Hummer-Bot-2.0 Instruction Manual v.2.3

Hummer-Bot-2.
0
Instruction Manual
V.2.3
Github https://github.com/keywish/keywish-hummer-bot-v2.0
Revised Version Of History
Date Version Description Author
2017/9/16 V.1.0 Create Baron.li

2017/9/23 V.1.1 modify Ken.chen
2017/10/18 V.1.2 Review Ken.chen
2017/11/15 V.1.3 Review Zach.zhou
2017/12/8 V.1.4 Review Baron.li
2018/3/11 V.1.5 Modifyir/blutooth module Ken.chen
2018/4/20 V.1.6 Add device instructions Baron.li
2018/5/3 V.1.7 Add installation details picture Baron.li
2018/7/1 V.1.8 Update component list Ken.chen
2019/1/3 V.1.9 Update component list Abbott.chen
2019/1/15 V.2.0 Modify installation of steering servo Carl,du
2019/1/30 V.2.1 Supplementary steering gear installation Abbott.chen
2019/2/14 V.2.2 Change the demo code Abbott.chen
2019/4/15 V.2.3 Modify L298N wiring picture Carl.du
1
Table Of Contents
Chapter1 Introduction ........................................................................................................................................ 1
1.1 Writing Purpose ................................................................................................................................... 1
1.2 Product Introduction ............................................................................................................................ 1
Chapter2 Preparations ........................................................................................................................................ 3
About Arduino uno r3 ................................................................................................................................ 3
2.1 Development environment Arduino IDE ............................................................................................. 4
2.1.1 Install the IDE ........................................................................................................................... 4
Chapter3 Experiments ...................................................................................................................................... 13
3.1 Assembly of the Car........................................................................................................................... 13
3.1.1 Motor installation .................................................................................................................... 13
3.1.2 Wheel and drive module installation ...................................................................................... 16
3.1.3 Tracking module installation .................................................................................................. 18
3.1.4 Lower acrylic plate copper column installation and motor wiring ......................................... 20
3.1.5 Keywish Uno R3 board installation ....................................................................................... 22
3.1.6 Battery box installation ........................................................................................................... 23
3.1.7 Servo installation .................................................................................................................... 24
3.1.8 Infrared obstacle avoidance module installation..................................................................... 28
3.1.9 Voltage display module and DC head installation .................................................................. 29
3.1.10 Infrared remote control receiver installation......................................................................... 32
3.1.11 Overall assembly................................................................................................................... 33
3.1.12 Bluetooth module installation ............................................................................................... 35
3.1.13 Expansion board wiring diagram .......................................................................................... 35
3.2 Hummer Bot Module experiment ...................................................................................................... 38
3.2.1 Walking Principle of the Car .................................................................................................. 38
3.2.2 Infrared Obstacle Avoidance .................................................................................................. 46
3.2.3 Infrared Tracing ...................................................................................................................... 53
3.2.4 Ultrasonic Obstacle Avoidance............................................................................................... 62
3.2.5 Infrared Remote Control ......................................................................................................... 73
3.2.6 Mobile Phone Bluetooth Control ............................................................................................ 81
3.2.7 PS2 Handle (Optional) ............................................................................................................ 96
2
Chapter1 Introduction
1.1 Writing Purpose
The purpose of this manual is to create a fast, practical and convenient development learning platform
for the vast number of electronic enthusiasts and let them grasp the Arduino and its extended system design
methods and design principles, as well as the corresponding hardware debugging methods.
This manual will lead you to learn every function of "Hummer-Bot" step by step and open a new
"Hummer-Bot" journey for you. It is divided into two parts:
1, Preparation chapter, which mainly introduces the use of common Arduino development software
and some downloading and debugging skills.
2, Experiment chapter, which contains hardware and software, the former mainly introduces the
function and principle of each module; the latter mainly introduces each part of the program and leads you to
understand and grasp the principle of Arduino and the car development through written examples step by
step.
This manual is a specifications for "Hummer-Bot" , the file whose format is PDF which is in the CD
along with our product requires the corresponding software to open. It contains detailed schematic diagrams
and complete source codes for all instances, the codes won't have any mistake under our strict test. In
addition, the library files used in the source codes are put into the corresponding path, you only need to see
corresponding phenomenon of the car and personally experience the process of experiment by downloading
the source codes to Arduino via the serial port emulator.
This manual is very suitable for students and electronic enthusiasts to learn, all course videos will be
synchronized to https://github.com/keywish/keywish-hummer-bot-v2.0 ，please real-time synchronization
of the latest information
1.2 Product Introduction

"Hummer-Bot" is a multifunctional car based on the Arduino UNO and L298N motor. Compared with
the traditional car, "Hummer-Bot" is also equipped with wireless control (Bluetooth, infrared, WIFI and so
on); ultrasonic; infrared. It can trace and avoid obstacles automatically, of course, makers can also
automatically control the car with wireless and make full use of each module, as well as integrate all kinds
of related sensors to make the car more intelligent, which is more challenging. "Hummer-Bot" has various
types of information, technical manuals, routines, etc., which can teach you step by step. Each electronic fan
can use it easily to achieve their desired function.
Product Features
◆ Three groups of black line infrared tracing module
◆ Two groups of infrared obstacle avoidance module
1
◆ Ultrasonic obstacle avoidance
◆ Four DC motor drive
◆ Two 3000mZh, 3.7V rechargeable lithium battery with longer endurance
◆ Remaining capacity of battery real-time detection
◆ Infrared remote control
◆ Bluetooth app control
◆ PS2 handle control (optional)
Product Device List
2
Chapter2 Preparations
About Arduino uno r3
◆ In "Aurora-Racing", we used the Arduino uno r3 as the main control board, which has 14 digital
input/output pins (6 of which can be used as PWM output), 6 analog inputs, and a 16 MHz ceramic
resonator, 1 USB connection, 1 power socket, 1 ICSP head and 1 reset button. It contains everything
that supports the microcontroller; You just need to connect it to a computer via a USB cable or start
with an AC-DC adapter or battery.
Technical specifications:
Working voltage: 5V
Input voltage: USB powered or external 7V~12V DC input
Output voltage: 5V DC output and 3.3V DC output and external power input
Microprocessor: ATmega328 (Chip data sheet is in the documentation)
Bootloader：Arduino Uno
Clock frequency: 16 MHz
Support USB interface protocol and power supply (without external power supply)
Support ISP download function
Digital I/O port: 14 (4 PWM output ports)
Analog input port: 6
DC Current I/O Port: 40mA
DC Current 3.3V Port: 50mA
Flash memory: 32 KB (ATmega328) (0.5 KB for bootloader)
SRAM ：2 KB (ATmega328)
EEPROM： 1 KB (ATmega328)
Size：75x55x15mm
3
2.1 Development environment Arduino IDE
2.1.1 Install the IDE
AduinoIDE is an open source software and hardware tool written by open source software such as Java,
Processing, and avr-gcc. It is an integrated development environment that runs on a computer. It can write
and transfer programs to the board. The major feature of the IDE is cross-platform compatibility for
Windows, MaxOSX, and Linux. Only a simple code base is needed, and the creators can create personalized
home internet solutions through the platform, such as remote home monitoring and constant temperature
control and so on.
In this tutorial, we use the version is 1.6.0, download address
is:https://www.arduino.cc/en/Main/OldSoftwareReleases#previous，After opening the link, we can see the
interface as shown in Figure 2.1.1. In this interface, we can see the different versions of the IDE and
different operating environments. Everyone can download according to their own computer system, of
course, There will be a downloaded installation package on our companion CD, but only the Windows
version, because this tutorial is all running under Windows system.
Figure 2.1.1 ArduinoIDE download interface

After the downloading, we will get a compressed package as shown in Figure 2.1.2. The compressed
package will be decompressed. After decompression, the files in Figure 2.1.3 are extracted. The “drivers” is
the driver software. When the “Arduino.exe” is installed, it will be Install the driver automatically. Because
the installation of "arduino.exe" is very simple, it will not be explained here. It is recommended to exit the
anti-virus software during the installation process, otherwise it may affect the installation of the IDE. After
4
the installation is complete, click "arduino.exe" again to enter the IDE programming interface.
Figure 2.1.2 Arduino IDE Installation Package
Figure 2.1.3 Extracted files

When finish the installation of the IDE，connect to the Arduino motherboard，click“My Computer”
→“Properties”→“Device Manager”→ “Viewing Ports (COM and LTP)”，If you can see as the
Figure 2.1.4
Figure 2.1.4 Driver installation success interface

that indicates the driver has been installed successfully，At this time we open the IDE, select the
corresponding development board model and port in the toolbar to use normally. If you see Figure 2.1.5, it
means that the computer does not recognize the development board and you need to install the driver
yourself.
5
Figure 2.1.5 Driver is not successfully installed interface
Notice:
1）If you connect the controller board to the computer, the computer does not respond. Right-click "My
Computer" and select Open Device Manager then find viewing port (com & lpt). If there is no com or lpt, or
only an unknown device, there is a problem with the controller board or the USB cable.
2）Right-click "My Computer" and select Device Manager, find the viewing ports (COM and LPT). If there
is a yellow Arduino UNO exclamation point, this means you need to install the driver yourself.
3）If you install the driver again and again, it eventually fails. Please uninstall the driver and re-install>
install the driver automatically> restart the computer.
2.1.2 Install Driver

If your computer is a Windows 7 system
1）Right-click on "My Computer" and open the Device Manager, find viewing the ports (COM and LPT).
At this point you will see a "USB Serial Port", right-click "USB Serial Port" and select the "Update Driver
Software" option.
6
Figure 2.1.6 Updated Driver Interface
2）Next, select the "Browse my computer for driver software" option.
Figure 2.1.7 Driver Update Selection Screen

7
3）Finally select the driver file named "FTDI USB Drivers" located in the "Drivers" folder of the Arduino
software download.
Figure 2.1.8 Driver file selection interface

