Gesture Controlled Car using NRF24L01 and MPU6050

This car can be controlled with hand gestures. It can move front, back, left and right.

Apr 28, 2021

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45782 views

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8 respects

mpu6050

l298n

nrf24l01

Components and supplies

Arduino Nano

Arduino Uno Rev3

DC Motor, 12 V

MPU6050

L298N Motor Driver

nRF24L01

9V battery (generic)

Breadboard (generic)

Jumper wires (generic)

Apps and platforms

Arduino IDE

Project description

Code

Code for Transmitter

arduino

1/*
2  This program identifies the tilt position
3  of MPU6050 and   assigns a value based on
4  the position.
5
6  This value is sent to the receiver   module
7  through NRF24L01
8
9  This program is made by Shreyas for
10  Electronics   Champ YouTube Channel.
11  Please subscribe to this channel
12  Thank You
13*/
14
15//Include   the libraries
16#include <Wire.h>
17#include <TinyMPU6050.h>
18#include <SPI.h>
19#include   <NRFLite.h>
20
21MPU6050 mpu (Wire);
22
23int message;
24
25const static uint8_t   RADIO_ID = 1;             // Our radio's id.
26const static uint8_t DESTINATION_RADIO_ID   = 0; // Id of the radio we will transmit to.
27const static uint8_t PIN_RADIO_CE   = 7;
28const static uint8_t PIN_RADIO_CSN = 8;
29
30struct RadioPacket { // Any   packet up to 32 bytes can be sent.
31
32  uint8_t FromRadioId;
33  uint32_t Data;
34   uint32_t FailedTxCount;
35
36};
37
38//Create NRF24 object
39NRFLite _radio;
40RadioPacket   _radioData;
41
42void setup() {
43
44  // Initialization
45  mpu.Initialize();
46   // Calibration (wait for about 20s to calibrate)
47  mpu.Calibrate();
48
49   //start up
50  Serial.begin(9600);
51  Serial.println("Done Clabration");
52
53   if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN)) {
54
55    Serial.println("Cannot   communicate with radio");
56    while (1); // Wait here forever.
57  }
58
59   _radioData.FromRadioId = RADIO_ID;
60
61}
62
63void loop() {
64
65  mpu.Execute();
66
67   while (mpu.GetRawAccX() <= -8000) {
68
69    //send msg to move front
70    message   = 1;
71    _radioData.Data = message;
72    sendData();
73    Serial.println("front");
74     mpu.Execute();
75
76  }
77
78  while (mpu.GetRawAccX() >= 8000) {
79
80     //send msg to move back
81    message = 2;
82    sendData();
83    _radioData.Data   = message;
84    Serial.println("back");
85    mpu.Execute();
86
87  }
88
89   while (mpu.GetRawAccY() <= -8000) {
90
91    //send msg to move left
92    message   = 3;
93    sendData();
94    _radioData.Data = message;
95    Serial.println("left");
96     mpu.Execute();
97
98  }
99
100  while (mpu.GetRawAccY() >= 8000) {
101
102     //send msg to move right
103    message = 4;
104    sendData();
105    _radioData.Data   = message;
106    Serial.println("right");
107    mpu.Execute();
108
109  }
110
111   while (mpu.GetRawAccX() < 8000 and mpu.GetRawAccX() > -8000 and mpu.GetRawAccY()   < 8000 and mpu.GetRawAccY() > -8000) {
112
113    //send msg to stop
114    message   = 0;
115    sendData();
116    _radioData.Data = message;
117    Serial.println("none");
118     mpu.Execute();
119
120  }
121
122}
123
124void sendData() {
125
126  if (_radio.send(DESTINATION_RADIO_ID,   &_radioData, sizeof(_radioData))) { // Note how '&' must be placed in front of the   variable name.
127
128  }
129
130  else {
131
132    Serial.println("Failed");
133     _radioData.FailedTxCount++;
134
135  }
136
137  delay(500);
138  mpu.Execute();
139
140}
141
142

/*
  This program identifies the tilt position
  of MPU6050 and   assigns a value based on
  the position.

