Smartphone Controlled Arduino 4WD Robot Car

This is my next project, a smartphone-controlled Arduino 4WD robot car or Bluetooth Arduino robot.

Things used in this project

Hardware components

Buy from Newark
Buy from store.arduino.cc
Buy from Adafruit
Buy from Arduino Store
Buy from CPC

HC-06 Bluetooth Module

4WD Smart Robot Car Chassis Kit

Buy from Newark
Buy from CPC
Buy from SparkFun

LED (generic)

Buy from Newark
Buy from SparkFun

Buy from Newark
Buy from Adafruit

Resistor 221 ohm

Software apps and online services

Arduino Bluetooth RC Car

Hand tools and fabrication machines

Soldering iron (generic)

Story

Hi everyone! This is my next project, a smartphone-controlled Arduino 4WD robot car or Bluetooth Arduino robot. It can move forward and backward, left and right, change its speed, turn on / off front and back lights and also it can horn.

This is a quite simple design robot you can easily build it.

Step 1: Requirements

Arduino Uno R3 Board

Chassis 4WD with DC Motor and Wheel x4

Motor Driver L298N x2

Bluetooth module HC-06

Li-ion battery 18650 x2

LEDs + resistors 220 Ohm x4

Buzzer

Step 2: Assembling a 4WD Robot Smart Car Chassis

This is my video: How to Assemble a 4WD Robot Smart Car Chassis Kit.

Step 3: Wiring Diagram

Make connections as in the wiring diagram image above.

