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Smart Robot with voice control, line follower, obstacle avoiding and remote control.

SMART ROBOT CAR 










This smart robo is based on arduino , and canwork in 3 modes .... all these modes are 
selected by a common android app


1st  mode  : Inbuilt  App  Joystick

   working via the app inbuilt joystick command were we can use joystick to control   robo like a
   RC car. 
   
   

2nd mode : Voice controlled robo 

    Here you can give input to the robo with voice commands.


3rd mode : Autonomous mode 

    Here the robo will use its ultrasonic sensor to find free way and avoid collision  with objects or 
    wall.

4th mode : Line follower (optional).

     Here we are giving you the option of line following if you need you can active.
 

5th mode ; IR remote control (optional).

This option is also available here.if you need you may active. 
____________________________________________________________________

Download link for app =>



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Spare parts (needed)               =>

1- Arduino board (any).---------1pc
2- DC motor driver -L298n ___1pc
3- IR sensor -----------------------2pcs
4- IR Receiver --------------------1pc
5- Bluetooth Module (HC05/HC06)----------1pc
7- Servo Motor SG90 -------------1pc
8- DC gear motor with chassis--- 2pc or 4pcs
9- Jumper wire.
10- Data cable-----------------------1pc
11- PC with Arduino IDE.


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Circuit  diagram =>








         For circuit you just have to attach all components Vcc to 5 volts and GND to ground 
         now follow the instruction with me :-

         
     

        IR Sensors =>

 









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        IR Receiver =>

    







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           Ultrasonic sensor  =>


       






  
  

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           Servo =>

          

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           Motor driver  =>

         

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Programming  =>

          Download the program from above and paste It to your arduino IDE,
          note that in my build i have not used IR sensor or IR receiver so part
          the program is commented so if you are using both this sensors you 
          can uncomment and use it .
         
        Before uploading the program be sure that rx and tx of arduino  and 
        bluetooth module are dissconected ....After uploading is done connect 
        back rx of module to tx of arduino and vicw versa.



#include <SoftwareSerial.h>
SoftwareSerial BT_Serial(2, 3); // RX, TX


const int RECV_PIN = A5;

#define enA 10//Enable1 L298 Pin enA 
#define in1 9 //Motor1  L298 Pin in1 
#define in2 8 //Motor1  L298 Pin in1 
#define in3 7 //Motor2  L298 Pin in1 
#define in4 6 //Motor2  L298 Pin in1 
#define enB 5 //Enable2 L298 Pin enB 

#define servo A4

#define echo A2    //Echo pin
#define trigger A3 //Trigger pin

int distance_L, distance_F = 30, distance_R;
long distance;
int set = 20;

int bt_ir_data; // variable to receive data from the serial port and IRremote
int Speed = 130;  
int mode=0;
int IR_data;

void setup(){ // put your setup code here, to run once

pinMode(echo, INPUT );// declare ultrasonic sensor Echo pin as input
pinMode(trigger, OUTPUT); // declare ultrasonic sensor Trigger pin as Output  

pinMode(enA, OUTPUT); // declare as output for L298 Pin enA 
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1 
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2 
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3   
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4 
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB 

Serial.begin(9600); // start serial communication at 9600bps
BT_Serial.begin(9600); 

pinMode(servo, OUTPUT);

 for (int angle = 70; angle <= 140; angle += 5)  {
   servoPulse(servo, angle);  }
 for (int angle = 140; angle >= 0; angle -= 5)  {
   servoPulse(servo, angle);  }

 for (int angle = 0; angle <= 70; angle += 5)  {
   servoPulse(servo, angle);  }
delay(500);
}


void loop(){  

if(BT_Serial.available() > 0){  //if some date is sent, reads it and saves in state     
bt_ir_data = BT_Serial.read(); 
Serial.println(bt_ir_data);     
if(bt_ir_data > 20){Speed = bt_ir_data;}      
}



     if(bt_ir_data == 8){mode=0; Stop();}    //Manual Android Application and    
else if(bt_ir_data ==10){mode=2; Speed=200;} //Auto Obstacle Avoiding Command

analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed 

analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed 

if(mode==0){     
//===============================================================================
//                          Key Control Command
//=============================================================================== 
     if(bt_ir_data == 1){forword(); }  // if the bt_data is '1' the DC motor will go forward
else if(bt_ir_data == 2){backword();}  // if the bt_data is '2' the motor will Reverse
else if(bt_ir_data == 3){turnLeft();}  // if the bt_data is '3' the motor will turn left
else if(bt_ir_data == 4){turnRight();} // if the bt_data is '4' the motor will turn right
else if(bt_ir_data == 5){Stop(); }     // if the bt_data '5' the motor will Stop