4）If you have already installed, the following figure will automatically inform you that the driver was
successful.
8
Figure 2.1.9 Driver Installation Successful Interface
At this time, we return to the "Device Manager" interface, the computer has successfully identified Arduino,
as shown in the below Figure 2.1.10 .then open the Arduino compilation environment, you can open the
Arduino trip.
Figure 2.1.10 Driver Success Recognition Interface
9
Notice In Win10 system, some Arduino are connected to the computer (non-genuine chips are difficult to
identify), the system will automatically download the corresponding driver, so you can not install the driver
yourself, but in the Win7 system, you have to do it yourself.
In addition, we can see that the USB serial port is identified as COM15 in the above figure, but it may
be different with different computer, you may be COM4, COM5, etc., but USB-SERIAL CH340, this must
be the same. If you do not find the USB serial port, you may have installed it incorrectly or the system is
incompatible.
2、If your computer is a Windows 8 system: Before installing the driver, you should save the files you are
editing because there will be several shutdowns during the operation.
1）Press "Windows key" + "R"
2）Iput shutdown.exe / r / o / f / t 00
3）Click the "OK" button.
4）The system will reboot to the "Select an option" screen
5）Select "Troubleshooting" from the "Select an option" screen
6）Select "Advanced Options" from the "Troubleshoot" screen
7）Select “Windows startup settings screen” from “Advanced Options”
8）Click the "Restart" button
9）The system will reboot to the “Advanced Boot Options” screen
10）Select "Disable Driver Signature Enforcement"
11）Once the system is booted, you can install Arduino driver the same as Windows7
3、If your computer is a Windows XP system: The installation steps are basically the same as for Windows
7, please refer to the above Windows 7 installation steps.
2.1.3 IDE Interface Introduction

Nextly,we introduce the Arduino IDE interface, firstly enter the software directory. Then you can see the
arduino.exe file and double-click to open the IDE. As shown in Figure 2.1.11.
Figure 2.1.11 Software Catalog

1、The first thing you can see is the interface of the following figure. The functions of the toolbar buttons
are "Compile" - "Upload" - "New Program" - "Open Program" - "Save Program" - "Serial Monitor" , as
shown in Figure 2.1.12.
10
Figure 2.1.12 Arduino IDE Interface
2.There are 5 menus on the menu bar, but we mainly introduce File and Tools. Click File, the interface as
shown in Figure 2.1.13 will be displayed, you can see the Examples and Preference options. The Examples
are some of the Arduino's own programs, these are compiled without errors, the normal use of the program,
a great help for beginners. The Preference option, It’s mainly about the parameter settings, such as language,
fonts and so on.
Figure 2.1.13 File Menu Bar Options

3、Click Tools, the interface shown in Figure 2.1.14 will pop up. Here we can see two options: Board and
Port. In the board option, we can see the commonly used Arduino development board model, we only need
to choose according to their own development board. In the Port option, the USB serial port is mainly
selected, as shown in Figure 2.1.15. If you are not sure, you can check it in the "Device Manager" and select
the corresponding COM port.
11
Figure 2.1.14 Tools interface
Figure 2.1.15 USB serial port selection

So far, we have basically completed all the work. The next step is actual experiments. Open any program in
Examples. First compile the program. If it is compiled correctly, it can be directly downloaded to the
development board and the corresponding device of the connection number. With wires, you can see the
corresponding phenomenon.
12
Chapter3 Experiments
3.1 Assembly of the Car
3.1.1 Motor installation
Step1: You need to install the motor mount.
Figure 3.1.1 Schematic diagram of motor mounting

Note: You need to use the screw to pass through the front hole of the motor, the motor holder corresponds to
the opposite position and use the nut to fix the motor holder.
Figure 3.1.2 Effect diagram of motor mounting
13
Step2: You need to solder the wire to the motor.
Figure 3.1.3 Effect diagram of solder the wire
Step3: You need to fix the wire with a cable tie.
Figure 3.1.4 Effect diagram of fixing the wire
14
Step4: You need to install motors.
Figure 3.1.5 Schematic diagram of motor installation
Figure 3.1.6 Effect diagram of motor installation
15
3.1.2 Wheel and drive module installation
Figure 3.1.7 Schematic diagram of wheel installation
Figure 3.1.8 Effect diagram of wheel installation

16
Step2:You need to install motor driver module.
Figure 3.1.9 Shematic diagram of fixing motor driver board
Figure 3.1.10 Shematic diagram of fixing motor driver board
17
3.1.3 Tracking module installation
Figure 3.1.11 Shematic diagram of copper column of tracking moduble installation
Figure 3.1.12 Effect diagram of copper column of tracking moduble installation
18
Figure 3.1.13 Shematic diagram of tracking moduble installation
Note: You need to screw the M3 nut to the bottom of the M3*10 screw and install it.
Figure 3.1.14 Effect diagram of copper column of tracking moduble installation

19
3.1.4 Lower acrylic plate copper column installation and motor wiring
Figure 3.1.15 Shematic diagram of motor wiring

Note: You need to insert the 4Pin DuPont cable into the motor drive board input.
Figure 3.1.16 Effect diagram of motor wiring
20
Figure 3.1.17 Shematic diagram of copper column installstion
Figure 3.1.18 Effect diagram of copper column installstion
21
3.1.5 Keywish Uno R3 board installation
Figure 3.1.19 Shematic diagram of Keywish Uno R3 board installation
Figure 3.1.20 Effect diagram of Keywish Uno R3 board installation
22
3.1.6 Battery box installation
Figure 3.1.21 Shematic diagram of battery box installation
Figure 3.1.22 Effect diagram of battery box installation
23
3.1.7 Servo installation
Figure 3.1.23 Shematic diagram of servo installation
Figure 3.1.24 Effect diagram of servo installation
In order to reduce the angle adjustment of the servo, we need to adjust the servo to 90 degrees.
First, we should (Lesson\ModuleDemo\ServoTest\ServoTest.ino) Download it to the control panel, and the
three wires of the steering gear are the signal wire (orange), power wire (red), and ground wire (brown), and
then connect the signal wire of the steering gear (orange) to port 13 of Arduino, and install the rudder
propeller without fixing screws, as shown in figure 3.1.7.1.
24
Figure. 3.1.7.1 steering gear debugging connection diagram
After burning the program to the UNO board, do not unplug the USB cable and plug the battery plug into
the UNO board to power it, then open the serial port monitor for the Arduino IED, as shown in figure 3.1.7.2
Figure 3.1.7.2 Open the serial monitor schematic diagram

After the serial port monitor is opened, the serial port monitor receives 0,90,180,90 successively, such
steering gear Angle value, as shown in figure 3.1.27.3
25
Figure 3.1.7.3 Serial port input steering gear Angle value
After a serial port monitor steering Angle input above value respectively, will find the steering gear will
turn, if after entering 90, the steering wheel steering gear without a figure 3.1.7.4 perspective, the need to
keep don't turn the steering gear and pitman arm will be removed, and then reinstall into figure 3.1.7.4, such
calibration is completed, the steering gear can be screwed good steering gear, for the next step of operation
Figure 3.1.2.4 Calibration diagram of Servo
int ServoPin = 13;

char inByte = 0; //Serial port to receive data
int angle = 0; //Angle value
String temp = "";//Temporary character variables, or use it for the cache
void setup()
{
Serial.begin(9600); //Set the baud rate
pinMode(ServoPin, OUTPUT);
}
void SetServoDegree(int Angle)

{
Serial.println(Angle); //Output data to the serial port for observation
for (int i = 0; i < 80; i++) {
float pulsewidth = (Angle * 11) + 350;
26
digitalWrite(ServoPin, HIGH); //Set the servo interface level to high
delayMicroseconds(pulsewidth); //The number of microseconds of the delay pulse
width value
digitalWrite(ServoPin, LOW); //Set the servo interface level to low
delayMicroseconds(20000 - pulsewidth);
}
delay(1000);
}
void loop()
{
while (Serial.available() > 0) //Determine whether the serial data
{
inByte = Serial.read();//Read data, the serial port can only read 1 character
temp += inByte;//The characters read into temporary variables inside the cache,
//Continue to determine the serial port there is no data, know all the data read
out
}
// Determine whether the temporary variable is empty
if (temp != "") {
angle = temp.toInt(); //Convert variable string type to integer
Serial.print("Servo degree: ");
SetServoDegree(angle); //Control the servo to rotate the corresponding angle.
}
temp = "";//Please see temporary variables
delay(100);//Delayed 100 milliseconds
}
Figure 3.1.25 Schematic diagram of rudder wing and ultrasonic bracket installation
27
Figure 3.1.26 Effect diagram of rudder wing and ultrasonic bracket installation
3.1.8 Infrared obstacle avoidance module installation
Figure 3.1.27 Shematic diagram of infrared obstacle module installation
28
Figure 3.1.28 Effect diagram of infrared obstacle module installation
3.1.9 Voltage display module and DC head installation
Figure 3.1.29 Shematic diagram of voltage display module and DC head installation
We need to use two power cables (the same as the wires used by the motor, one red and one black), and
connect the two wires to the DC power supply head. DC power supply head as shown in Figure 3.1.30.
29
You need to remove the rubber ring at the "1" mark to open the caser and solder the wire to +12V and GND,
as shown in Figure 3.1.31.
Figure 3.1.30 Shematic diagram of solder DC power supply head
Figure 3.1.31 Effect diagram of solder DC power supply head
30
Figure 3.1.32 Effect diagram of voltage display module and DC head installation
31
3.1.10 Infrared remote control receiver installation
Figure 3.1.33 Shematic diagram of infrared remote control receiver installation
Figure 3.1.34 Effect diagram of infrared remote control receiver installation
32
3.1.11 Overall assembly
You should screw the battery box , the voltage display module and the DC head wire together (as shown in
Figure 3.1.35), and connect the positive (red wire) to the +12V negative (black wire) to GND.
Figure 3.1.35 Shematic diagram of Overall assembly
33
Figure 3.1.36 Schematic diagram of connection between motor drive board and peripheral devices
Note: you need to take the infrared tracking wire and the driver board wire from the upper acrylic plate hole
1, plug the expansion board into the UNO R3 board and wire it.
Figure 3.1.37 Effect diagram of Overall assembly
34
3.1.12 Bluetooth module installation
Insert the bluetooth module directly into the bluetooth module interface on the expansion board, as shown in
FIG. 3.1.39. Pay attention to the location of the insertion pin
Figure 3.1.38 Bluetooth Moduile Picture
Figure 3.1.39 Schematic diagram of bluetooth module installation
3.1.13 Expansion board wiring diagram

