Title: Bluetooth Car Controlled Uisng Arduino

Name : Deepak Sonker

College : Tecnia Institute of Advanced Studies

University : GGSIPU

Abstract: Abstract: It is through efficient electronic programming that a computer can control a
robot, hence a robot can be thought of as an Electromechanical machine. Some of the essential
characteristics that a robot must have are - sensing, movement, energy, intelligence. It performs a task
using control systems, various power supplies and software all working together. We developed an Android
application which uses remote buttons to guide an RC car’s motion. Hence, the mobile device harboring
the Android application acts as the car’s remote control. Bluetooth is the basis of communication between
the controller and Android, using the USART protocol.

Key Words: Android phone, Bluetooth module, Robot, Arduino

Introduction: Robots are always a fancy topic for students, hobbyists and DIYers. If you are beginner, then
building a robot (like a car or an arm) is probably one of the important projects to do after learning about the
basics.  If you remember the earlier tutorial, I have discussed about HC-05 Bluetooth Module and how to
interface one with Arduino. Also, I have provided a simple Bluetooth Controller App, which can be installed
on your Android Phone and start transmitting the data. As a continuation to that project, I will be
implementing Bluetooth Controlled Robot using Arduino and a few other components and build a simple
robotic car that can be controlled using an Android Phone (through an App) over Bluetooth Communication .

The robotic car can be controlled wirelessly via a Smartphone. The smartphone has an Android app through
which the user can send commands directly to Robot. The robot can move forward, backward, left, and right
and can also be stopped.
The Arduino’s Bluetooth-controlled robot car is interfaced with a Bluetooth module HC-05 or HC-06. We can
give specific voice commands to the robot through an Android app installed on the phone. At the receiving
side, a Bluetooth transceiver module receives the commands and forwards them to the Arduino, and thus
the robotic car is controlled.

SYSTEM DESIGN AND IMPLEMENTATION

Circuit Diagram of Bluetooth Controlled Robot

The following is the circuit diagram of Bluetooth Controlled Robot

Since I will be only transmitting data related to the Robot’s movement from Android Phone to Bluetooth
Module and do not intend to receive any data from Arduino, I will connect only the TX pin of the Bluetooth
Module to RX Pin of Arduino.

This RX pin of Arduino is based on SoftwareSerial library (Pin 2 and Pin 3 are configured as RX and TX on
Arduino). The RX pin of the Bluetooth is left open.

Now, the L298N Motor Driver Module. Digital I/O Pins 9 through 12 of Arduino are configured as Input pins
of the Motor Driver and are connected to IN1 through IN4 of the L298N Motor Driver Module. Both the
Enable Pins are connected to 5V through provided jumper.The robot chassis which I am using in this
Bluetooth Controlled Robot Car project is supplied with 4 geared motors. Since L298N has slots for only two
motors, I have joined the left side motors as one set and the right side motors as other set and connected
both these sets to the output of L298N Module.

Code
The Arduino code for Bluetooth Controlled Robot project is given
below.
#include<SoftwareSerial.h>
#define IN1 12
#define IN2 11
#define IN3 10
#define IN4 9
//#define EN1 6
//#define EN2 5

SoftwareSerial mySerial(2, 3); // RX, TX

String data;
int btVal;

void setup()
{
//Serial.begin(115200);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
//pinMode(EN1, OUTPUT);
//pinMode(EN2, OUTPUT);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
//analogWrite(EN1,63);
//analogWrite(EN2,63);
mySerial.begin(9600);
}

void loop()
{
while (mySerial.available())
{
{
data = mySerial.readStringUntil('\n');
//Serial.print(str);
}

btVal = (data.toInt());
//Serial.print("BlueTooth Value ");
//Serial.println(btVal);
 switch (btVal)
{
case 1:
//Serial.println("Forward");
forward();
break;

case 2:
//Serial.println("Reverse");
reverse();
break;

case 3:
//Serial.println("Left");
left();
break;

case 4:
//Serial.println("Right");
right();
break;

case 5:
//Serial.println("Stop");
stoprobot();
break;

if (mySerial.available() < 0)
{
//Serial.println("No Bluetooth Data ");
}

void forward()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

void reverse()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

void left()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

void right()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

void stoprobot()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

Android App
If you remember the HC-05 Bluetooth Module tutorial, I have used a simple app called Bluetooth Controller,
which is installed on an Android Phone to communicate with the Bluetooth Module. In this project, I have
used the same app with modifications in the data to be transmitted.

Working
Assemble the robot, make the necessary connections and upload the code to Arduino. If you understood the
HC-05 Bluetooth Module tutorial, then understanding the Bluetooth Controlled Robot project is very easy.

First, in the Android App, I have used 5 keys as Forward, Reverse, Left, Right and Stop. The corresponding
data associated with each key is as follows:

 Forward – 1
 Reverse – 2
 Left – 3
 Right – 4
 Stop – 5
When a key is pressed, the corresponding data is transmitted to the Bluetooth Module from the Phone over
Bluetooth Communication.

In the Arduino code, the Arduino UNO receives any of this data from the Bluetooth Module (as per the key
pressed) and performs a simple switch case operation, where each case associated with appropriate
instructions to the Motor Driver Input Pins.

For example, if ‘Forward’ key is pressed in the Android Phone, then ‘1’ is transmitted. Arduino will then make
IN1 and IN3 as HIGH and IN2 and IN4 as LOW to achieve a forward motion.

Similarly, other keys correspond to appropriate setting of IN1 – IN4 pins.

CONCLUSION AND FUTURE WORK

Robots and smart phone are a perfect match for us to realize smart living not only at work, but in our
homes, with the aid of easily available and widely used technology, the Bluetooth. As the mobile devices
are becoming more advanced, using them for controlling Robots and other wireless devices is likely to be a
huge trend. It can be concluded that this idea of smart living will let us control our surroundings remotely
and wirelessly. With the ever increasing problems, our knowledge has to expand to adapt better to the
changes all around us. In the same way it is hoped that this activity is a small step that would lead us to
further enhancements and goals.
References:

1) https://www.google.co.in/search?
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3) https://www.researchgate.net/publication/
337759619_Arduino_based_Bluetooth_controlled_RC_Car
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7) https://www.slideshare.net/doaamarzook/bluetooth-controlled-android-car