Arduino Car Project

José Johan Herrera Ropero

Maikol Alejandro Jerez Medina

Camilo Andrés Martínez Carreño

Valerie Janara Figueredo Bayona

University of Pamplona

Faculty of Engineering

Mechatronic Engineering Workshop

Villa Del Rosario

2023
 Arduino Car Project

José Johan Herrera Ropero

Maikol Alejandro Jerez Medina

Camilo Andrés Martínez Carreño

Valerie Janara Figueredo Bayona

Prof. Cinthia Rocío Trejos Chacón

Pamplona University

Faculty of Engineering

Mechatronics Engineering Workshop

Villa Del Rosario

2023
 1. Introduction

In the dizzying world of robotics and engineering, innovation becomes

the engine that drives designers and creators to surpass seemingly impossible limits

unbreakable. In this context, our project comes to life: a fascinating and ambitious

Arduino-controlled cart, equipped with Bluetooth technology, designed to participate

in a unique competition: the 'Cars Battle'. This exciting challenge not only

it not only tests technical skill and design ability, but also explores the

intersection between engineering and the competitive spirit.

Our Bluetooth Arduino cart is not just a technological marvel; it is the

incarnation of creativity and engineering skill. In this project, we will delve into

the planning, design, and implementation of an autonomous vehicle capable of facing

to other carts in a competition that defies the laws of physics and logic. Since the

component selection to the programming of sophisticated algorithms, every aspect has

meticulously considered to ensure exceptional performance in the field of

battle of the 'Cars Battle'.

As we explore the details of our Bluetooth Arduino cart,

we will discover how the synergy between hardware and software can unleash potential

amazing. With an emphasis on adaptability and strategy, our project seeks not only

stand out not only in terms of speed and agility but also in intelligent tactics that

make a difference in the heat of competition.

 2. Objectives

2.1 General objective

• Design, build, and program an Arduino-controlled cart with technology

Bluetooth, with the purpose of participating competitively in a war of

carts under established parameters, demonstrating innovation, efficiency and

strategy in a robotic environment.

2.2 specific objectives

• Implement a robust control system that allows for precise navigation and

agile response of the cart in the competition field.

• Optimize control algorithms to ensure stability and maneuverability of the

cart in situations of high competition and demand.

• Configure and program a Bluetooth module to establish communication

reliable and secure between the cart and a remote control device.

• Develop an intuitive user interface that allows effective control of the cart

through the Bluetooth connection, facilitating participation in the competition.

• Ensure that the cart meets the technical and dimensional requirements

established by the competition.

• Conduct thorough testing to ensure that the cart performs within

the limits allowed by the rules of cart wars, demonstrating their

capacity in a realistic competitive environment.

 Theoretical framework

3.1 technical specifications

The different elements used will be shown next.

development of our Arduino car, all with their respective information

techniques.

Arduino UNO R3: The Arduino Uno R3 is a compact development board.

and versatile that uses the ATmega328P microcontroller. With 14 digital pins of

Input/output, 6 of which are suitable for PWM outputs, and 6 analog pins,

provides extensive options for connecting sensors and actuators. With a

16 MHz clock frequency and 32 KB of flash memory, capable of executing tasks

various. It can be powered through the USB port or with an adapter of

external current that supplies between 7 and 12V. Its easy programming through the

Arduino development environment, based on the Wiring language, makes it a

ideal option for electronic and robotics projects. With compact dimensions

measures 68.6 mm in length and 53.4 mm in width, as well as a weight of 25 g, the Arduino

An Uno R3 is a powerful and efficient tool for prototyping.

integrated projects.