  This value is sent to the receiver   module
  through NRF24L01

  This program is made by Shreyas for
  Electronics   Champ YouTube Channel.
  Please subscribe to this channel
  Thank You
*/

//Include   the libraries
#include <Wire.h>
#include <TinyMPU6050.h>
#include <SPI.h>
#include   <NRFLite.h>

MPU6050 mpu (Wire);

int message;

const static uint8_t   RADIO_ID = 1;             // Our radio's id.
const static uint8_t DESTINATION_RADIO_ID   = 0; // Id of the radio we will transmit to.
const static uint8_t PIN_RADIO_CE   = 7;
const static uint8_t PIN_RADIO_CSN = 8;

struct RadioPacket { // Any   packet up to 32 bytes can be sent.

  uint8_t FromRadioId;
  uint32_t Data;
   uint32_t FailedTxCount;

};

//Create NRF24 object
NRFLite _radio;
RadioPacket   _radioData;

void setup() {

  // Initialization
  mpu.Initialize();
   // Calibration (wait for about 20s to calibrate)
  mpu.Calibrate();

   //start up
  Serial.begin(9600);
  Serial.println("Done Clabration");

   if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN)) {

    Serial.println("Cannot   communicate with radio");
    while (1); // Wait here forever.
  }

   _radioData.FromRadioId = RADIO_ID;

}

void loop() {

  mpu.Execute();

   while (mpu.GetRawAccX() <= -8000) {

    //send msg to move front
    message   = 1;
    _radioData.Data = message;
    sendData();
    Serial.println("front");
     mpu.Execute();

  }

  while (mpu.GetRawAccX() >= 8000) {

     //send msg to move back
    message = 2;
    sendData();
    _radioData.Data   = message;
    Serial.println("back");
    mpu.Execute();

  }

   while (mpu.GetRawAccY() <= -8000) {

    //send msg to move left
    message   = 3;
    sendData();
    _radioData.Data = message;
    Serial.println("left");
     mpu.Execute();

  }

  while (mpu.GetRawAccY() >= 8000) {

     //send msg to move right
    message = 4;
    sendData();
    _radioData.Data   = message;
    Serial.println("right");
    mpu.Execute();

  }

   while (mpu.GetRawAccX() < 8000 and mpu.GetRawAccX() > -8000 and mpu.GetRawAccY()   < 8000 and mpu.GetRawAccY() > -8000) {

    //send msg to stop
    message   = 0;
    sendData();
    _radioData.Data = message;
    Serial.println("none");
     mpu.Execute();

  }

}

void sendData() {

  if (_radio.send(DESTINATION_RADIO_ID,   &_radioData, sizeof(_radioData))) { // Note how '&' must be placed in front of the   variable name.

  }

  else {

    Serial.println("Failed");
     _radioData.FailedTxCount++;

  }

  delay(500);
  mpu.Execute();