Through the previous steps, we have completed the installation of the main structure of the car. Now we
wire the car to connect the cable. The connection method is as shown in the following figure. For the
35
specific experiment of a certain module, we will introduce it in detail through the following chapters.
Figure 3.1.40 Expansion Board Connection Diagram
Figure 3.1.41 Extension board wiring diagram

The full installation of the car is as shown below
36
3.1.42 Assembly Connection Diagram
So far, the basic assembly of car has been completed.We believe you have some basic knowledge of your
car’s structure, function and some modules through a short period of time, then you can achieve the
corresponding functions only by downloading the program to the development board, each function has a
corresponding program in CD , so please enjoy playing. However, if you can read the program and write your
own program, there will be more fun, now let's go to the software section!
37
3.2 Hummer Bot Module experiment
3.2.1 Walking Principle of the Car
In the "Hummer-Bot" car, we choose the L298N as the motor driver chip for it is a high voltage and
current full-bridge driver chip, the chip uses 15 pins package. It is a special motor driven integrated circuit
(two H bridges) with high voltage and current full-bridge driver. And it contains 4 channel logic drive circuit,
basically belongs to a kind of two-phase and four-phase special motor drive which contains two H bridges of
high voltage large current. The output current is 2A, the maximum current is 4A, the maximum working
voltage is 50V, which can drive the load under 46V and 2A, such as high power DC motor, stepper motor,
solenoid valve and so on. The chip with two enable control terminals uses the standard logic level to control
signals, allows or prohibits the device to work when the input signal is not interfered, it has a logic power
input terminal which can enable the internal logic circuit to work under low voltage, and feedback the variation
to the control circuit. Especially, the input can be connected directly with the MCU and easily controlled.
When the DC motor is driven, the stepper motor can be directly controlled, and it can be turned forward and
reversely, which only needs to change the logic level of the input. The pin arrangement is shown in Fig.3.2.1.
The pin 1 and 15 can separately connect to the current sampling resistor and form the current sensing signal.
Figure .3.2.1 Arrangement of Chip Pins

L298N can drive 2 motors which are connected between OUTl, OUT2 and OUT3, OUT4. 5, 7, 10 and
12 pin are connected to input control level for controlling the positive and negative rotation of the motor, ENA,
ENB are connected to control enable terminal for controlling the running and shutdown of the motor. Its
characteristics:
◆ Signal indicator
38
◆ The speed is adjustable
◆ The strong anti-interference ability with photoelectric isolation
◆ Overvoltage and overcurrent protection
◆ Controlling of two motors separately
◆ Controlling the stepper motor
◆ The speed control with PWM pulse width
◆ Positive and negative rotation
ENA IN1 IN2 Motor status
H H L Forward
H L H Reversal
H IN2 IN1 Quick stop
L X X Stop
Figure .3.2.2 Logic Function Chart
Fig.3.2.3 Module Physical Map

Detailed L298N chip data please refer to “hummer-bot\Document\L298N_datasheet.pdf”
39
Figure .3.2.4 Schematic Diagram of Motor Drive
Four DC motors with high power L298N drive enable "Hummer-Bot" to run faster than conventional
two-wheel car, the acceleration time is shorter and the structure is more stable. However, in the actual
application, we need to adjust the speed of the car because of environmental or other factors, yet this does not
affect the forward, backward, stop, flexible steering of the car, so we use PWM to control the speed of the
motor(Note: PWM is a way to simulate the simulation output via square waves with different duty cycles.),
Arduino PWM port outputs a series of square waves with fixed frequency, the power and current of the motor
can be amplified after receiving the signal, thereby changing the motor’s speed. The speed coordination of
two motors on the right and left wheels can achieve the forward, backward, turning and other functions of the
car. Figure 2.4.5 shows the sequence diagram of PWM duty cycles.
Figure .3.2.5 Sequence Diagram of PWM Duty Cycles

In Arduino, analog voltage can’t be output, only 0 or 5V digital voltage value, we can use high
resolution counter and the duty cycles of the square wave modulation method to encode a specific level of
40
analog signal. The PWM signal is still digital, because at any given time, the full amplitude of DC power
supply is either 5V (ON) or 0V (OFF). The voltage or current source is added to the analog load with a ON
or OFF repetitive pulse sequence. When the DC power supply is added to the load, the power supply is on,
otherwise the power supply is off. As long as the bandwidth is enough, any analog value can use PWM to
encode. The output voltage value is calculated by the on and off time. Output voltage = (turn-on time / pulse
time) * maximum voltage. Fig.2.4.6 shows the corresponding voltage to the pulse change.
Figure .2.4.6 Relation between Pulse and Voltage

In the "Hummer-Bot" car experiment, we use Arduino UNO R3 as the main control board. By referring
to the chip data, we will know that Arduino UNO has 6 PWM pins, namely digital interfaces 3, 5, 6, 9, 10,
11, and we select 5, 6, 9, 10 as the motor control IO, the connection is shown in Fig.2.4.7.
The following table shows the correspondence between L298N and Uno board:
L298N Arduino Uno

IN1 D6
IN2 D10
IN3 D5
IN4 D9
Figure .2.4.7 Arduino and L298N driver board connection diagram and connection table
The L298N and Arduino expansion board wiring is as follows:
41
Figure.3.2.8 L298N and Arduino Expansion Board Connection Diagram
After the connection, we do not know whether the motor can work normally or not, so we need to do a
simple test by copying the following code (You can also open the program in the CD directly.) into the IDE
development environment and downloading to the development board. And turning on the power (power
connection is introduced the tenth and eleventh steps in 3.1.2) to observe the wheels rotation, if "going
forward 5s----stopping 1s---- going back 5s---- stopping 1s----turning left 3s----stop 1s----turning right 3s"
are normal, the connection is correct, otherwise the polarities of the motor may be reversed, then you need to
adjust slightly.
Program flow chart is as follows:
L298N Arduino Uno
IN1 D6
IN2 D10
IN3 D5
IN4 D9
42
Figure 3.2.9 Motor Test Flow Chart
Note: This test and IO selection are only for reference, you can choose other IO ports or use other
wiring methods according to your own ideas.
43
#define HB_INPUT1_PIN 6
void setup() {
Serial.begin(9600);
pinMode(HB_INPUT1_PIN, OUTPUT);
digitalWrite(HB_INPUT1_PIN, LOW); // When not sending PWM, we want it low
}
44
void loop() {
analogWrite(HB_INPUT1_PIN, 150);
analogWrite(HB_INPUT2_PIN, LOW);
delay(5000);
//******** ******************************//forward
delay(1000);//********************************************//stop
delay(5000);//*********************************************//back
delay(1000);
//******* ***************************************//stop
delay(3000);
//*******************************************//left
delay(1000); //*******************************************//stop
delay(3000);//*** ***************************************//right
}
By now, the car can move normally, next we will add several common sensor modules.
45
3.2.2 Infrared Obstacle Avoidance
3.2.2.1 Introduction of Infrared Obstacle Avoidance Sensor
Infrared obstacle avoidance module is a pair of infrared transmitting and receiving tubes, the former
launches a certain frequency infrared, the receiving tube will receive the reflected infrared when the infrared
detects the obstacles. After the signal is processed by the comparator circuit, the green LED lights, and the
signal output port outputs digital signal at the same time (a low level signal). The detection distance can be
adjusted through the potentiometer knob, the effective distance range is 2-30cm, the working voltage is 3.3V-
5V. The sensor uses infrared, so the anti-interference ability is very strong, the measurement accuracy is very
high when the distance is moderate. In addition, the module can be assembled easily and used conveniently,
it can be widely used in robot obstacle avoidance, car obstacle avoidance and the black&white line tracing
and many other occasions.
3.2.2.2 Working Principle
1, The module output port OUT can be directly connected with the IO port of the microcontroller, and
directly drive a 5V relay; the connection mode is: VCC-VCC; GND-GND; OUT-IO (A3 and A4), as shown
in Fig.3.2.9 and Chart 3.2.1.
2, The module uses the 3-5V DC power as power supply. When the power is on, the indicator will light.
3, The diameter of installation hole is 3mm, you can use the same size screws (screws in the kit).
Pin wiring definition (only for reference, you can define according to your own ideas):
arduino Uno Infrared Obstacle Avoidance Module
VCC VCC
GND GND
A3 The left module
A4 The right module
Chart 3.2.1 Pin Wiring Definition
3.2.2.3 Module Parameters
The working principle of infrared obstacle avoidance sensor is very simple, that is the reflection property
of objects. In a certain range, if there is no obstacle, the infrared ray emitted will gradually weaken because of
the farther distance of transmission, and finally disappear. If there are obstacles, the infrared will be reflected
to the receiving head. As soon as the sensor detects the signal, it can confirm that there are obstacles in front
of the circuit board, the green indicator will light, the OUT port continuously outputs low level signal to MCU
at the same time, the MCU conducts a series of analysis to ensure that the two wheels of car works properly
and avoids the obstacle beautifully. The schematic diagram of the sensor is shown in Fig.3.2.8. Infrared
detector can be divided into active and passive according to its working mode.
Active infrared detector is equipped with infrared light source, it can detect the location of the object
through covering the light source, reflection, refraction and other optical means.
46
Passive infrared detector has no light source, and it can measure the position, temperature, or infrared
imaging of the detected object by receiving the characteristic spectral radiation of the detected object.
Figure .3.2.10 Infrared obstacle avoidance schematic diagram
Figure .3.2.11 Connection of Arduino and Sensor