Image 1
Arduino UNO R3
 Bluetooth HC-06 Module: The Bluetooth HC-06 module is an addition

valuable for electronic projects, providing wireless connectivity through

Bluetooth. Equipped with the popular HC-06 Bluetooth module, this component

allows wireless serial communication between devices. With a range of

typical operation of up to 10 meters, the HC-06 facilitates integration of

Bluetooth functionalities in electronic projects. With a compact design and

lightweight, this module is easy to incorporate into applications where it is required a

wireless connection. Powered by common voltages of 3.3V or 5V, the

HC-06 integrates seamlessly with development boards like the Arduino Uno R3.

Its simple pairing and setup process, along with its compatibility

with Bluetooth 2.0 standard, it makes it an effective option for projects that

They seek to implement wireless communication in an easy and effective way.

Image 2
Bluetooth Module HC-06

H L298 Bridge: The inclusion of the H L298 bridge in a project expands the

motor control capabilities, allowing the efficient management of motors

direct current. The H bridge L298, compatible with the Arduino Uno R3, facilitates the

bidirectional control of motors, with two channels that admit currents of up to 2

 amperes per channel. This component provides the capability to control the speed and

DC motor control, being ideal for robotics and vehicle applications

motorized. With logic inputs compatible with TTL levels, the L298 integrates

no problems with the control logic of the Arduino Uno R3. In addition, its design

robustness and capacity to handle inductive loads make it a reliable option

for projects that require precise motor control. Typically powered

with a voltage source of 7 to 35V, the H bridge L298 becomes a component

essential for projects that require precise and versatile motor control.

Image 3
H Bridge L298

Lithium 18650 batteries 6000mAh: The incorporation of lithium 18650 batteries of

6000mAh to the project provides a reliable and high-capacity power source to feed

prolonged use of electronic devices. With a capacity of 6000mAh, these

batteries offer a generous amount of energy, making them ideal for low applications

consumption or where extended autonomy is required. The use of lithium batteries

provides an efficient and rechargeable power source.

When combined with the Arduino Uno R3 and other components, such as the module

Bluetooth HC-06 and the H bridge L298, the 18650 batteries provide the necessary mobility for
wireless projects or mobile devices. It is essential to consider management

suitable charging and discharging of the batteries through protection and regulation circuits

of voltage to ensure safe and optimized performance. In addition, these batteries are

rechargeable, which adds an advantage in terms of sustainability and long-term economy

for projects that require a durable and portable power source.

Image 4
18650 lithium batteries

Gear motors with wheels: The incorporation of gear motors with wheels was

essential for the mobility and control of the robotic vehicle. These motors integrate both the

motor as a gear reduction system, which allows for more torque at

expenses of angular velocity.

Image 5
Gear motors
 Cable jumper: cables with connectors on both ends that allow for

quick and temporary connections between electronic components, such as development boards,

sensors, actuators, and other devices.

Image 6
Cable Jumper
 4. Project description

The vehicle was meticulously built, piece by piece, through acquisition

of all the previously specified necessary components. The assembly process

the installation of the gear motors and the base plate was initiated, accompanied by their

power supplies, which serve as support for the batteries. In addition, it was implemented

a second base to assemble the H bridge, along with the Arduino and its corresponding module

Bluetooth.

4.1 description of AT commands

In a later phase, an adaptation was carried out in the Arduino code,

incorporating AT commands in the Bluetooth module. This setting will be reflected later in

the operation of the vehicle. Below is a breakdown of the system of

connections used to enable the movement of the car.

#include <SoftwareSerial.h>

SoftwareSerial mySerial(10, 11); // RX, TX

int Pin_Motor_Right_A = 2;
int Pin_Motor_Right_B = 4;
int ENA = 3;
int Pin_Motor_Izq_A = 7;
int Pin_Motor_Izq_B = 6;
int ENB = 5;
int time=0;

void setup() {
[Link](9600);
pinMode(Pin_Motor_Der_A, OUTPUT);
pinMode(Pin_Motor_Der_B, OUTPUT);
pinMode(Pin_Motor_Left_A, OUTPUT);
pinMode(Pin_Motor_Left_B, OUTPUT);
set pin mode of ENA to OUTPUT;

