, speed);
}


void  leftB() {             //Left going backward routine
digitalWrite (IN1, HIGH);
  digitalWrite (IN2, LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4,  LOW);

analogWrite(ENA, speed);
analogWrite(ENB, 0);
}


void  rightB() {         //Right going backward routine
  digitalWrite (IN1, HIGH);
  digitalWrite (IN2, LOW);
  digitalWrite (IN3, HIGH);
  digitalWrite (IN4,  LOW);

analogWrite(ENA, 0);
analogWrite(ENB, speed);
}

Downloadable files

carritomasTABSchem_schem.png

carritomasTABSchem_bb.jpg

carritomasTABSchem_schem.png

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hbolanos2001

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