RC Car using L298N, HC-06, and Arduino Uno

  1#include "SoftwareSerial.h"
  2
  3#define IN3Br 2
  4#define IN4Br 4
  5#define PWMBr 3
  6
  7#define IN1Al 7
  8#define IN2Al 5
  9#define PWMAl 6
 10
 11#define HC_06_Rx 12
 12#define HC_06_Tx 11
 13
 14#define NORMAL_SPEED 60
 15#define TURNS_SPEED 10
 16
 17SoftwareSerial swSerial(HC_06_Rx,HC_06_Tx);
 18String cmd="";
 19bool isAlEnabled = false;
 20bool isBrEnabled = false;
 21byte PWMAl_val = 100;
 22byte PWMBr_val = 100;
 23
 24void setup() {
 25  // put your setup code here, to run once:
 26  Serial.begin(9600);
 27  swSerial.begin(9600);
 28
 29  pinMode(IN3Br, OUTPUT);
 30  pinMode(IN4Br, OUTPUT);
 31  pinMode(PWMBr, OUTPUT);
 32
 33  pinMode(IN1Al, OUTPUT);
 34  pinMode(IN2Al, OUTPUT);
 35  pinMode(PWMAl, OUTPUT);
 36
 37  digitalWrite(IN3Br, LOW);
 38  digitalWrite(IN4Br, LOW);
 39  digitalWrite(PWMBr, LOW);
 40
 41  digitalWrite(IN1Al, LOW);
 42  digitalWrite(IN2Al, LOW);
 43  digitalWrite(PWMAl, LOW);
 44
 45  swSerial.println("Setup Complete");
 46}
 47
 48void loop() {
 49  // put your main code here, to run repeatedly:
 50  checkSerial();
 51}
 52
 53void checkSerial() {
 54 //Read data from Serial
 55 while(Serial.available()>0){
 56   cmd+=(char)Serial.read();
 57 }
 58
 59 while(swSerial.available()>0){
 60   cmd+=(char)swSerial.read();
 61 }
 62 
 63 //Select function with cmd
 64 if(cmd!=""){
 65    cmd.trim();  // Remove added LF in transmit
 66    // We expect Command from bluetooth
 67    if (cmd.equals("S")) {
 68      swSerial.println("Braking");
 69      brakeVehicle();
 70    } else if(cmd.equals("R")) {
 71       swSerial.println("Right turn");
 72       turnVehicleRght();
 73    }else if (cmd.equals("L")){
 74       swSerial.println("Left turn");
 75       turnVehicleLeft();
 76    }else if(cmd.equals("F")){
 77       swSerial.println("Moving forward");   
 78       moveVehicleForward();
 79    }else if(cmd.equals("B")){
 80       swSerial.println("Moving backward");
 81       moveVehicleBackward();
 82    }
 83    cmd=""; //reset cmd
 84 }
 85}
 86
 87void brakeVehicle () {
 88  digitalWrite(PWMBr, LOW);
 89  digitalWrite(PWMAl, LOW);
 90}
 91
 92void turnVehicleRght() {
 93  analogWrite(PWMBr, TURNS_SPEED);
 94  analogWrite(PWMAl, NORMAL_SPEED);
 95}
 96
 97void turnVehicleLeft() {
 98  analogWrite(PWMAl, TURNS_SPEED);
 99  analogWrite(PWMBr, NORMAL_SPEED);
100}
101
102void moveVehicleForward() {
103  digitalWrite(IN3Br, HIGH);
104  digitalWrite(IN4Br, LOW);
105  analogWrite(PWMBr, NORMAL_SPEED);
106
107  digitalWrite(IN1Al, HIGH);
108  digitalWrite(IN2Al, LOW);
109  analogWrite(PWMAl, NORMAL_SPEED);
110}
111
112void moveVehicleBackward() {
113  digitalWrite(IN3Br, LOW);
114  digitalWrite(IN4Br, HIGH);
115  analogWrite(PWMBr, NORMAL_SPEED);
116
117  digitalWrite(IN1Al, LOW);
118  digitalWrite(IN2Al, HIGH);
119  analogWrite(PWMAl, NORMAL_SPEED);
120}