}

Code for Transmitter

arduino

1/*
2  This program identifies the tilt position
3  of MPU6050 and  assigns a value based on
4  the position.
5
6  This value is sent to the receiver  module
7  through NRF24L01
8
9  This program is made by Shreyas for
10  Electronics  Champ YouTube Channel.
11  Please subscribe to this channel
12  Thank You
13*/
14
15//Include  the libraries
16#include <Wire.h>
17#include <TinyMPU6050.h>
18#include <SPI.h>
19#include  <NRFLite.h>
20
21MPU6050 mpu (Wire);
22
23int message;
24
25const static uint8_t  RADIO_ID = 1;             // Our radio's id.
26const static uint8_t DESTINATION_RADIO_ID  = 0; // Id of the radio we will transmit to.
27const static uint8_t PIN_RADIO_CE  = 7;
28const static uint8_t PIN_RADIO_CSN = 8;
29
30struct RadioPacket { // Any  packet up to 32 bytes can be sent.
31
32  uint8_t FromRadioId;
33  uint32_t Data;
34  uint32_t FailedTxCount;
35
36};
37
38//Create NRF24 object
39NRFLite _radio;
40RadioPacket  _radioData;
41
42void setup() {
43
44  // Initialization
45  mpu.Initialize();
46  // Calibration (wait for about 20s to calibrate)
47  mpu.Calibrate();
48
49  //start up
50  Serial.begin(9600);
51  Serial.println("Done Clabration");
52
53  if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN)) {
54
55    Serial.println("Cannot  communicate with radio");
56    while (1); // Wait here forever.
57  }
58
59  _radioData.FromRadioId = RADIO_ID;
60
61}
62
63void loop() {
64
65  mpu.Execute();
66
67  while (mpu.GetRawAccX() <= -8000) {
68
69    //send msg to move front
70    message  = 1;
71    _radioData.Data = message;
72    sendData();
73    Serial.println("front");
74    mpu.Execute();
75
76  }
77
78  while (mpu.GetRawAccX() >= 8000) {
79
80    //send msg to move back
81    message = 2;
82    sendData();
83    _radioData.Data  = message;
84    Serial.println("back");
85    mpu.Execute();
86
87  }
88
89  while (mpu.GetRawAccY() <= -8000) {
90
91    //send msg to move left
92    message  = 3;
93    sendData();
94    _radioData.Data = message;
95    Serial.println("left");
96    mpu.Execute();
97
98  }
99
100  while (mpu.GetRawAccY() >= 8000) {
101
102    //send msg to move right
103    message = 4;
104    sendData();
105    _radioData.Data  = message;
106    Serial.println("right");
107    mpu.Execute();
108
109  }
110
111  while (mpu.GetRawAccX() < 8000 and mpu.GetRawAccX() > -8000 and mpu.GetRawAccY()  < 8000 and mpu.GetRawAccY() > -8000) {
112
113    //send msg to stop
114    message  = 0;
115    sendData();
116    _radioData.Data = message;
117    Serial.println("none");
118    mpu.Execute();
119
120  }
121
122}
123
124void sendData() {
125
126  if (_radio.send(DESTINATION_RADIO_ID,  &_radioData, sizeof(_radioData))) { // Note how '&' must be placed in front of the  variable name.
127
128  }
129
130  else {
131
132    Serial.println("Failed");
133    _radioData.FailedTxCount++;
134
135  }
136
137  delay(500);
138  mpu.Execute();
139
140}
141
142

/*
  This program identifies the tilt position
  of MPU6050 and  assigns a value based on
  the position.

  This value is sent to the receiver  module
  through NRF24L01

  This program is made by Shreyas for
  Electronics  Champ YouTube Channel.
  Please subscribe to this channel
  Thank You
*/

//Include  the libraries
#include <Wire.h>
#include <TinyMPU6050.h>
#include <SPI.h>
#include  <NRFLite.h>

MPU6050 mpu (Wire);

int message;

const static uint8_t  RADIO_ID = 1;             // Our radio's id.
const static uint8_t DESTINATION_RADIO_ID  = 0; // Id of the radio we will transmit to.
const static uint8_t PIN_RADIO_CE  = 7;
const static uint8_t PIN_RADIO_CSN = 8;

struct RadioPacket { // Any  packet up to 32 bytes can be sent.

  uint8_t FromRadioId;
  uint32_t Data;
  uint32_t FailedTxCount;

};

//Create NRF24 object
NRFLite _radio;
RadioPacket  _radioData;

void setup() {

  // Initialization
  mpu.Initialize();
  // Calibration (wait for about 20s to calibrate)
  mpu.Calibrate();

  //start up
  Serial.begin(9600);
  Serial.println("Done Clabration");

  if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN)) {

    Serial.println("Cannot  communicate with radio");
    while (1); // Wait here forever.
  }

  _radioData.FromRadioId = RADIO_ID;

}

void loop() {

  mpu.Execute();

  while (mpu.GetRawAccX() <= -8000) {

    //send msg to move front
    message  = 1;
    _radioData.Data = message;
    sendData();
    Serial.println("front");
    mpu.Execute();

  }

  while (mpu.GetRawAccX() >= 8000) {

    //send msg to move back
    message = 2;
    sendData();
    _radioData.Data  = message;
    Serial.println("back");
    mpu.Execute();

  }

  while (mpu.GetRawAccY() <= -8000) {

    //send msg to move left
    message  = 3;
    sendData();
    _radioData.Data = message;
    Serial.println("left");
    mpu.Execute();

