Bnagl: Added Bluetooth Module code

2021-03-01T15:42:03Z

Added Bluetooth Module code

@@ Line 702: / Line 702: @@
 [[File:Bluetooth_Module_Schematics.png|600px]]
 === Code ===
 == Obstacle Avoidance ==

Bnagl: Added the code for the Projekts: Line-Tracking, IR-Receiver/IR-Remote controlgmx, Obstacle Avoidance

2021-02-19T15:58:36Z

Added the code for the Projekts: Line-Tracking, IR-Receiver/IR-Remote controlgmx, Obstacle Avoidance

Show changes

Bnagl: /* Rotate Clockwise */

2021-02-19T14:21:45Z

Rotate Clockwise

← Older revision		Revision as of 14:21, 19 February 2021
Line 178:		Line 178:
	delay(5000);		delay(5000);
	}		}
	==== Rotate Clockwise ====		==== Rotate Counter Clockwise ====

	void ~~turnClockwise~~()		void turnCounterClockwise()
	{		{
	analogWrite(ENA,0);		analogWrite(ENA,0);

Bnagl: /* Rotate Counter Clockwise */ Wrong method name

2021-02-19T14:21:18Z

Rotate Counter Clockwise: Wrong method name

← Older revision		Revision as of 14:21, 19 February 2021
Line 194:		Line 194:
	}		}

	==== Rotate ~~Counter~~ Clockwise ====		==== Rotate Clockwise ====
	void ~~turnCounterClockwise~~()		void turnClockwise()
	{		{
	analogWrite(ENA,0);		analogWrite(ENA,0);

Bnagl at 15:56, 12 February 2021

2021-02-12T15:56:01Z

Show changes

Bnagl: Created page with "== Summary == This documentation is about how to program the Car and some tipps about the assembly. == Requirements == * Arduino IDE * 18650 Batteries == Description ==..."

2021-02-12T13:10:37Z

Created page with "== Summary == This documentation is about how to program the Car and some tipps about the assembly. == Requirements == * Arduino IDE * 18650 Batteries == Description ==..."

New page

== Summary ==

This documentation is about how to program the Car and some tipps about the assembly.

== Requirements ==

* Arduino IDE
* 18650 Batteries

== Description ==
=== Component list ===
<table style="border: solid 1px black; width:50% border-collapse: collapse; border-spacing: 0;">
<tr style="border: solid 1px black; padding: 5px 10px;">
<th style="border: solid 1px black; width:30%; padding: 5px 10px; text-align: center;">Product Name</th>
<th style="border: solid 1px black; width:20%; text-align: center; padding: 5px 10px;">Quantity</th>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;"">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio UNO R3</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio Shield V5</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio L298N Motor Shield</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio Bluetooh HC-06</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">I2C 1602 LCD</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio Line Tracking Sensor</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">3</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">HC-SR04 Ultrasonic Sensor</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">keyestudio Digital IR Receiver Module</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">4WD Top PCB</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">4WD Bottom PCB</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Servo Motor</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Servo Plastic Platform</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Remote Control of Chip</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Toggle Switch + Wire</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">18650 Battery Holder</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Mental Motor</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">4</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Motor Fixed Part</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">4</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Plastic Tire</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">4</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Copper Pillar 40MM</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">6</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Copper Pillar 10MM</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">16</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">USB Cable</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Jumper Wire</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">30</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">M3*6MM Round Head Screw</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">60</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">M3*8MM Flat Head Screw</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">2</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">M3*30MM Round Head Screw</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">8</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">3MM Nut</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">16</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Connector Wire (150mm, Black)</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">6</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Connector Wire (150mm, Red)</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">6</td>
</tr>
<tr style="border: solid 1px black; padding: 5px 10px;">
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">Winding Wire (12CM)</td>
<td style="text-align: center; border: solid 1px black; padding: 5px 10px;">1</td>
</tr>
</table>

== Assembly ==

Follow the User Manual. If something is unclear then watch a assembly video. Be careful when installing the motors, make sure they’re all properly aligned, if not the car will pull to one side.
Especially take care that no cables sticks into the motors.

== Motor control ==
We control the motor using a H-Bridge L298N Motor Driver.

[[File:Motor_Driver.png|500px]]

In our case we need to plug two motors to each motorA and motorB. Connect the power from the battery pack VSS and GND.

[[File:Motor_Driver_schematics.png|500px]]

Wire the motor to the Arduino/Sensor Shield as adviced in the user manual.

=== Rotate Clockwise ===
//define the output pins.
int IN1=5;
int IN2=6;
int IN3=7;
int IN4=8;
int ENA=9;
int ENB=10;
void setup() {
//set up the pins to act as output.
for (int i = 5; i < 11;i++)
{
pinMode(i,OUTPUT);
}
delay(5000);
}
void loop() {
//control the motor
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
analogWrite(ENA,200);
analogWrite(ENB,200);
delay(1000);
analogWrite(ENA,0);
analogWrite(ENB,0);
delay(1000);
}

=== Rotate Counter Clockwise ===
//define the output pins.
int IN1=5;
int IN2=6;
int IN3=7;
int IN4=8;
int ENA=9;
int ENB=10;

void setup() {
//set up the pins to act as output.
for (int i = 5; i < 11;i++)
{
pinMode(i,OUTPUT);
}
delay(5000);
}

void loop() {
//control the motor
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
analogWrite(ENA,200);
analogWrite(ENB,200);
delay(1000);
analogWrite(ENA,0);
analogWrite(ENB,0);
delay(1000);
}