Note: This module can adjust the detection distance by the potentiometer, the detection distance is 2-
30cm, if it is found that the distance detection is not very sensitive, you can use the potentiometer to achieve
the desired results (rotating the potentiometer clockwise will increase the detection distance; counterclockwise
will decrease), it is shown in Fig.3.2.12.
Manual adjustment is shown in the following diagram:
47
Adjustable
Potentiometer
Figure .3.2.12 Diagram of Distance Detection Adjustment
3.2.2.4 Wire connection
As the figure shown below, the upper column is the "GND" interface, the middle column is the "VCC"
interface, and the lower column is the "OUT" interface, where "A3" corresponds to the "OUT" of the left
infrared obstacle avoidance, and "A4" corresponds to the right infrared obstacle avoidance. "OUT".
Figure 3.2.13 Wire connection diagram
48
3.2.2.5 Experimental Procedures
1, Fixing the two sensors on the car and connecting them to Arduino with wires.(Already done)
2, Testing the sensitivity of module, namely opening the switch on the battery box and the indicator will
light, placing obstacles the 10cm away from the infrared tubes, adjusting the potentiometer until the output
indicator lights up.
3, Module test. Copying the following code to the IDE compiler environment (you can also open the
program directly in the CD), downloading it to the development board, opening the serial port monitor (baud
rate is 9600) and observing the changes of data when there is an obstacle (Figure 3.2.14) and no obstacle
(Figure 3.2.15).
Note: Here we connect the infrared obstacle avoidance signal output port to the analog port on Arduino
(A0-A5), so the serial port prints out analog value, you can connect it to digital port (2-13), and the serial port
will only print out "0" and "1".
49
const int leftPin = A3;
const int rightPin = A4;
int dl;
int dr;
void setup() {
Serial.begin(9600);
pinMode(leftPin, INPUT);
pinMode(rightPin, INPUT);
delay(1000);
}
void loop() {
dl = digitalRead (leftPin);
dr = digitalRead (rightPin);
Serial.print("left:");
Serial.print(dl);
Serial.print(" ");
Serial.print("right:");
Serial.println(dr);
}
Figure .3.2.14 Diagram of Data with Obstacles
50
Figure .3.2.15 Diagram of Data without Obstacles
3.2.2.6Software Design
In the above steps, we have tested the car’s driving and obstacle avoidance module respectively, they
have achieved the desired results, here the "infrared obstacle avoidance" actually has been explained in this
section, but we have not put the programs of two parts together, so we now integrate the program of the two
parts and complete this great "infrared obstacle avoidance" project. Firstly, let's read the complete program:
#define INPUT1_PIN 6 // PWMB
#define INPUT2_PIN 10 // DIRB --- right
#define INPUT4_PIN 9 // PWMA
#define INPUT3_PIN 5 // DIRA --- left
float dl;
float dr;
void setup()
{
Serial.begin(9600);
pinMode(leftPin, INPUT);
pinMode(rightPin, INPUT);
delay(1000);
}
51
void loop()
{
dl = digitalRead(leftPin);
dr = digitalRead(rightPin);
if (dl == 1 && dr == 0)
{
analogWrite(INPUT1_PIN,0);
analogWrite(INPUT2_PIN, 200); //the speed value of motorA is 180
analogWrite(INPUT4_PIN, 200); //the speed value of motorB is 180
Serial.print(dl);
Serial.print(" ");
Serial.print(dr);
Serial.print(" ");
Serial.println("Turning left");
delay(300);
analogWrite(INPUT2_PIN, 0);
delay(1000); //********************************************//Turning left
}
if (dl == 0 && dr == 0)
{
Serial.print(dl);
Serial.print(" ");
Serial.print(dr);
Serial.print(" ");
Serial.println("Turning around");
delay(500);
delay(1000); //********************************************//Turning around
}
if (dl == 0 && dr == 1)
52
{
analogWrite(INPUT1_PIN,180);//the speed value of motorA is val
Serial.print(dl);
Serial.print(" ");
Serial.print(dr);
Serial.print(" ");
Serial.println("Turning right");
delay(300);
delay(1000); //********************************************//Turning right
}
if (dl == 1 && dr == 1)
{
analogWrite(INPUT4_PIN, 180); //the speed value of motorB is val
Serial.print(dl);
Serial.print(" ");
Serial.print(dr);
Serial.print(" ");
Serial.println("go");//********************************************//forward
}
}
In the above program, we made comments on some part of the program in order to make you to learn and
understand the program easily, the program is relatively simple, you can write your own programs to give the
car more skills. Of course, if you want to use it directly, we have the corresponding source program in the CD.
3.2.3 Infrared Tracing
3.2.3.1 Introduction of Infrared Tracing Sensor
After infrared obstacle avoidance, let us learn the infrared tracing, their nature of work is the same, using
basically the same module, just in different ways, to achieve different functions. In this section when we study,
we have to pay attention to the color of the line we trace (the black line or white line), if your floor is black,
you should trace the white line (pasting white line on the floor); if it is white, then you should trace the black
53
line (pasting black line on the floor); you just need to make a distinct difference between the track and the
ground environment.
Black line tracking refers to the car drives along the black line on the white floor, it can know where to
drive according to the received reflected light due to the different light reflection coefficient on the black and
white floor.
White line tracking refers to the car drives along the white line on the black floor, it can know where to
drive according to the received reflected light due to the different light reflection coefficient on the white and
black floor.
In the "Hummer-Bot" car, we use the TCRT5000 sensor as tracing module, TCRT5000 infrared reflection
sensor is a photoelectric sensor which consists of an infrared emitting diode and an NPN infrared photoelectric
transistor. The detectable reflective distance is 1mm-25mm, the sensor is specially equipped with M3 fixed
installation holes, so it is easy to adjust the direction, it also has the 74HC14 Schmidt trigger inverter which
ensure the clean signal, the good wave shape and the strong driving ability. It can be applied to robot obstacle
avoidance, robot tracing (detecting black line in white background and detecting white line in black
background), which is the necessary sensor for tracing line robot and other occasions. The PCB size is
3.5cm*1cm, and the physical map is shown in Fig.3.2.16.
Figure .3.2.16 Physical Map of the Module
In the above, we talked about two patterns of tracing-the white line and the black line. In fact, either the
black line or the white line, we usually adopt the infrared detection method.
Infrared detection method means that different objects with different colors have the different infrared
reflection characteristics. The car launches the infrared to the ground continually during driving process, the
infrared receiving tube will be in a shutdown state and the output of the module is low level when the emitted
infrared is not reflected or the reflected infrared is not strong enough, and indicating diode will be off; when
the diffuse reflection occurred on a white floor, the intense reflected infrared will be received by the receiving
54
tube on the car, the photosensitive triode will be saturated, the output end of the module is high level and the
indicating diode will light.
As is shown in the schematic diagram 3.2.17 (U1 is comparator, such as LM358, LM324, LM393, LM339
and a series of comparators, we use the 74HC14D comparator in TCRT5000), A and C are connected to the
light emitting diode, C and E to the receiving diode, as shown in Fig.3.2.16. In the "Hummer-Bot" car, we use
three modules, two in the left and right sides, one in the middle. Its installation is shown in Fig.3.2.18,the
tracing sensors are in a straight line.
Figure .3.2.17 Schematic Diagram of Tracing Module Figure. 3.2.18 Diagram of Tracing Module
Installation
The X1 and Y1 are the first direction control sensors, and the width of the two sensors on the same side
of the black line must not be greater than the width of the black line. When the car is moving forward, the
driving track is always between the two first level sensors X1 and Y1 (the black track as shown in Fig. 3.2.18),
when the car deviates from the black line:
If the left X1 detects the black line which can’t be detected by the right Y1 and intermediate sensors, the
the car has shifted to the right, then the car will turn left slightly, and keeping intermediate sensor always
detecting the black line; if the right Y1 detects the black line which can’t be detected by the left X1 and
intermediate sensors, the the car has shifted to the left, then the car will turn right slightly, and keeping
intermediate sensor always detecting the black line; if the car turns back on the track driving along the black
line, X1 and Y1 can all detect the white line, and send high level to the microcontroller.
3.2.3.3 Module Parameters
◆ Using TCRT5000 infrared reflection sensor

◆ The detection distance: 1mm~25mm, the focal distance is 2.5mm
◆ The comparator output signal waveform is clean, good-shape and it has more than 15mA strong drive
ability.
55
◆ The working voltage: 3.3V-5V
◆ Using wide voltage comparator 74HC14D, digital output (0 and 1)
◆ Easy-to-install fixed bolt holes
Detailed parameters please refer to “hummer-bot\Document\ TCRT5000.pdf”
Note：
Correct wiring! The mainboard and electronic device may burn up if you have reverse connection
between positive and negative poles. Connecting the VCC to 3.3V or 5V, the OUT output port to the
microcontroller IO port directly. The I/O port on Arduino should be set for input mode / receiving mode,
otherwise it can’t be used. As for other MCU, such as ARM or more advanced control boards, if the I/O ports
need to be used as the input and output mode, they have to be set to the input mode / receiving mode. The 51
series microcontrollers can be used directly, there is no need to set the input and output mode.
As shown in the below figure, the upper column is the "GND" interface, the middle column is the "VCC"
interface, and the lower column is the "OUT" interface, where "A0" corresponds to the "OUT" of the left
trace, and "A1" corresponds to the "OUT" of the intermediate trace. "A2" corresponds to the "OUT" of the
right trarce.
Figure .3.2.19 Wire connection diagram
56
1, Fixing the sensor on the car (the assembly is completed) and connecting it to the Arduino as shown in
Fig.3.2.19.
2, Making the track.If your floor is white, then you could stick a black tape to form a loop, otherwise
stick a white tape, the shape of track is based on your own desires, the best width of the tape is 13-18mm. In
this manual, we use the black track, as shown in Fig.3.2.20.
3, Module test. Copying the following codes to the IDE compiler environment (you can also open the
program in the CD directly) and downloading to the development board, opening the serial port monitor (baud
rate is 9600) to observe the changes of data when there is the white line (Fig. 3.2.21) and is not the white line
(Figure 3.2.22).
Note: Here we connect the signal output port of infrared obstacle avoidance to the analog port on Arduino
(A0-A5), so the serial port monitor prints analog values, you can connect it to the digital port (2-13), then the
serial port monitor will print out only "0" and "1".
57
void setup() {
Serial.begin(9600);
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
}
void loop() {
int left, centre, right;
left = digitalRead(A0);
centre = digitalRead(A1);
right = digitalRead(A2);
Serial.print("right:");
Serial.print(right);
Serial.print(" ");
Serial.print("centre:");
Serial.print(centre);
Serial.print(" ");
Serial.print("left:");
Serial.print(left);
Serial.println(" ");
}
Figure .3.2.20 Example of the Black Track
58
Fig. 3.2.21 The Data When the Sensor Does Not Detect the Black Line
Figure 3.2.22 The Data When the Sensor Detects the Black Line
From Fig.3.2.21 and Fig.3.2.22 we can see that the output is high level when the sensor does not detect
the black line, low level when detects the black line. We use the analog port to collect the sensor’s signal, so
59
the printed value is analog that, the high level is reaching 1024, the low level is 0. After we master the
working principle of the sensor, our tracing car in this section comes to an end, then let us open a car
journey.
3.2.3.6Software Design
3.2.3.6.1 Program flow chart
When the car enters the tracing mode, it keeps scanning the I/O port of the MCU connected to the
sensors, once detecting the changes in signal at the I/O port, the corresponding procedure will be
implemented, the corresponding signal will be sent to the motor so as to correct the status of the car.
When the car enters the tracing mode, it keeps scanning the I/O port of the MCU
connected to the sensors, once detecting the changes in signal at the I/O port, the corresponding procedure
will be implemented. If the left sensor detects the black line (the left half of the car walked across the black
line, the car body is trended right), the car should turn the left; If the right sensor detects the black line (the
right half of the car walked across the black line, the car body is trended left), the car should turn the right.
After the direction adjustment, the car walks forward, and continues to detect the black line repeatedly
3.2.3.6.2 Program Code