  }

  while (mpu.GetRawAccY() >= 8000) {

    //send msg to move right
    message = 4;
    sendData();
    _radioData.Data  = message;
    Serial.println("right");
    mpu.Execute();

  }

  while (mpu.GetRawAccX() < 8000 and mpu.GetRawAccX() > -8000 and mpu.GetRawAccY()  < 8000 and mpu.GetRawAccY() > -8000) {

    //send msg to stop
    message  = 0;
    sendData();
    _radioData.Data = message;
    Serial.println("none");
    mpu.Execute();

  }

}

void sendData() {

  if (_radio.send(DESTINATION_RADIO_ID,  &_radioData, sizeof(_radioData))) { // Note how '&' must be placed in front of the  variable name.

  }

  else {

    Serial.println("Failed");
    _radioData.FailedTxCount++;

  }

  delay(500);
  mpu.Execute();

}

Code for Receiver

arduino

1/*
2  This program receives the message from
3  the transmitter and  moves the car
4  accordingly.
5
6  This program is made by Shreyas for
7  Electronics Champ YouTube Channel.
8  Please subscribe to this channel
9  Thank  You
10*/
11
12//Include the libraries
13#include <SPI.h>
14#include <NRFLite.h>
15
16//Initializing  the variables
17boolean x = 0;
18int directionOfMovement = 0;
19int leftMotorForward  = 2;
20int leftMotorBackward = 3;
21int rightMotorForward = 4;
22int rightMotorBackward  = 5;
23String message;
24const static uint8_t RADIO_ID = 0;       // Our radio's  id.  The transmitter will send to this id.
25const static uint8_t PIN_RADIO_CE  = 7;
26const static uint8_t PIN_RADIO_CSN = 8;
27
28struct RadioPacket { // Any  packet up to 32 bytes can be sent.
29
30  uint8_t FromRadioId;
31  uint32_t Data;
32  uint32_t FailedTxCount;
33
34};
35
36//Create NRF object
37NRFLite _radio;
38RadioPacket  _radioData;
39
40void setup() {
41
42  Serial.begin(9600);
43
44  //Set the  pin modes
45  pinMode(9, OUTPUT);
46  pinMode(10, OUTPUT);
47  pinMode(12, OUTPUT);
48  pinMode(13, OUTPUT);
49
50  if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN))  {
51
52    Serial.println("Cannot communicate with radio");
53    while (1);  // Wait here forever.
54
55  }
56
57}
58
59void loop() {
60
61  while (_radio.hasData())  {
62
63    _radio.readData(&_radioData); // Note how '&' must be placed in front  of the variable name.
64
65    message = _radioData.Data;
66    Serial.println(message);
67    directionOfMovement = message.toInt();
68    moveAccordingly();
69
70  }
71
72}
73
74//this  function moves the car according to the message
75void moveAccordingly() {
76
77  if (directionOfMovement == 1) {
78
79    front();
80    Serial.println("front");
81
82  }
83
84  else if (directionOfMovement == 2) {
85
86    back();
87    Serial.println("back");
88
89  }
90
91  else if (directionOfMovement == 3) {
92
93    left();
94    Serial.println("left");
95
96  }
97
98  else if (directionOfMovement == 4) {
99
100    right();
101    Serial.println("right");
102
103  }
104
105  else if (directionOfMovement == 0) {
106
107    none();
108    Serial.println("none");
109
110  }
111
112}
113
114void front() {
115
116  digitalWrite(leftMotorForward, HIGH);
117  digitalWrite(rightMotorForward, HIGH);
118  digitalWrite(leftMotorBackward, LOW);
119  digitalWrite(rightMotorBackward, LOW);
120
121}
122
123void back() {
124
125  digitalWrite(leftMotorBackward,  HIGH);
126  digitalWrite(rightMotorBackward, HIGH);
127  digitalWrite(leftMotorForward,  LOW);
128  digitalWrite(rightMotorForward, LOW);
129
130}
131
132void left() {
133
134  digitalWrite(leftMotorForward, LOW);
135  digitalWrite(rightMotorForward, HIGH);
136  digitalWrite(leftMotorBackward, LOW);
137  digitalWrite(rightMotorBackward, LOW);
138
139}
140void  right() {
141
142  digitalWrite(leftMotorForward, HIGH);
143  digitalWrite(rightMotorForward,  LOW);
144  digitalWrite(leftMotorBackward, LOW);
145  digitalWrite(rightMotorBackward,  LOW);
146
147}
148
149void none() {
150
151  digitalWrite(leftMotorForward, LOW);
152  digitalWrite(rightMotorForward, LOW);
153  digitalWrite(leftMotorBackward, LOW);
154  digitalWrite(rightMotorBackward, LOW);
155
156}
157
158