Step 4: Upload Robot Code

#define light_FR 14 //LED Front Right pin A0 for Arduino Uno #define light_FL 15 //LED Front Left pin A1 for Arduino Uno #define light_BR 16 //LED Back Right pin A2 for Arduino Uno #define light_BL 17 //LED Back Left pin A3 for Arduino Uno #define horn_Buzz 18 //Horn Buzzer pin A4 for Arduino Uno #define ENA_m1 5 // Enable/speed motor Front Right #define ENB_m1 6 // Enable/speed motor Back Right #define ENA_m2 10 // Enable/speed motor Front Left #define ENB_m2 11 // Enable/speed motor Back Left #define IN_11 2 // L298N #1 in 1 motor Front Right #define IN_12 3 // L298N #1 in 2 motor Front Right #define IN_13 4 // L298N #1 in 3 motor Back Right #define IN_14 7 // L298N #1 in 4 motor Back Right #define IN_21 8 // L298N #2 in 1 motor Front Left #define IN_22 9 // L298N #2 in 2 motor Front Left #define IN_23 12 // L298N #2 in 3 motor Back Left #define IN_24 13 // L298N #2 in 4 motor Back Left int command; //Int to store app command state. int speedCar = 100; // 50 - 255. int speed_Coeff = 4; boolean lightFront = false; boolean lightBack = false; boolean horn = false; void setup() < pinMode(light_FR, OUTPUT); pinMode(light_FL, OUTPUT); pinMode(light_BR, OUTPUT); pinMode(light_BL, OUTPUT); pinMode(horn_Buzz, OUTPUT); pinMode(ENA_m1, OUTPUT); pinMode(ENB_m1, OUTPUT); pinMode(ENA_m2, OUTPUT); pinMode(ENB_m2, OUTPUT); pinMode(IN_11, OUTPUT); pinMode(IN_12, OUTPUT); pinMode(IN_13, OUTPUT); pinMode(IN_14, OUTPUT); pinMode(IN_21, OUTPUT); pinMode(IN_22, OUTPUT); pinMode(IN_23, OUTPUT); pinMode(IN_24, OUTPUT); Serial.begin(9600); > void goAhead() digitalWrite(IN_11, HIGH); digitalWrite(IN_12, LOW); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, LOW); digitalWrite(IN_14, HIGH); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, LOW); digitalWrite(IN_22, HIGH); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, HIGH); digitalWrite(IN_24, LOW); analogWrite(ENB_m2, speedCar); > void goBack() digitalWrite(IN_11, LOW); digitalWrite(IN_12, HIGH); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, HIGH); digitalWrite(IN_14, LOW); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, HIGH); digitalWrite(IN_22, LOW); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, LOW); digitalWrite(IN_24, HIGH); analogWrite(ENB_m2, speedCar); > void goRight() digitalWrite(IN_11, LOW); digitalWrite(IN_12, HIGH); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, HIGH); digitalWrite(IN_14, LOW); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, LOW); digitalWrite(IN_22, HIGH); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, HIGH); digitalWrite(IN_24, LOW); analogWrite(ENB_m2, speedCar); > void goLeft() digitalWrite(IN_11, HIGH); digitalWrite(IN_12, LOW); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, LOW); digitalWrite(IN_14, HIGH); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, HIGH); digitalWrite(IN_22, LOW); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, LOW); digitalWrite(IN_24, HIGH); analogWrite(ENB_m2, speedCar); > void goAheadRight()< digitalWrite(IN_11, HIGH); digitalWrite(IN_12, LOW); analogWrite(ENA_m1, speedCar/speed_Coeff); digitalWrite(IN_13, LOW); digitalWrite(IN_14, HIGH); analogWrite(ENB_m1, speedCar/speed_Coeff); digitalWrite(IN_21, LOW); digitalWrite(IN_22, HIGH); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, HIGH); digitalWrite(IN_24, LOW); analogWrite(ENB_m2, speedCar); > void goAheadLeft()< digitalWrite(IN_11, HIGH); digitalWrite(IN_12, LOW); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, LOW); digitalWrite(IN_14, HIGH); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, LOW); digitalWrite(IN_22, HIGH); analogWrite(ENA_m2, speedCar/speed_Coeff); digitalWrite(IN_23, HIGH); digitalWrite(IN_24, LOW); analogWrite(ENB_m2, speedCar/speed_Coeff); > void goBackRight() digitalWrite(IN_11, LOW); digitalWrite(IN_12, HIGH); analogWrite(ENA_m1, speedCar/speed_Coeff); digitalWrite(IN_13, HIGH); digitalWrite(IN_14, LOW); analogWrite(ENB_m1, speedCar/speed_Coeff); digitalWrite(IN_21, HIGH); digitalWrite(IN_22, LOW); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, LOW); digitalWrite(IN_24, HIGH); analogWrite(ENB_m2, speedCar); > void goBackLeft() digitalWrite(IN_11, LOW); digitalWrite(IN_12, HIGH); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, HIGH); digitalWrite(IN_14, LOW); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, HIGH); digitalWrite(IN_22, LOW); analogWrite(ENA_m2, speedCar/speed_Coeff); digitalWrite(IN_23, LOW); digitalWrite(IN_24, HIGH); analogWrite(ENB_m2, speedCar/speed_Coeff); > void stopRobot() digitalWrite(IN_11, LOW); digitalWrite(IN_12, LOW); analogWrite(ENA_m1, speedCar); digitalWrite(IN_13, LOW); digitalWrite(IN_14, LOW); analogWrite(ENB_m1, speedCar); digitalWrite(IN_21, LOW); digitalWrite(IN_22, LOW); analogWrite(ENA_m2, speedCar); digitalWrite(IN_23, LOW); digitalWrite(IN_24, LOW); analogWrite(ENB_m2, speedCar); > void loop() < if (Serial.available() >0) < command = Serial.read(); stopRobot(); //Initialize with motors stopped. if (lightFront) if (!lightFront) if (lightBack) if (!lightBack) if (horn) if (!horn) switch (command) < case 'F':goAhead();break; case 'B':goBack();break; case 'L':goLeft();break; case 'R':goRight();break; case 'I':goAheadRight();break; case 'G':goAheadLeft();break; case 'J':goBackRight();break; case 'H':goBackLeft();break; case '0':speedCar = 100;break; case '1':speedCar = 115;break; case '2':speedCar = 130;break; case '3':speedCar = 145;break; case '4':speedCar = 160;break; case '5':speedCar = 175;break; case '6':speedCar = 190;break; case '7':speedCar = 205;break; case '8':speedCar = 220;break; case '9':speedCar = 235;break; case 'q':speedCar = 255;break; case 'W':lightFront = true;break; case 'w':lightFront = false;break; case 'U':lightBack = true;break; case 'u':lightBack = false;break; case 'V':horn = true;break; case 'v':horn = false;break; > > >

Before uploading the code you have to disconnect Bluetooth module from Arduino Uno board (pins 0, 1).

