Autor: Denis Balan

Proiectul are la baza construirea unei masinute care se poate controla prin bluetooth de pe un telefon cu android + afisarea pe un lcd a comenzilor pe care le primeste masina :

• FORWARD (F)
• BACKWARD (B)
• LEFT (L)
• RIGHT (R)
• STOP (S)

Aplicatia instalata pe telefon se conecteaza la modulul bluetooth al masinii si poti controla fiecare miscare scrisa mai sus. Pe acel LCD vor aparea miscarile in timp real. Daca ai apasat sageata in fata o sa apara FORWARD, la fel si pentru celelalte. Miscarile laterale se realizeaza prin fuctionarea unor motorase de pe partea stanga sau dreapta (in functie de directie) mai rapid decat cele de pe partea opusa.

• Arduino UNO
• Modul Bluetooth HC 05
• Breadboard
• Cabluri
• Baterii : 4x (1.5V) + 1x 9v
• 4x Motoare
• 4x Roti
• LCD
• 2x driver L298 v1

Librarii:

1. #include <LiquidCrystal_I2C.h> –> Pentru LCD
2. #include <SoftwareSerial.h> –> Pentru bluetooth

In functia de setup fac Serial.begin(9600) si setez pinii pentru care dau output. In functia de loop primes input si afisez pe LCD inputul, dupa care setez viteza si directia pentru motoare.

1. 11.05.2021 –> comandare sasiu + suport beterii + driver
2. 19.05.2021 –> comandare modul bluetooth (am uitat de el)
3. 20 - 1 .06.2021 –> asamblare + verificare cod

https://www.youtube.com/watch?v=GM5x62Ts5JQ&t=1s&ab_channel=DenisBalan

1. #include <LiquidCrystal_I2C.h>
2. #include <SoftwareSerial.h>
3. SoftwareSerial hc05(0, 1);
4. LiquidCrystal_I2C lcd(0x27,20,4);

int motor1pin1 = 2; int motor1pin2 = 3; int motor2pin1 = 4; int motor2pin2 = 5;

int motor3pin1 = 6; int motor3pin2 = 7; int motor4pin1 = 8; int motor4pin2 = 9;

char command; #define trig_pin A4 #define echo_pin A5

void setup() {

Serial.begin(9600);
hc05.begin(9600);
pinMode(motor1pin1, OUTPUT);
pinMode(motor1pin2, OUTPUT);
pinMode(motor2pin1, OUTPUT);
pinMode(motor2pin2, OUTPUT);

pinMode(motor3pin1, OUTPUT);
pinMode(motor3pin2, OUTPUT);
pinMode(motor4pin1, OUTPUT);
pinMode(motor4pin2, OUTPUT);

pinMode(10, OUTPUT); 
pinMode(11, OUTPUT);
pinMode(12, OUTPUT); 
pinMode(13, OUTPUT);

}

void loop() {

// initiez LCD -ul
lcd.init(); 
lcd.backlight();
lcd.clear();

// verific daca am input si-l preiau
if(hc05.available() > 0){
  command = hc05.read();
  Serial.write(Serial.read());
}
else {
  command = ' ';
}

// daca comanda este F atunci afisez pe LCD
// si dau comanda la motoare sa se miste
// la fel si in celelalte if-uri
if (command == 'F') {

  lcd.print("FORWARD");

  //Controlling spin direction of motors:
  digitalWrite(motor1pin1, HIGH);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, HIGH);
  digitalWrite(motor2pin2, LOW);

  digitalWrite(motor3pin1, HIGH);
  digitalWrite(motor3pin2, LOW);

  digitalWrite(motor4pin1, HIGH);
  digitalWrite(motor4pin2, LOW);

  // setez viteza motoarelor
  analogWrite(10, 255); //ENA pin
  analogWrite(11, 255); //ENB pin
  analogWrite(12, 255); //ENA pin
  analogWrite(13, 255); //ENA pin
}
if (command == 'B') {

  lcd.print("BACKWARD");
  
  //Controlling spin direction of motors:
  digitalWrite(motor1pin1, LOW);
  digitalWrite(motor1pin2, HIGH);

  digitalWrite(motor2pin1, LOW);
  digitalWrite(motor2pin2, HIGH);

  digitalWrite(motor3pin1, LOW);
  digitalWrite(motor3pin2, HIGH);

  digitalWrite(motor4pin1, LOW);
  digitalWrite(motor4pin2, HIGH);
  
  analogWrite(10, 255); //ENA pin
  analogWrite(11, 255); //ENB pin
  analogWrite(12, 255); //ENA pin
  analogWrite(13, 255); //ENA pin
}
if (command == 'L') {

  lcd.print("LEFT");
  
  //Controlling spin direction of motors:
  digitalWrite(motor1pin1, HIGH);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, LOW);
  digitalWrite(motor2pin2, LOW);

  digitalWrite(motor4pin1, HIGH);
  digitalWrite(motor4pin2, LOW);

  digitalWrite(motor3pin1, LOW);
  digitalWrite(motor3pin2, LOW);

  analogWrite(10, 255); //ENA pin
  analogWrite(11, 255); //ENB pin
  analogWrite(12, 255); //ENA pin
  analogWrite(13, 255); //ENA pin
}
if (command == 'R') {

  lcd.print("RIGHT");
  
  //Controlling spin direction of motors:
  digitalWrite(motor1pin1, LOW);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, HIGH);
  digitalWrite(motor2pin2, LOW);

  digitalWrite(motor4pin1, LOW);
  digitalWrite(motor4pin2, LOW);

  digitalWrite(motor3pin1, HIGH);
  digitalWrite(motor3pin2, LOW);

  analogWrite(10, 255); //ENA pin
  analogWrite(11, 255); //ENB pin
  analogWrite(12, 255); //ENA pin
  analogWrite(13, 255); //ENA pin
}
if (command == 'S') {

  lcd.print("STOP");
  
  //Controlling spin direction of motors:
  digitalWrite(motor1pin1, LOW);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, LOW);
  digitalWrite(motor2pin2, LOW);

  digitalWrite(motor4pin1, LOW);
  digitalWrite(motor4pin2, LOW);

  digitalWrite(motor3pin1, LOW);
  digitalWrite(motor3pin2, LOW);

  analogWrite(10, 0); //ENA pin
  analogWrite(11, 0); //ENB pin
  analogWrite(12, 0); //ENA pin
  analogWrite(13, 0); //ENA pin
}

}

http://ocw.cs.pub.ro/courses/pm/prj2021/avaduva/android_car