/*
  This program receives the message from
  the transmitter and  moves the car
  accordingly.

  This program is made by Shreyas for
  Electronics Champ YouTube Channel.
  Please subscribe to this channel
  Thank  You
*/

//Include the libraries
#include <SPI.h>
#include <NRFLite.h>

//Initializing  the variables
boolean x = 0;
int directionOfMovement = 0;
int leftMotorForward  = 2;
int leftMotorBackward = 3;
int rightMotorForward = 4;
int rightMotorBackward  = 5;
String message;
const static uint8_t RADIO_ID = 0;       // Our radio's  id.  The transmitter will send to this id.
const static uint8_t PIN_RADIO_CE  = 7;
const static uint8_t PIN_RADIO_CSN = 8;

struct RadioPacket { // Any  packet up to 32 bytes can be sent.

  uint8_t FromRadioId;
  uint32_t Data;
  uint32_t FailedTxCount;

};

//Create NRF object
NRFLite _radio;
RadioPacket  _radioData;

void setup() {

  Serial.begin(9600);

  //Set the  pin modes
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(12, OUTPUT);
  pinMode(13, OUTPUT);

  if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN))  {

    Serial.println("Cannot communicate with radio");
    while (1);  // Wait here forever.

  }

}

void loop() {

  while (_radio.hasData())  {

    _radio.readData(&_radioData); // Note how '&' must be placed in front  of the variable name.

    message = _radioData.Data;
    Serial.println(message);
    directionOfMovement = message.toInt();
    moveAccordingly();

  }

}

//this  function moves the car according to the message
void moveAccordingly() {

  if (directionOfMovement == 1) {

    front();
    Serial.println("front");

  }

  else if (directionOfMovement == 2) {

    back();
    Serial.println("back");

  }

  else if (directionOfMovement == 3) {

    left();
    Serial.println("left");

  }

  else if (directionOfMovement == 4) {

    right();
    Serial.println("right");

  }

  else if (directionOfMovement == 0) {

    none();
    Serial.println("none");

  }

}

void front() {

  digitalWrite(leftMotorForward, HIGH);
  digitalWrite(rightMotorForward, HIGH);
  digitalWrite(leftMotorBackward, LOW);
  digitalWrite(rightMotorBackward, LOW);

}

void back() {

  digitalWrite(leftMotorBackward,  HIGH);
  digitalWrite(rightMotorBackward, HIGH);
  digitalWrite(leftMotorForward,  LOW);
  digitalWrite(rightMotorForward, LOW);

}

void left() {

  digitalWrite(leftMotorForward, LOW);
  digitalWrite(rightMotorForward, HIGH);
  digitalWrite(leftMotorBackward, LOW);
  digitalWrite(rightMotorBackward, LOW);

}
void  right() {

  digitalWrite(leftMotorForward, HIGH);
  digitalWrite(rightMotorForward,  LOW);
  digitalWrite(leftMotorBackward, LOW);
  digitalWrite(rightMotorBackward,  LOW);

}

void none() {

  digitalWrite(leftMotorForward, LOW);
  digitalWrite(rightMotorForward, LOW);
  digitalWrite(leftMotorBackward, LOW);
  digitalWrite(rightMotorBackward, LOW);

}

Downloadable files

Connections Between nRF24L01 and Arduino

Schematic for Transmitter

Schematic for Receiver

Connections Between nRF24L01 and Arduino

Schematic for Transmitter

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