Step 6: Downloading Android App

Step 7: Connecting Bluetooth Module

To connect your smartphone to Arduino Bluetooth module HC-06 we have to enter PIN CODE 1234 or 0000.

That it once you made all steps properly robot is ready to go!

Schematics

BT Car Wiring Diagram

BT Car Wiring Diagram \ Fritzing

Code

BTcar_v01.2.ino

#define light_FR 14 //LED Front Right pin A0 for Arduino Uno #define light_FL 15 //LED Front Left pin A1 for Arduino Uno #define light_BR 16 //LED Back Right pin A2 for Arduino Uno #define light_BL 17 //LED Back Left pin A3 for Arduino Uno #define horn_Buzz 18 //Horn Buzzer pin A4 for Arduino Uno  #define ENA_m1 5 // Enable/speed motor Front Right #define ENB_m1 6 // Enable/speed motor Back Right #define ENA_m2 10 // Enable/speed motor Front Left #define ENB_m2 11 // Enable/speed motor Back Left  #define IN_11 2 // L298N #1 in 1 motor Front Right #define IN_12 3 // L298N #1 in 2 motor Front Right #define IN_13 4 // L298N #1 in 3 motor Back Right #define IN_14 7 // L298N #1 in 4 motor Back Right  #define IN_21 8 // L298N #2 in 1 motor Front Left #define IN_22 9 // L298N #2 in 2 motor Front Left #define IN_23 12 // L298N #2 in 3 motor Back Left #define IN_24 13 // L298N #2 in 4 motor Back Left  int command; //Int to store app command state. int speedCar = 100; // 50 - 255. int speed_Coeff = 4; boolean lightFront = false; boolean lightBack = false; boolean horn = false;  void setup()   pinMode(light_FR, OUTPUT);  pinMode(light_FL, OUTPUT);  pinMode(light_BR, OUTPUT);  pinMode(light_BL, OUTPUT);  pinMode(horn_Buzz, OUTPUT);  pinMode(ENA_m1, OUTPUT);  pinMode(ENB_m1, OUTPUT);  pinMode(ENA_m2, OUTPUT);  pinMode(ENB_m2, OUTPUT);  pinMode(IN_11, OUTPUT);  pinMode(IN_12, OUTPUT);  pinMode(IN_13, OUTPUT);  pinMode(IN_14, OUTPUT);  pinMode(IN_21, OUTPUT);  pinMode(IN_22, OUTPUT);  pinMode(IN_23, OUTPUT);  pinMode(IN_24, OUTPUT);  Serial.begin(9600);  >  void goAhead()  digitalWrite(IN_11, HIGH);  digitalWrite(IN_12, LOW);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, LOW);  digitalWrite(IN_14, HIGH);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, LOW);  digitalWrite(IN_22, HIGH);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, HIGH);  digitalWrite(IN_24, LOW);  analogWrite(ENB_m2, speedCar);  >  void goBack()  digitalWrite(IN_11, LOW);  digitalWrite(IN_12, HIGH);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, HIGH);  digitalWrite(IN_14, LOW);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, HIGH);  digitalWrite(IN_22, LOW);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, LOW);  digitalWrite(IN_24, HIGH);  analogWrite(ENB_m2, speedCar);  >  void goRight()  digitalWrite(IN_11, LOW);  digitalWrite(IN_12, HIGH);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, HIGH);  digitalWrite(IN_14, LOW);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, LOW);  digitalWrite(IN_22, HIGH);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, HIGH);  digitalWrite(IN_24, LOW);  analogWrite(ENB_m2, speedCar);  >  void goLeft()  digitalWrite(IN_11, HIGH);  digitalWrite(IN_12, LOW);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, LOW);  digitalWrite(IN_14, HIGH);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, HIGH);  digitalWrite(IN_22, LOW);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, LOW);  