Smart Car

Arduino Smart Car

Components

Arduino Uno Board

Sensor Shield

Servo Motor

DC Motors

L298N H-Bridge

Ultrasonic Sensor

Line Tracking Sensor

Jumper Wires

Lithium Battery

Battery Pack

Chassis

Wheels

Assembly Instructions

Instructions_Comments.pdf

Wiring the Robot

robot-car-instructions.pdf

Programming the Robot

Moving the Servo Motor

//Setup for Servo Motor

#include <Servo.h>

Servo myservo;

void setup() {

    Serial.begin(9600);

    myservo.attach(11);

void loop() {

    myservo.write(90);

    delay(500);

    myservo.write(0);

    delay(1000);

    myservo.write(180);

    delay(1000);

Using the Ultrasonic Sensor

//Setup for Ultrasonic sensor

#include <SR04.h>

#define trig_pin 13

#define echo_pin 12

SR04 sr04 = SR04(echo_pin,trig_pin);

int pos = 0;

int leftDis = 0;

int rightDis = 0;

int forward = 0;

void setup() {

  Serial.begin(9600);

void loop() {

    myservo.write(80);

    delay(500);

    forward = sr04.Distance();

    Serial.println(forward);

    myservo.write(0);

    delay(1000);

    rightDis = sr04.Distance();

    Serial.println(leftDis);

    delay(1000);

    myservo.write(180);

    delay(1000);

    leftDis = sr04.Distance();

    Serial.println(rightDis);

    delay(1000);

Moving the Wheels

//Setup for Wheel Motors

#define enA 6

#define in1 7

#define in2 5

#define enB 3

#define in3 4

#define in4 2

void go() {

  analogWrite(enA, 175);

  analogWrite(enB, 175);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void left() {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

void right() {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void stopp() {

  digitalWrite(enA, LOW);

  digitalWrite(enB, LOW);

void setup() {

  Serial.begin(9600);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

void loop() {

    go();

    delay(1000);

    stopp();

    delay(1000);

Moving the Wheels Simplified

//Setup for Wheel Motors

#define enA 6

#define in1 7

#define in2 5

#define enB 3

#define in3 4

#define in4 2

void go(int t) {

  analogWrite(enA, 175);

  analogWrite(enB, 175);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

  delay(t);

  stopp(250);

void left(int t) {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

  delay(t);

  stopp(250);

void right(int t) {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

  delay(t);

  stopp(250);

void stopp(int t) {

  digitalWrite(enA, LOW);

  digitalWrite(enB, LOW);

  delay(t);

void setup() {

  Serial.begin(9600);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

void loop() {

    go(1000);

    right(500);

Stationary Robot

//Ultrasonic Setup

#include <SR04.h>

#define echo_pin 12

#define trig_pin 13

SR04 sr04 = SR04(echo_pin,trig_pin);

int distance = 0;

int rightDis = 0;

int leftDis = 0;

//Setup for Servo Motor

#include <Servo.h>

Servo myservo;

//Setup for Wheel Motors

#define enA 6

#define in1 7

#define in2 5

#define enB 3

#define in3 4

#define in4 2

void go() {

  analogWrite(enA, 175);

  analogWrite(enB, 175);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void left() {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

void right() {

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void stopp() {

  digitalWrite(enA, LOW);

  digitalWrite(enB, LOW);

void setup() {

  Serial.begin(9600);

  myservo.attach(11);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

void loop() {

  myservo.write(90);

  distance = sr04.Distance();

  if (distance < 50)

    Serial.println("Stop");

    myservo.write(0);

    delay(1000);

    rightDis = sr04.Distance();

    Serial.print("Right: ");

    Serial.println(rightDis);

  else

    Serial.println("Go");

  delay(500);

Obstacle Avoidance

//Setup for Ultrasonic sensor

#include <SR04.h>

#define trig_pin 13

#define echo_pin 12

SR04 sr04 = SR04(echo_pin,trig_pin);

//Setup for Servo Motor

#include <Servo.h>

Servo myservo;

int leftDis = 0;

int rightDis = 0;

int forwardDis = 0;

//Setup for Wheel Motors

#define enA 6

#define in1 7

#define in2 5

#define enB 3

#define in3 4

#define in4 2

void go() {   //Forward Movement

  analogWrite(enA, 175);

  analogWrite(enB, 175);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void back() {   //Reverse Movement

  analogWrite(enA, 175);

  analogWrite(enB, 175);

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

void left() {   //Turning Left

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

void right() {    //Turning Right

  analogWrite(enA, 150);

  analogWrite(enB, 150);

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

void stopp() {    //Stops robot

  digitalWrite(enA, LOW);

  digitalWrite(enB, LOW);

void setup() {

  Serial.begin(9600);

  myservo.attach(11);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

void loop() {

  myservo.write(80);

  delay(500);

  forwardDis = sr04.Distance();