pinMode(ENB, OUTPUT);
}

void loop() { // run over and over }

if ([Link]()) {
char dato=[Link]();
if(data=='F')
{
Move_Forward();
0
}
else if(data=='B')
{
Move_Retreat();
0
}
else if(data=='R')
{
Move_Right();
time=0;
}
else if(data == 'L')
 {
Move_Left();
0
}
}

if(time<200) // 100 cycles of 1ms

{
time=time+1;
}
else //100ms (100cycles) has already passed

{
Stop_Mover();
}

delay(1); // pause of 1ms per cycle

void Move_Forward()
{
digitalWrite(Pin_Motor_Right_A, HIGH);
digitalWrite(Pin_Motor_Der_B, LOW);
analogWrite(ENA,250);
digitalWrite(Pin_Motor_Left_A, HIGH);
digitalWrite(Pin_Motor_Izq_B, LOW);
analogWrite(ENB,230);
}
void Mover_Backward()
{
digitalWrite (Pin_Motor_Righ_A, LOW);
digitalWrite(Pin_Motor_Der_B, HIGH);
analogWrite(ENA,250);
digitalWrite(Pin_Motor_Left_A, LOW);
digitalWrite(Pin_Motor_Left, HIGH);
analogWrite(ENB,230);
}
void Move_Right()
{
digitalWrite(Pin_Motor_Der_A, HIGH);
digitalWrite(Pin_Motor_Der_B, LOW);
analogWrite(ENA,170);
digitalWrite (Pin_Motor_Left_A, HIGH);
digitalWrite(Pin_Motor_Left_B, LOW);
analogWrite(ENB,240);
}
void Move_Left()
{
digitalWrite (Pin_Motor_Right_A,HIGH);
digitalWrite(Pin_Motor_Der_B, LOW);
analogWrite(ENA,250);
digitalWrite(Pin_Motor_Left_A, HIGH);
digitalWrite(Pin_Motor_Left_B, LOW);
analogWrite(ENB,155);
}
void Mover_Stop()
{
digitalWrite(Pin_Motor_Der_A, LOW);
digitalWrite(Pin_Motor_Der_B, LOW);
 analogWrite(ENA,0);
digitalWrite(Pin_Motor_Left_A, LOW);
digitalWrite (Pin_Motor_Left_B, LOW);
analogWrite(ENB,0);
}

4.2 description of the connection system

The detailed focus on the purchase and assembly of each component ensured a

precise and structured process in the construction of the vehicle. The adaptation of the code with

Bluetooth commands added an additional layer of control.

more flexibility and adaptability in the system's operation. Next, we

they detail the essential connections to achieve the car's mobility, thus completing the

integral assembly of the project.

Image 7
Connection system (Proteus)
 conclusions

The project, developed through the integration of hardware and software in a

Arduino environment has proven to be a success in terms of functionality and experience.

user. The efficient combination of motors, H bridges, Arduino, and a Bluetooth module

has allowed the creation of a robotic vehicle capable of executing various strategies of

movement during the competition.

The implementation of wireless communication via the Bluetooth module does not

not only facilitated the remote control of the vehicle, but also added a layer of

interactivity, allowing participants to customize their battle strategies of

simple and effective way. Programming in Arduino proved to be a tool

accessible for the design of the control logic, allowing precise movements such as

forward, backward, turns to the right and left, as well as stopping, fundamental for a

dynamic battle.

The project was not only notable for its functionality, but also for its potential.

educational and playful. It offered a practical and fun experience that combined aspects of

programming, electronics, and robot design in a competition context. In addition, it served

as an inspiring platform for future projects, suggesting possible improvements such as the

incorporation of additional sensors or visual elements to enhance the experience.

 ANNEXES
Image 8
Casing design in Blender

Image 9
Housing design (printed)
Image 10
Connection system in basic