digitalWrite(IN_24, HIGH);  analogWrite(ENB_m2, speedCar);  >  void goAheadRight()  digitalWrite(IN_11, HIGH);  digitalWrite(IN_12, LOW);  analogWrite(ENA_m1, speedCar/speed_Coeff);  digitalWrite(IN_13, LOW);  digitalWrite(IN_14, HIGH);  analogWrite(ENB_m1, speedCar/speed_Coeff);  digitalWrite(IN_21, LOW);  digitalWrite(IN_22, HIGH);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, HIGH);  digitalWrite(IN_24, LOW);  analogWrite(ENB_m2, speedCar);  >  void goAheadLeft()  digitalWrite(IN_11, HIGH);  digitalWrite(IN_12, LOW);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, LOW);  digitalWrite(IN_14, HIGH);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, LOW);  digitalWrite(IN_22, HIGH);  analogWrite(ENA_m2, speedCar/speed_Coeff);  digitalWrite(IN_23, HIGH);  digitalWrite(IN_24, LOW);  analogWrite(ENB_m2, speedCar/speed_Coeff);  >  void goBackRight()  digitalWrite(IN_11, LOW);  digitalWrite(IN_12, HIGH);  analogWrite(ENA_m1, speedCar/speed_Coeff);  digitalWrite(IN_13, HIGH);  digitalWrite(IN_14, LOW);  analogWrite(ENB_m1, speedCar/speed_Coeff);  digitalWrite(IN_21, HIGH);  digitalWrite(IN_22, LOW);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, LOW);  digitalWrite(IN_24, HIGH);  analogWrite(ENB_m2, speedCar);  >  void goBackLeft()  digitalWrite(IN_11, LOW);  digitalWrite(IN_12, HIGH);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, HIGH);  digitalWrite(IN_14, LOW);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, HIGH);  digitalWrite(IN_22, LOW);  analogWrite(ENA_m2, speedCar/speed_Coeff);  digitalWrite(IN_23, LOW);  digitalWrite(IN_24, HIGH);  analogWrite(ENB_m2, speedCar/speed_Coeff);  >  void stopRobot()  digitalWrite(IN_11, LOW);  digitalWrite(IN_12, LOW);  analogWrite(ENA_m1, speedCar);  digitalWrite(IN_13, LOW);  digitalWrite(IN_14, LOW);  analogWrite(ENB_m1, speedCar);  digitalWrite(IN_21, LOW);  digitalWrite(IN_22, LOW);  analogWrite(ENA_m2, speedCar);  digitalWrite(IN_23, LOW);  digitalWrite(IN_24, LOW);  analogWrite(ENB_m2, speedCar);  >  void loop()  if (Serial.available() > 0)   command = Serial.read();  stopRobot(); //Initialize with motors stopped.  if (lightFront) digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);> if (!lightFront) digitalWrite(light_FR, LOW); digitalWrite(light_FL, LOW);> if (lightBack) digitalWrite(light_BR, HIGH); digitalWrite(light_BL, HIGH);> if (!lightBack) digitalWrite(light_BR, LOW); digitalWrite(light_BL, LOW);> if (horn) digitalWrite(horn_Buzz, HIGH);> if (!horn) digitalWrite(horn_Buzz, LOW);>  switch (command)  case 'F':goAhead();break; case 'B':goBack();break; case 'L':goLeft();break; case 'R':goRight();break; case 'I':goAheadRight();break; case 'G':goAheadLeft();break; case 'J':goBackRight();break; case 'H':goBackLeft();break; case '0':speedCar = 100;break; case '1':speedCar = 115;break; case '2':speedCar = 130;break; case '3':speedCar = 145;break; case '4':speedCar = 160;break; case '5':speedCar = 175;break; case '6':speedCar = 190;break; case '7':speedCar = 205;break; case '8':speedCar = 220;break; case '9':speedCar = 235;break; case 'q':speedCar = 255;break; case 'W':lightFront = true;break; case 'w':lightFront = false;break; case 'U':lightBack = true;break; case 'u':lightBack = false;break; case 'V':horn = true;break; case 'v':horn = false;break;  > > >