  Serial.println(forwardDis);

  if (forwardDis < 75) { //Object is in front of robot

    stopp();   //Stops robot movement

    delay(250);

    back();   //backs away from object slightly

    delay(500);

    stopp();

    delay(1000);

    myservo.write(0);   //Moves US Sensor to the right

    delay(1000);

    rightDis = sr04.Distance();   //Measures Distance

    Serial.println(leftDis);    //Optional print to Serial Monitor

    delay(1000);

    myservo.write(180);   //Moves US Sensor to the left

    delay(1000);

    leftDis = sr04.Distance();    //Measures Distance

    Serial.println(rightDis);   //Optional print to Serial Monitor

    delay(1000);

    if(rightDis > leftDis){   //Path is clearest to the right

        right();    //turns robot to the right 90ish degrees

        delay(15);

    else if(rightDis < leftDis) {   //Path clearest to the left

        left();   //turns robot to the left 90ish degrees

        delay(15);

    myservo.write(80);    //Moves US Sensor back to the forward position

    delay(250);

  else{   //While there is not objects in the way

    go();   //Moves robot forward

Bluetooth

unsigned char Bluetooth_val;       //defining variable val

#define Lpwm_pin  6    //adjusting speed

#define Rpwm_pin  3    //adjusting speed  //

int pinLB=7;     // defining pin2 left rear

int pinLF=5;     // defining pin4 left front

int pinRB=4;    // defining pin7 right rear

int pinRF=2;    // defining pin8 right front

unsigned char Lpwm_val = 255;

unsigned char Rpwm_val = 255;

int Car_state=0;

void M_Control_IO_config(void)

  pinMode(pinLB,OUTPUT); // IN1

  pinMode(pinLF,OUTPUT); // IN2

  pinMode(pinRB,OUTPUT); // IN3

  pinMode(pinRF,OUTPUT); // IN4

  pinMode(Lpwm_pin,OUTPUT); // pin 6 (PWM)

  pinMode(Rpwm_pin,OUTPUT); // pin 3 (PWM)

void Set_Speed(unsigned char Left,unsigned char Right)

  analogWrite(Lpwm_pin,Left);

  analogWrite(Rpwm_pin,Right);

void advance()     //  going forward

     Set_Speed(200,200);

     digitalWrite(pinRB,HIGH);  // making motor move towards right rear

     digitalWrite(pinRF,LOW);

     digitalWrite(pinLB,HIGH);  // making motor move towards left rear

     digitalWrite(pinLF,LOW);

     Car_state = 1;

void turnR()        //turning right(dual wheel)

     Set_Speed(150,150);

     digitalWrite(pinRB,HIGH);  //making motor move towards right rear

     digitalWrite(pinRF,LOW);

     digitalWrite(pinLB,LOW);

     digitalWrite(pinLF,HIGH);  //making motor move towards left front

     Car_state = 4;

void turnL()        //turning left(dual wheel)

     Set_Speed(150,150);

     digitalWrite(pinRB,LOW);

     digitalWrite(pinRF,HIGH );   //making motor move towards right front

     digitalWrite(pinLB,HIGH);   //making motor move towards left rear

     digitalWrite(pinLF,LOW);

     Car_state = 3;

void stopp()         //stop

     digitalWrite(pinRB,HIGH);

     digitalWrite(pinRF,HIGH);

     digitalWrite(pinLB,HIGH);

     digitalWrite(pinLF,HIGH);

     Car_state = 5;

void back()          //back up

     Set_Speed(200,200);

     digitalWrite(pinRB,LOW);  //making motor move towards right rear

     digitalWrite(pinRF,HIGH);

     digitalWrite(pinLB,LOW);  //making motor move towards left rear

     digitalWrite(pinLF,HIGH);

     Car_state = 2;

void setup()

   M_Control_IO_config();

   Set_Speed(Lpwm_val,Rpwm_val);

   Serial.begin(9600);   //initialized serial port , using Bluetooth as serial port, setting baud at 9600

   stopp();

void loop()

   if(Serial.available()) //to judge whether the serial port receives the data.

     Bluetooth_val=Serial.read();

     Serial.print(Bluetooth_val);//reading (Bluetooth) data of serial port,giving the value of val;

    switch(Bluetooth_val)

       case 'U':advance(); //UP

       break;

       case 'D': back();   //back

       break;

       case 'L':turnL();   //Left

       break;

       case 'R':turnR();  //Right

       break;

       case 'S':stopp();    //stop

       break;

       case 'I':stopp();    //stop

       break;

Learn More

L298N H-Bridge

https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/

https://dronebotworkshop.com/dc-motors-l298n-h-bridge/

Ultrasonic Sensor

https://dronebotworkshop.com/hc-sr04-ultrasonic-distance-sensor-arduino/#1

Servo Motors

https://dronebotworkshop.com/servo-motors-with-arduino/

Line Tracking

https://dronebotworkshop.com/elegoo-robot-car-part-3/

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