/*Define 4 motor control terminals, connected to IN1-IN4 on the motor drive board.*/
void setup() {
Serial.begin(9600); /*Set the baud rate to 9600 */
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
}
void loop()
{
int left1, centre, right1; /*Define 3 sensors */
left1 = digitalRead (A0);
centre = digitalRead (A1);
right1 = digitalRead (A2); /*Read the value collected by 3 sensors */
if ((right1 == 1) && (centre == 0) && (left1 == 1)) {/* Judge the collected value, if
right1 > the sensor captures a value that is low and reads 0 after analog IO. However, to
reduce the error, we set the threshold In 8, to prevent the error caused by the car to
determine the wrong, we can
60
/*Set a PWM value, the maximum value of PWM is 255, but the speed should not be too fast when
tracing the car, otherwise the car will shake more in the tracing process.*/
int val = 150;
analogWrite(INPUT1_PIN, val);
analogWrite(INPUT2_PIN, 0 ); //the speed value of motorA is val
analogWrite(INPUT4_PIN, val); //the speed value of motorB is val
}
else if((right1 == 0) && (centre == 1) && (left1 == 1)) {/* The value collected to judge,
if the center > = 975 and left1 > = 975 are greater than 975, indicating that the middle and
left sensors did not detect the black line, right1 <= 8 shows the right sensor detects a black
line, then the car Has left to the left, or the black line has been turning to the right, so
the car should turn to the right. */
int val = 150;

analogWrite(INPUT1_PIN, val); //the speed value of motorA is val
}
else if((right1 == 1) && (centre == 1) && (left1 == 0)) {/* Judge the collected value, if
center > = 975 and right1 > = 975 are greater than 975, indicating that the middle and right
sensors did not detect the black line, left1 <= 8 shows that the left sensor detects the black
line, then the car Has been to the right deviation, or the black line has turned to the left,
so the car should turn left at this time. */
int val = 130;

analogWrite(INPUT1_PIN, 0); //the speed value of motorA is val
analogWrite(INPUT3_PIN, 0); //the speed value of motorB is val
}
if ((right1 == 0) && (centre == 0) && (left1 == 0)) {/* The value collected to judge, if
the center <= 8, left1 <= 8 and right1 <= 8 are greater than 8, indicating 3 sensors have
detected a black line, then the car has reached the "ten" intersection, because We have only 3
sensors, no way to make more sophisticated judgments, so only let the car choose to go
straight. */
int val = 130;

}
}
61
3.2.4 Ultrasonic Obstacle Avoidance
In this product, we will integrate the ultrasonic module and steering engine together and make the two
parts working at the same time, which greatly increases the effectiveness of the data and the flexibility of the
car, the main working flow: When the power is on, steering engine will automatically rotates to 90 degrees,
the MCU will read data from the reflected ultrasonic. If the data is greater than the security value, the car
will continue to drive forward, otherwise the car will stop, then the steering engine will rotate 90 degrees to
the right. After that, the MCU reads data from the reflected ultrasonic again, the steering engine rotates 180
degrees to the left, then reading data again, the steering engine rotate 90 degrees, the MCU will contrast the
two detected data, if the left data is greater than the right data, the car will turn left, otherwise turn right, if
the two data are both less than the safety value, the car will turn around.
3.2.4.1 Suite Introduction
1. The steering gear

The steering gear is also called servo motor which is originally used in ships, since it can control the
angle continuously through the program, so it has been widely used in intelligent steering robot to achieve
all kinds of joint movement, the characteristics steering gear are small volume, large torque, high stability,
simple external mechanical design. Either in hardware or software design, the design of steering engine is an
important part of car controlling, the steering gear is mainly composed of the following parts in general,
steering wheels, gear group, position feedback potentiometer, DC motor and control circuit (shown in
Fig.3.2.24). Fig.3.2.25 shows the most commonly used 9G steering gear now.
Figure .3.2.24 Diagram of Steering Gear
62
Figure .3.2.25 Physical Map of Steering Gear
2. The ultrasonic
An ultrasonic sensor is a device that transforms other forms of energies into ultrasonic energy with
desired frequency or transforms the ultrasonic energy into other forms of energy with the same frequency.
The ultrasonic sensors are commonly classified into two categories, the acoustic type and the hydrodynamic
type. Acoustic type mainly has: 1, piezoelectric sensor; 2, magneto strictive sensor sensor; 3, electrostatic
sensor. The hydrodynamic type includes the gas whistle and the liquid whistle. At present most of the
ultrasonic sensors are working using piezoelectric sensors. Distance measurement with the ultrasonic is also
a hot spot.
In the "Hummer-Bot" car, we use HC-SR04 ultrasonic module which has the 2cm-400cm non-contact
distance sensing function, the measurement accuracy can achieve to 3mm; the temperature sensor can
correct the measured results using the GPIO communication mode, the module has a stable and reliable
watchdog. The module includes an ultrasonic transmitter, receiver and control circuit, which can measure
distance and steer like in some projects. The smart car can detect obstacles in front of itself, so that the smart
car can change direction in time, avoid obstacles. A common ultrasonic sensor is shown in Fig.3.2.26.
63
Figure 3.2.26 Physical Map of Ultrasonic Module
3.2.4.2 Suite Parameters
1. Steering gear
The steering gear has three input wires as shown in Fig.3.2.25, the red is power wire, while the brown
is the ground, which guarantee the basic energy supply for the steering gear. The power supply has two
kinds of specifications (one is 4.8V, the other is 6.0V)which are corresponding to different torque standards,
the 6.0V torque is higher than the 4.8V torque; and the another one is the signal control wire, which is
generally white in Futaba, orange in JR. Noticing that some of the SANWA's power wires are on the edge
rather than the middle which need to be identified, so you need to remember that the red is power wire, the
brown is ground wire.
2. Ultrasonic wave
1, Working voltage: 4.5V~5.5V. In particular, voltage above 5.5V is not allowed definitely
2, Power consumption current: the minimum is 1mA, the maximum is 20mA
3, Resonant frequency: 40KHz;
4, Detection range: 4 mm to 4 meters. Error: 4%. In particular, the nearest distance is 4mm, the longest
distance is 4 meters, and the data outputs continuously without setting anything. 5, Temperature
measurement range: 0℃to +100℃; precision: 1℃
6, Illumination measurement range: bright and dark;
7, Data output mode: icc and uart (57600bps), users can choose any of them; UART mode uses 7 bytes
as a group, and the 3 data stared with 0x55 are the distance values; the 2 data started with 0x66 are the
temperature value; the 2 data started with 0x77 are the illumination values. 0x55\0x66\0x77 are the data
headers in order to distinguish the 3 data;
64
8, Supporting the following 2 detection methods: 1, continuous detection; 2, controlled intermittent
detection;
9, Distance data format: using mm as the smallest data unit, double byte 16 hexadecimal transmission;
10, Temperature data format: using Celsius degree as the smallest unit, single byte hexadecimal
transmission;
11, Light data format: single byte 16 hexadecimal transmission; the value is big when it is dark, small
when it is bright;
12, Working temperature: 0℃~+100℃
13, storage temperature: -40 to +120 degrees Celsius
14, Size: 48mm*39mm*22mm (H)
15, The size of fixing holes: 3*Φ3mm; Gap:10mm
1. Steering gear
The control signal enters the signal modulation chip by the receiver channel, gets the DC bias voltage.
The steering gear has a reference circuit which generates a reference signal with a period of 20ms and a
width of 1.5ms. Comparing the obtained DC bias voltage with the voltage of the potentiometer and
obtaining the output voltage difference. Finally, the positive and negative output voltage difference in the
motor driver chip decide the positive and negative rotation of motor. When the speed of motor is certain, the
cascade reducer gear will drive potentiometer to rotate so that the voltage difference is reducing to 0, the
motor will stop rotating.
When the control circuit receives the control signal, the motor will rotate and drive a series of gear sets,
the signal will move to the output steering wheel when the motor decelerates. The the output shaft of
steering gear is connected with the position feedback potentiometer, the potentiometer will output a voltage
signal to the control circuit board to feedback when the steering gear rotates, then the control circuit board
decides the rotation direction and speed of the motor according to the position, so as to achieve the goal. The
working process is as follows: control signal→control circuit board→motor rotation→gear sets deceleration
→steering wheel rotation→position feedback potentiometer→control circuit board feedback.
The control signal is 20MS pulse width modulation (PWM), in which the pulse width varies linearly
from 0.5-2.5MS, the corresponding steering wheel position varies from 0-180 degrees, which means the
output shaft will maintain certain corresponding degrees if providing the steering gear with certain pulse
width. No matter how the external torque changes, it only changes position until a signal with different is
provided as shown in Fig.3.2.27. The steering gear has an internal reference circuit which can produce
reference signal with 20MS period and 1.5MS width, there is a comparator which can detect the magnitude
and direction of the external signal and the reference signal, thereby produce the motor rotation signal.
65
Figure .3.2.27 Relationship between the Motor Output Angle and Input Pulse
2. The ultrasonic
The most commonly used method of ultrasonic distance measurement is echo detection method, the
ultrasonic transmitter launches ultrasonic toward a direction and starting the time counter at the same time,
the ultrasonic will reflect back immediately when encountering a blocking obstacle and stopping the counter
immediately as soon as the reflected ultrasonic is received by the receiver. The working sequence diagram is
shown in Fig.3.2.28. The velocity of the ultrasonic in the air is 340m/s, we can calculate the distance
between the transmitting position and the blocking obstacle according to the time t recorded by the time
counters, that is: s=340*t/2.
Figure .3.2.28 the Ultrasonic Working Sequence