//===============================================================================
//                          Voice Control Command
//===============================================================================    
else if(bt_ir_data == 6){turnLeft();  delay(400);  bt_ir_data = 5;}
else if(bt_ir_data == 7){turnRight(); delay(400);  bt_ir_data = 5;}
}


if(mode==2){    
//===============================================================================
//                          Obstacle Avoiding Control
//===============================================================================     
 distance_F = Ultrasonic_read();
 Serial.print("S=");Serial.println(distance_F);
  if (distance_F > set){forword();}
    else{Check_side();}
}

delay(10);
}

void servoPulse (int pin, int angle){
int pwm = (angle*11) + 500;      // Convert angle to microseconds
 digitalWrite(pin, HIGH);
 delayMicroseconds(pwm);
 digitalWrite(pin, LOW);
 delay(50);                   // Refresh cycle of servo
}


//**********************Ultrasonic_read****************************
long Ultrasonic_read(){
  digitalWrite(trigger, LOW);
  delayMicroseconds(2);
  digitalWrite(trigger, HIGH);
  delayMicroseconds(10);
  distance = pulseIn (echo, HIGH);
  return distance / 49 / 4;
}

void compareDistance(){
       if (distance_L > distance_R){
  turnLeft();
  delay(350);
  }
  else if (distance_R > distance_L){
  turnRight();
  delay(350);
  }
  else{
  backword();
  delay(300);
  turnRight();
  delay(600);
  }
}

void Check_side(){
    Stop();
    delay(100);
 for (int angle = 70; angle <= 140; angle += 5)  {
   servoPulse(servo, angle);  }
    delay(300);
    distance_L = Ultrasonic_read();
    delay(100);
  for (int angle = 140; angle >= 0; angle -= 5)  {
   servoPulse(servo, angle);  }
    delay(500);
    distance_R = Ultrasonic_read();
    delay(100);
 for (int angle = 0; angle <= 70; angle += 5)  {
   servoPulse(servo, angle);  }
    delay(300);
    compareDistance();
}

void forword(){  //forword
digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, LOW);  //Left Motor backword Pin 
digitalWrite(in4, HIGH); //Left Motor forword Pin 
}

void backword(){ //backword
digitalWrite(in1, LOW);  //Right Motor forword Pin 
digitalWrite(in2, HIGH); //Right Motor backword Pin 
digitalWrite(in3, HIGH); //Left Motor backword Pin 
digitalWrite(in4, LOW);  //Left Motor forword Pin 
}

void turnRight(){ //turnRight
digitalWrite(in1, LOW);  //Right Motor forword Pin 
digitalWrite(in2, HIGH); //Right Motor backword Pin  
digitalWrite(in3, LOW);  //Left Motor backword Pin 
digitalWrite(in4, HIGH); //Left Motor forword Pin 
}

void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, HIGH); //Left Motor backword Pin 
digitalWrite(in4, LOW);  //Left Motor forword Pin 
}

void Stop(){ //stop
digitalWrite(in1, LOW); //Right Motor forword Pin 
digitalWrite(in2, LOW); //Right Motor backword Pin 
digitalWrite(in3, LOW); //Left Motor backword Pin 
digitalWrite(in4, LOW); //Left Motor forword Pin 
}





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...........................................................................................................................................  

For its working do check out our Youtube video for the same =>


or go the link you can get Code ,APK file and Ckt diagram.

https://drive.google.com/file/d/1Xsm317gT9Gc8tkCykGt1swJwFmqzqcy1/view?usp=sharing

For serial library-
https://github.com/PaulStoffregen/SoftwareSerial.git 




............................................................................................................................................


WE WOULD LOVE YOUR INVOLVEMENT IN PROJECT MAKING SO IF YOU HAVE MADE THE SAME PROJECT DO SHARE US ON  geniustec18@gmail.com   .



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