=== Drive Forward ===

void driveForward()
{
analogWrite(ENA,0);
analogWrite(ENB,0);
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);

digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(150);
analogWrite(ENA,100);
analogWrite(ENB,100);
}

=== Drive Reverse ===

void driveReverse()
{
analogWrite(ENA,0);
analogWrite(ENB,0);
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);

digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
delay(150);
analogWrite(ENA,100);
analogWrite(ENB,100);
}

== I2C Display ==
The display is controlled with I2C. I am using the Wire and LiquidCrystal_I2C library to control the display.
<div style="border: 1px solid #31708f; background-color: #d9edf7; color: #31708f; padding: 5px 10px; margin-bottom: 5px; text-align: justify"><b>Note</b>: Don't use the library link that is in the manual, it contains a bug where only the first character of the strings is displayed on the I2C display. Download the latest version from https://www.arduinolibraries.info/libraries/liquid-crystal-i2-c.
</div>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
//set the LCD address to 0x27 for a 16 chars and 2 line display
LiquidCrystal_I2C lcd(0x27,16,2);
void setup()
{
//initialize the lcd
lcd.init();
//enable the backlight
lcd.backlight();
//set the cursor to the first line.
lcd.setCursor(3,0);
//print text
lcd.print("Hello");
//set the cursor in the next line.
lcd.setCursor(3,1);
//print text
lcd.print("world!");
}

void loop()
{}

== Servo Motor ==
The Servo Motor is controlled with PWM. The Sketch rotates the motor in an angle between 110 and 180 degres.

int servopin=2;// select digital pin 9 for servomotor signal line
int myangle;// initialize angle variable
int pulsewidth;// initialize width variable
int val;

void servopulse(int servopin,int myangle)// define a servo pulse function
{
pulsewidth=(myangle*11)+500;// convert angle to 500-2480 pulse width
digitalWrite(servopin,HIGH);// set the level of servo pin as “high”
delayMicroseconds(pulsewidth);// delay microsecond of pulse width
digitalWrite(servopin,LOW);// set the level of servo pin as “low”
delay(20-pulsewidth/1000);
}

void setup()
{
pinMode(servopin,OUTPUT);// set servo pin as “output”
Serial.begin(9600);// connect to serial port, set baud rate at “9600”
Serial.println("ready" ) ;
}

void loop(){
val = 180;
Serial.print("moving servo to ");
Serial.print(val);
Serial.println();
for(int i=0;i<=25;i++) // giving the servo time to rotate to commanded position
{
servopulse(servopin,val);// use the pulse function
}
val = 110;
Serial.print("moving servo to ");
Serial.print(val);
Serial.println();
for(int i=0;i<=25;i++) // giving the servo time to rotate to commanded position
{
servopulse(servopin,val);// use the pulse function
}
}

== Ultra Sonic Sensor ==
I used the pins: echoPin 3 and trigPin 4 because 7 and 8 is already taken by the motordriver.
If you don't understand the line: distance = duration/58.3;.
The speed of sound is 343 m/s. We messure the round trip so we need to divide the 343 with 2 which gives us 171.5 m/s. But we don’t want to deal with meters and seconds we want centimeters and microseconds. 17150 cm/s = 0.017150 cm/us = 1cm/58.3 us.

#define echoPin 7 // Echo Pin
#define trigPin 8 // Trigger Pin
#define LEDPin 13 // Onboard LED

int maximumRange = 200; // Maximum range needed
int minimumRange = 0; // Minimum range needed
long duration, distance; // Duration used to calculate distance

void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(LEDPin, OUTPUT); // Use LED indicator (if required)
}

void loop() {
/* The following trigPin/echoPin cycle is used to determine the
distance of the nearest object by bouncing soundwaves off of it. */
digitalWrite(trigPin, LOW);
delayMicroseconds(2);

digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);

//Calculate the distance (in cm) based on the speed of sound.
distance = duration/58.3;

if (distance >= maximumRange || distance <= minimumRange){
/* Send a negative number to computer and Turn LED ON
to indicate "out of range" */
Serial.println("-1");
digitalWrite(LEDPin, HIGH);
}
else {
/* Send the distance to the computer using Serial protocol, and
turn LED OFF to indicate successful reading. */
Serial.println(distance);
digitalWrite(LEDPin, LOW);
}
//Delay 50ms before next reading.
delay(50);
}

== Used Hardware ==

[[Smart Robot Car Kit Bluetooth 4WD keyestudio]]

== References ==

* https://wiki.keyestudio.com/Ks0192_keyestudio_4WD_Bluetooth_Multi-functional_Car
* https://www.youtube.com/watch?v=GAqvzCXEUSw

[[Category:Documentation]]

Keyestudio 4WD Bluetooth multifunctional car kit - Revision history

Bnagl: Added Bluetooth Module code

Bnagl: Added the code for the Projekts: Line-Tracking, IR-Receiver/IR-Remote controlgmx, Obstacle Avoidance

Bnagl: /* Rotate Clockwise */

Bnagl: /* Rotate Counter Clockwise */ Wrong method name

Bnagl at 15:56, 12 February 2021

Bnagl: Created page with "== Summary == This documentation is about how to program the Car and some tipps about the assembly. == Requirements == * Arduino IDE * 18650 Batteries == Description ==..."