Let us analyze the working sequence, first the trigger signal starts the HC-RS04 distance measurement
module, which means the MCU sends an at least 10us high level to trigger the HC-RS04,the signal sent
inside of the module is responded automatically by the module, so we do not have to manage it, the output
signal is what we need to pay attention to. The output high level of the signal is the transmitting and
66
receiving time interval of the ultrasonic, which can be recorded with the time counter, and don't forget to
divided it with 2.
The ultrasonic is a sound wave which will be influenced by temperature. If the temperature changes
little, it can be approximately considered that the ultrasonic velocity is almost unchanged in the transmission
process. If the required accuracy of measurement is very high, the measurement results should be to
corrected with the temperature compensation. Once the velocity is determined, the distance can be obtained.
This is the basic principle of ultrasonic distance measurement module which is shown in Fig.3.2.29:
Figure .3.2.29 the Principle of Ultrasonic Distance Measurement Module

The ultrasonic is mainly divided into two parts, one is the transmitting circuit and the other is the
receiving circuit, as shown in Fig.3.2.30. The transmitting circuit is mainly composed of by the inverter
74LS04 and ultrasonic transducer T40, the first 40kHz square wave from the Arduino port is transmitted
through the reverser to the one electrode on the ultrasonic transducer, the second wave is transmitted to
another electrode on ultrasonic transducer, this will enhance the ultrasonic emission intensity. The output
end adopts two parallel inverters in order to improve the driving ability. the resistance R1 and R2 on the one
hand can improve the drive ability of the 74LS04 outputting high level, on the other hand, it can increase the
damping effect of the ultrasonic transducer and shorten the free oscillation time.
The receiving circuit is composed of the ultrasonic sensor, two-stage amplifier circuit and a PLL
circuit. The reflected signal received by the ultrasonic sensor is very weak, which can be and amplified by
the two-stage amplifier. PLL circuit will send the interrupt request to the microcontroller when receiving the
signal with required frequency. The center frequency of internal VCO in the PLL LM567 is
f 0 = 1 /(1.1RP 1C 2)
, the locking bandwidth is associated with C3. Because the transmitted ultrasonic
frequency is 40kHz, the center frequency of the PLL is 40kHz, which only respond to the frequency of the
signal, so that the interference of other frequency signals can be avoided.
The ultrasonic sensor will send the received the signal to the two-stage amplifier, the amplified signal
will be sent into the PLL for demodulation, if the frequency is 40kHz, then the 8 pins will send low level
interrupt request signal to the microcontroller P3.3, the Arduino will stop the time counter when detecting
low level.
67
Figure .3.2.30 Schematic Diagram of Ultrasonic Transmitting and Receiving
1, Installing the steering gear, ultrasonic module to the car which has been completed in fourth step to the
seventh step in 3.1.2) as shown in Fig.3.2.31.
2. Connecting the steering gear and ultrasonic module to the Arduino motherboard as shown in Fig.3.2.32.
(you can choose other IO ports according to your own ideas).
68
Figure .3.2.31 Installation Diagram of the Steering Gear and Ultrasonic Module
Figure .3.2.32 Wiring of the Steering Gear and Ultrasonic Module
69
As shown in the below figure, the servo's "S" is connected to pin 13, the ultrasonic "Trlg" is connected
to pin 2, the "Echo" is connected to pin 3, the "VCC" pin is connected to VCC, and the "GND" pin is
connected to GND.
Figure 3.2.33 Wiring diagram of steering gear, ultrasonic wave and expansion board
3.2.4.6 Software design
Code path “hummer-bot\Lesson\ModuleDemo\UltrasonicAvoidance\UltrasonicAvoidance”

#include "Ultrasonic.h"
byte TrigPin = 2;
byte EchoPin = 3;
byte ServoPin = 13;
int da, dl, dr;
byte left, right;
Ultrasonic mUltrasonic(TrigPin,EchoPin,ServoPin);
void setup() {
Serial.begin(9600);
pinMode(INPUT1_PIN, OUTPUT);
mUltrasonic.SetServoBaseDegree(90);
70
mUltrasonic.SetServoDegree(90);
delay(1000);
}
void loop() {
left = digitalRead(leftPin);
right = digitalRead(rightPin);
da = mUltrasonic.GetUltrasonicFrontDistance();
if ((da >= 50) && (da <= 2000) && (left != 0) && (right != 0)) {
int val = 150;
analogWrite(INPUT1_PIN, val);//the speed value of motorA is 255
analogWrite(INPUT4_PIN, val); //the speed value of motorB is 255
Serial.print("Distance = ");
Serial.print(da);
Serial.print(" ");
Serial.println("Moving advance 50");
// delay(500); //If the distance is greater than 20cm then go forward and
output "is moving forward"
} else if ((left == 0) && (right != 0) && da >= 30) {
Serial.println("Turning right");
delay(200);
//delay(1000); //********************************************//Turning right
} else if ((left != 0) && (right == 0) && da >= 30 ) {
analogWrite(INPUT1_PIN, 130);//the speed value of motorA is 200
Serial.println("Turning left");
delay(200);
// delay(1000); //********************************************//Turning left
} else if (da <= 25) {
71
Serial.print("Distance = ");
Serial.print(da);
Serial.print(" ");
Serial.println("Stopped");//If the distance is less than 20cm, the car stops and
outputs "stopped"
delay(500);
dl = mUltrasonic.GetUltrasonicLeftDistance();
dr = mUltrasonic.GetUltrasonicRightDistance();
Serial.print("Left distance = ");
Serial.print(dl);
Serial.print(" ");
Serial.print("Right distance = ");
Serial.print(dr);
Serial.println(" ");
//Head rudder turn right to measure the right distance and output
if (dl >= 20 && dl <= 1000 && dl > dr) {
Serial.println("Turning left1");
delay(200); //To determine the left and right distance left if the larger
} else if (dr >= 20 && dr <= 1000 && dr > dl) {
Serial.println("Turning right2");
delay(200); //Judging the right and left distances
} else if (dr <= 20 && dl <= 20) {
Serial.println("Turning around");
delay(700);
//If the left and right sides are less than 20cm, then turn around
}
}
}
72
In front the sections, we focus on the "automatic driving", and they are obstacle avoidance experiments.
We didn't seem to have relationship with the car, it is lack of fun. Now in the next few sections, we will
develop the car from other aspects to make sure that we are able to control the car personally, then we will
start from the "infrared remote control", followed by "2.4G handle remote control" and the last is "mobile
phone Bluetooth control".
3.2.5 Infrared Remote Control
Infrared remote control is widely used in every field which is known to everyone, since it can control
other electrical appliances, naturally it can control the Hummer-Bot car. Let us take a look at the infrared
remote control first:
Infrared wireless remote control kit consists of Mini ultra-thin infrared remote controller and 38KHz
infrared receiver module, the remote controller has 17 function keys, the transmission distance is up to 8
meters which is very suitable for controlling equipment indoor. The infrared receiving module can receive
38KHz modulation remote control signal. Through the Arduino programming, the decoding operation of
Infrared wireless remote control signal can be realized so as to produce all kinds of remote control robot and
interactive works. The suite is shown in Fig.3.2.34.
Figure .3.2.34 Physical Map of Remote Control Suite

Infrared remote control system is mainly divided into modulation, transmitting and receiving parts. The
transmitting part is mainly composed of keyboard, remote control specific integrated circuit, exciter and
infrared light emitting diode. The integrated circuit is the core part of the launch system which consists
73
internal oscillation circuit, timing circuit, scanning signal generator, key input encoder, instruction decoder,
user code converter, digital modulation circuit and buffer amplifier and so on. It can produce a key scanning
pulse signal, translate the key code, then obtain remote control commands of the keys by telecommand
encoder (remote control encoding pulse). Through pulse amplitude modulation of the 38KHZ carrier signal,
the infrared diode can transmit infrared remote control signal.
In the infrared receiver, photoelectric converter (usually a photodiode or photoelectric triode, here we
use PIN photodiode) converts the received infrared light instruction signal into a corresponding electrical
signal. The received signal is very weak and interference is particularly large, in order to achieve the
accurate detection and signal conversion, in addition to the infrared photoelectric conversion device with
high performance, choosing the reasonable circuit design with good performance is also required. The most
common photoelectric conversion device is a photodiode. When the photosensitive surface of the PN
junction is irradiated by light, the semiconductor material of PN junction absorbs light energy and converts
the light energy into electric energy. When the reverse voltage is added to the photodiode, the reverse
current in the diode will change with the change of the incident light intensity. The larger the radiation
intensity is, the larger the reverse current will be, the reverse current of the photoelectric varies with the
incident light pulse.
In the Hummer-Bot car, the integrated infrared receiving head has three pins, including the power
supply pin, grounding and signal output pin. The circuit is shown in Fig.3.2.35. Ceramic capacitors is a
decoupling capacitor which can filter the output signal interference. The 1 end is the output of the
demodulation signal which is directly connected to the number 2 port on the Arduino. When the infrared
coded signal is transmitted, it will be processed by the infrared joint, then outputs the square wave signal,
and directly supplied to the Arduino, and the corresponding operation is carried out to control the motor.
Figure .3.2.35 Circuit Diagram and Physical Map of Infrared Receiving Head
The remote control system in general composed of the remote controller (transmitter), and receiver,
when you press any button on the remote control, it will generate the corresponding encoding pulse and
output various control pulse signals based on the infrared, infrared monitor diode sends the signal to the the
74
amplifier and the pulse amplitude limiter, the limiter controls the pulse amplitude at a certain level,
regardless of the distance of infrared transmitter and receiver. AC signal enters the band-pass filter which
can pass the 30KHZ to the load wave 60KHZ and enters the comparator through the demodulation circuit.
The comparator outputs high or low level and restores the output signal waveform. The system procedure
diagram is shown in Fig.3.2.36.
Keyboard Code Modulation LED
Remote Control Transmitter
Light/electronic Amplification Demodulation Decode
Remote Control Receiver
Fig.3.2.36 Remote Control System Diagram
1, Installing the infrared receiving head on the development board (if it has been installed in the the eighth
step in "3.1.2", please ignore. The complete installation is shown in Fig.3.1.37.
2, Referring to Fig.3.2.37 and connecting the infrared receiving module to the Arduino board (you can
choose other IO ports according to your own ideas)
Note: Do not reverse power line, otherwise the receiving head will burn up.
Figure .3.1.37 Infrared Module Connection Diagram

75
3, Copying the following program to IDE (you can also directly open the matching program in the CD), and
downloading to the development board, pulled out the transparent plastic sheet marked as "1" in the
Fig.3.2.33. Then opening the serial port monitor, observing and recording the values on it while pressing
keys on the remote control towards the receiving head as shown in Fig.3.2.38.
Code Path : “hummer-bot\Lesson\ModuleDemo\IrkeyPressed\ IrkeyPressed.ino”
76
#include "IRremote.h"
IRremote ir(12);
unsigned char keycode;
char str[128];
void setup() {
Serial.begin(9600);
ir.begin();
}
void loop()
{
if (keycode = ir.getCode()) {
String key_name = ir.getKeyMap(keycode);
sprintf(str, "Get ir code: 0x%x key name: %s \n", keycode, (char
*)key_name.c_str());
Serial.println(str);
} else {
// Serial.println("no key");
}
delay(110);
}
Figure .3.2.38 Remote Encoding Query

In Figure 3.2.38, we can see two values of Ir Code "0x45" and keyname "1", where "0x45" is the code of a
key of the remote controller, and "1" is the name of the key function of the remote controller.
77
The key mapping table is as follows:
ST_KEY_MAP irkeymap[KEY_MAX] = {
{"1", 0x45},
{"2", 0x46},
{"3", 0x47},
{"4", 0x44},
{"5", 0x40},
{"6", 0x43},
{"7", 0x07},
{"8", 0x15},
{"9", 0x09},
{"0", 0x19},
{"*", 0x16},
{"#", 0x0D},
{"up", 0x18},
{"down", 0x52},
{"ok", 0x1C},
{"left", 0x08},
{"right", 0x5A}
};
As shown in the below figure, the infrared receiver's “s” pin is connected to “12” pin, the “-” pin is
connected to “GND”, and the middle pin is connected to “VCC”.
78
3.2.5.5 Software Design
3.2.5.5.2 Program code
Code Path : “hummer-bot\Lesson\ModuleDemo\ IRremote\ IRremote.ino”

#include "IRremote.h"

int RECV_PIN = 12;//Define the infrared receiver pin to 12
long expedite1 = 0x16;

long expedite2 = 0x0D;
long advence = 0x18;
long back = 0x52;
long stop = 0x1C;
long left = 0x08;
long right = 0x5A;
static int val = 160;
IRremote irrecv(RECV_PIN);
79
void setup() {
Serial.begin(9600);
irrecv.begin();
}
void loop() {
byte irKeyCode;
if (irKeyCode = irrecv.getCode())
{
Serial.println(irKeyCode,HEX);
if (irKeyCode == advence) {
analogWrite(INPUT1_PIN, val);//the speed value of motorA is val
}
else if (irKeyCode == expedite1) {
val += 20;
if (val >= 240)
{
val = 255;
}
}
else if (irKeyCode == expedite2) {
val -= 20;
if (val <= 20)
{
val = 0;
}
}
else if (irKeyCode == stop) {
}
else if (irKeyCode == left) {
}
else if (irKeyCode == right) {
80
}
else if (irKeyCode == back) {
}
} else {
}
}
The above is the infrared remote reference program, you can open it in the CD and download to the
development board, the instructions of remote control in shown in Fig.3.2.39.
Fig.3.2.39. Infrared Remote Control Instructions
3.2.6 Mobile Phone Bluetooth Control
Hummer-Bot supports Bluetooth mobile phone Bluetooth remote control function is JDY-16 BLE
(Bluetooth Low Energy).JDY-16 transparent transmission module is based on the Bluetooth 4.2 protocol
81
standard, operating frequency range is 2.4GHZ range, modulation mode is GFSK, maximum transmission
power is 0db, maximum transmission distance is 80 meters, adopts original imported chip design, and
supports users to modify device by AT command. Names, service UUIDs, transmit power, pairing
passwords, and other instructions are convenient and quick to use. For module information, see aurora-
racing\Document\JDY-16-V1.2(English manual).pdf
The physical diagram of module is shown in Fig.3.2.40.
Fig.3.2.40 JDY-16 Module

1) JDY-16 function introduction
1：BLE high speed transparent transmission supports 8K Bytes rate communication.
2：Send and receive data without byte limit, support 115200 baud rate continuously send
and receive data.
3：Support 3 modes of work (see the description of AT+STARTEN instruction function).
4：Support (serial port, IO, APP) sleep wake up.
5：Support WeChat Airsync, WeChat applet and APP communication.
6：Support 4 channel IO port control.
7：Support high precision RTC clock.
8：Support PWM function (can be controlled by UART, IIC, APP, etc.).
9：Support UART and IIC communication mode, default to UART communication.
10: iBeacon mode (support WeChat shake protocol and Apple iBeacon protocol).
11: Host transparent transmission mode (transmission of data between application modules, host and
slave communication).
3.2.7.1 Use app to communicate with the serial port
1) Install “hummer-bot\JDY-16\BLETestToos.apk”, then turn on Bluetooth.

2) Open app, you will be asked to allow location permission at first, please allow.
82
App:
3) If Bluetooth information is not displayed, please pull down to refresh，if it still don’t work,please close
and reopen it.
4) Select the JDY-16 Bluetooth model.
5) There will pop up a window which indicate connection success and jump to the operation interface:
83
6) Click the second option “SK Service”,then click the first option “SK KEYPRESSED”：
7) In the end you will jump to the user interface,click “WRITING” to send.
8) Write data on the pink line, click “send” to send.
84
1
Serial port display as follow:
9) You can also send date through Arduino serial port to app.
85
1
2
10) The result as below:
Picture. 3.2.28
During above test, both the PC and Android can send and receive data normally, indicating that the
Bluetooth module communicates normally and achieves the expect effect. Next, it can be used as a bridge
between "Aurora" and the APP to control "Aurora" to realize the desired features.
3.2.6.3 Bluetooth protocol
Using Bluetooth to control the car means we use the Android app to control the Bluetooth sending
instructions to the Arduino serial port, so as to control the motor's forwarding, reversing, speed and so on.
86
Since the wireless communication is involved, one of the essential issues is the communication problem
between the two terminals. But there is no common "language" between them, so designing communication
protocols are required to ensure a perfect interaction between Android and Arduino. The main process is: the
Android identification terminal packs the detected commands into the corresponding data packets, and then
sends them to the Bluetooth module (JDY-16). When JDY-16 receives the packets, it will transmit them to
Arduino through the serial port, then Arduino to analyze the data packets and execute the corresponding
actions. The data format sent by the upper computer end (Android) is as follows, which mainly contains 8
fields, we use a structure to represent it.
Protocol Data Device Type Device Function Control Check Protocol
Header Length Address Code Data Sum End Code
In the 8 fields above, we use a structural body to represent.
typedef struct
{
unsigned char start_code; // 8bit 0xAA
unsigned char len;
unsigned char type;
unsigned char addr;
unsigned short int function; // 16 bit
unsigned char *data; // n bit
unsigned short int sum; // check sum
unsigned char end_code; // 8bit 0x55
}ST_protocol;
“Protocol Header” means the beginning of the packet, such as the uniform designation of 0xAA.
Data length” means except the valid data length of the start and end codes of the data.
“Device type” means the type of device equipment
“Device address” means the address that is set for control
“Function code” means the type of equipment functions that need to be controlled, the function types we
currently support is as follows:
87
typedef enum
{
E_BATTERY = 1,
E_LED = 2,
E_BUZZER = 3,
E_INFO = 4,
E_ROBOT_CONTROL = 5,
E_ROBOT_CONTROL_SPEED = 6,
E_TEMPERATURE = 7,
E_IR_TRACKING = 8,
E_ULTRASONIC = 9,
E_VERSION = 10,
E_UPGRADE = 11,
}E_CONTOROL_FUNC ;
The data means the specific control value of a car, such as speed, angle.
“Checksum” is the result of different or calculated data bits of the control instruction.
“Protocol end code ” is the end part of the data bag when receiving this data ,it means that the data pack has
been sent, and is ready for receiving the next data pack, here we specified it as 0x55.
For example, a complete packet can be such as "AA 070101065000 5F55", in which:
"07" is Transmission Data Length 7 bytes.
"06" is the "function code",The 06 here refers to the transmission speed.
"50 (or 0050)" is the controlling data, 0x50 in hexadecimal is 80 when converted to binary, which means the
speed value is 80. If the data is 05, it means the controlling direction, that is 80 degrees (forward).
"005F" is the check sum, that is, 0x07+0x01+0x01+0x06+0x50 = 0x5F.
"55" is the tail of the protocol, indicating the end of data transmission.
88
Fig.3.2.50 the Interface of Android APP
In the above Figure.3.2.50:
The "A, B" sections are the acceleration and deceleration buttons.
The "C" section includes the dashboard and the digital display area, and the two parts displaying
synchronously. They represent the current speed.
The "D" section is a gravity remote sensing switch which can be switched to the gravity remote sensing
mode.
The "E" section represents the Bluetooth name that is currently connected.
The "F" section indicates Bluetooth connection state. If the Bluetooth is not connected, the "disconnected" is
displayed here.
The "G" section is a manual rocker, and sliding it allows the car to rotate.
The "I" section is a data return area, such as the current state, speed of the car, etc. The "H" section is the
data packet, for example, the data is "AA 01 01 06 23 00 2B 55". At this time, the speed is 35 (23 is 16
hexadecimal data, which means 35 when converted to 10 hexadecimal).
If the transmitted data is "AA 01 01 05 00 5B 00 62 55", it means that the car is moving forward (05 is
the direction control instruction, and the 005B means 91 when converted to binary number. By the
Figure.3.2.48 we can know that 91 degree means the car is moving forward).
Connect the Bluetooth module of the wire to "1" marked in Fig.3.2.51 Connection mode: JDY-16 VCC port
on Bluetooth module is connected to Arduino 3.6V~6V DC power anode, GND port is connected to the
89
cathode of the DC power, the RXD port is connected to the TXD port on Arduino extended board, TXD port
is connected to RXD port on the board, as shown in Fig.3.2.52.
Note: Since Arduino UNO has only one serial port, the Bluetooth must be disconnected from the serial port
when downloading the program, otherwise the download will fail.
Figure .3.2.51 Wiring Positions of Bluetooth
90
Figure .3.2.52 Installation of Bluetooth Module
2, Open the mobile phone Bluetooth and the APP (There is a software installation package on the CD, latter
we will launch the IOS version.) You will see that the flashing of the Bluetooth module indicator slows
down after successful connection. If you have downloaded the program to the development board before,
you can use the phone to control the car directly, as shown in Fig.3.2.52.
91
Figure .3.2.53. Diagram of APP Control
In Fig.3.2.53, we can see the logo "1" and "2". When the Bluetooth connection is successful, sliding
green dot marked as "1" in any direction, the car will move towards the corresponding direction. Switching
on the gravity sensor marked in "2", the APP is switched to the gravity induction mode, and you can control
the movement direction of the car by shaking the mobile phone.
Bluetooth wire connection location as shown below:
92
Code Path “hummer-bot\Lesson\Advanced Experiment\Buletooth\ Buletooth.ino”
93
#include "Hummerbot.h"
#include "ProtocolParser.h"
#include "KeyMap.h"
#include "debug.h"
ProtocolParser *mProtocol = new ProtocolParser();
Hummerbot hbot(mProtocol, INPUT2_PIN, INPUT1_PIN, INPUT3_PIN, INPUT4_PIN);
void setup()
{
Serial.begin(9600);
hbot.init();
hbot.SetControlMode(E_BLUETOOTH_CONTROL);
hbot.SetSpeed(0);
}
//========================= bluetooth
void HandleBluetoothRemote()
{
if (mProtocol->ParserPackage())
{
switch(mProtocol->GetRobotControlFun())
{
case E_INFO:
break;
case E_ROBOT_CONTROL_DIRECTION:
hbot.Drive(mProtocol->GetRobotDegree());
break;
case E_ROBOT_CONTROL_SPEED:
hbot.SetSpeed(mProtocol->GetRobotSpeed());
break ;
case E_CONTROL_MODE:
hbot.SetControlMode(mProtocol->GetControlMode());
break;
case E_VERSION:
break;
}
}
}
94
void loop()
{
mProtocol->RecevData();
switch(hbot.GetControlMode())
{
case E_BLUETOOTH_CONTROL:
HandleBluetoothRemote();
DEBUG_LOG(DEBUG_LEVEL_INFO, "E_BLUETOOTH_CONTROL \n");
break;
default:
break;
}
}
95
3.2.7 PS2 Handle (Optional)
PS2 handle is SONY game remote control handle, SONY series game host is very popular in the world.
Someone has come up with the idea of the PS2 handle, cracked the communication protocol, so that the
handle can be connected to other devices for remote control, such as remote control of our familiar four
wheeled vehicles and robots. Its outstanding features are cost-effective, rich buttons and easy to extend to
other applications, Fig.3.2.54 shows a commonly used PS2 wireless handle.
Figure .3.2.54 PS2 Wireless Handle

The PS2 handle is composed of the handle and the receiver, the handle uses two AAA batteries as
power supply. The controller and receiver use the same power supply whose voltage range is 3~5V,
overvoltage, reverse connection will cause the receiver to burn out. There is a power switch on the handle,
ON /OFF, when you switch it to ON, the light on handle will not stop flashing until the receiver is searched.
In a certain period of time, if the receiver can’t be find, the handle will enter the standby mode and the light
will burn out, you can press "START" button to wake up the handle.
The receiver is powered by the Arduino as shown in Fig.3.2.55, in the absence of pairing, the green
light flashes. When the handle switch is opened, the handle and receiver will pair automatically, and the
light will be always on, and the handle is matched successfully. Button "MODE" (The above logo may be
96
"ANALOG" in different handles, but it will not affect the usefulness), you can choose "red light mode" or
"green light mode".
Some users see that the handle and receiver cannot match properly! Most of the problems are the
incorrect wiring of the receiver and the program problems.
Solution: The receiver should only be connected with power supply (power line must be connected
correctly), not any data lines and clock lines. The handle light will be always on when pairing is successful.
Then checking whether the wiring and program transplantation are correct again.
Figure .3.2.55 Remote Control Receiver Module

There are 9 interfaces at the end of the receiving head, each of which is shown in the following table:
1 2 3 4 5 6 7 8 9
DI/DAT DO/CMD NC GND VDD CS/SEL CLK NC ACK

Note: The appearance of the receiver will be different due to different batches, some with a power light, some
without, but the use and definition of the pins are the same.
DI/DAT: The signal flows from the handle to the host. This signal is a serial 8-bit data which is transmitted
synchronously to the falling edge of the clock. The read of the signal is completed in the process of clock
changing from high to low;
DO/CMD: The signal flows from the host to the handle. The signal is similar to the DI, a serial 8-bit data,
which is transmitted synchronously to the falling edge of the clock;
NC: Empty port; .
GND: Ground;
VDD: The 3~5V power supply;
CS/SEL: Providing trigger signals for handles, the level is low during communication;
CLK: The clock signal is sent by the host to maintain data synchronization;
NC: Empty port;
ACK: The response signal from the handle to the host. This signal changes to low in the last cycle of each 8-
bit data sending, and the CS remains low. If the CS signal do not remain low, the PS host will try another
device in about 60 microseconds. The ACK port is not used in programming.
97
3.2.7.2 Experimental Procedure
1、In order to wire simply, we use the PS2 receiver head adapter board and Arduino connection as follows:
As shown in the below figure, the six lines of the receiving head are connected to the following places
respectively. “CLK” is connected to 11 pins, “CS” is connected to 8 pins, “CMD” is connected to pin 7,
“DAT” is connected to 4 pins, and “VCC” is connected to 5V. , "GND" is grounded.
Ps2 Arduino Uno

DAT 4
CMD 7
CS 8
CLK 11
98
Fix the receiver head to the cart with a cable tie (red frame area in Figure 3.2.55), as shown in Figure 2.3.56.
Figure 3.2.55 Receive Head Fixed Bit
Figure 3.2.56 Receiving head fixing diagram
99
3、Lead the wire according to the hole marked “1” in Figure 3.2.57, and connect the wire to the Aruino
expansion board with reference to Figure 2.3.58. After the completion, as shown as Figure 2.3.57.
Figure 3.2.57 Wire Connection Diagram
Figure 3.2.58 Connection of Arduino and Receiving Head Wires
4、Open “Lesson\ModuleDemo\PS2X\PS2X.ino”
Finally, download the program to the Arduino development board and turn on the PS2 remote control. If the
receiver head is connected to the remote controller (or the pairing is successful), the indicator light on the
receiver head is long, and the LED light is blinking. Finally, we open the "serial monitor", press any button
100
on the remote control, you can see the corresponding data on the "serial monitor", as shown in Figure 3.2.59.
Figure 3.2.59 "serial monitor" data display
101
#include "PS2X_lib.h" //for v1.6
/******************************************************************
* set pins connected to PS2 controller:
* - 1e column: original
* - 2e colmun: Stef?
* replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT 4
#define PS2_CMD 7
#define PS2_SEL 8
#define PS2_CLK 11
/******************************************************************
* select modes of PS2 controller:
* - pressures = analog reading of push-butttons
* - rumble = motor rumbling
* uncomment 1 of the lines for each mode selection
******************************************************************/
//#define pressures true
#define pressures false
//#define rumble true
#define rumble false
PS2X ps2x; // create PS2 Controller Class
//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you connect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
// Reset func
void (* resetFunc) (void) = 0;
102
void setup() {
Serial.begin(9600);
delay(500); //added delay to give wireless ps2 module some time to startup,
before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?,
Rumble?) check for error
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures,
rumble);
if(error == 0){
Serial.print("Found Controller, configured successful ");
Serial.print("pressures = ");
if (pressures)
Serial.println("true ");
else
Serial.println("false");
Serial.print("rumble = ");
if (rumble)
Serial.println("true)");
else
Serial.println("false");
Serial.println("Try out all the buttons, X will vibrate the controller, faster
as you press harder;");
Serial.println("holding L1 or R1 will print out the analog stick values.");
Serial.println("Note: Go to www.billporter.info for updates and to report
bugs.");
}
else if(error == 1)
Serial.println("No controller found, check wiring, see readme.txt to enable
debug. visit www.billporter.info for troubleshooting tips");
else if(error == 2)
Serial.println("Controller found but not accepting commands. see readme.txt to
enable debug. Visit www.billporter.info for troubleshooting tips");
else if(error == 3)
Serial.println("Controller refusing to enter Pressures mode, may not support it.
");
type = ps2x.readType();
103
switch(type) {
case 0:
Serial.println("Unknown Controller type found ");
break;
case 1:
Serial.println("DualShock Controller found ");
break;
case 2:
Serial.println("GuitarHero Controller found ");
break;
case 3:
Serial.println("Wireless Sony DualShock Controller found ");
break;
}
}
void loop() {
/* You must Read Gamepad to get new values and set vibration values
ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
if you don't enable the rumble, use ps2x.read_gamepad(); with no values
You should call this at least once a second
*/
if(error == 1){ //skip loop if no controller found
resetFunc();
}
if(type == 2){ //Guitar Hero Controller
ps2x.read_gamepad(); //read controller
if(ps2x.ButtonPressed(GREEN_FRET))
Serial.println("Green Fret Pressed");
if(ps2x.ButtonPressed(RED_FRET))
Serial.println("Red Fret Pressed");
if(ps2x.ButtonPressed(YELLOW_FRET))
Serial.println("Yellow Fret Pressed");
if(ps2x.ButtonPressed(BLUE_FRET))
Serial.println("Blue Fret Pressed");
if(ps2x.ButtonPressed(ORANGE_FRET))
Serial.println("Orange Fret Pressed");
if(ps2x.ButtonPressed(STAR_POWER))
Serial.println("Star Power Command");
104
if(ps2x.Button(UP_STRUM)) //will be TRUE as long as button is pressed
Serial.println("Up Strum");
if(ps2x.Button(DOWN_STRUM))
Serial.println("DOWN Strum");
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(ORANGE_FRET)) { // print stick value IF TRUE
Serial.print("Wammy Bar Position:");
Serial.println(ps2x.Analog(WHAMMY_BAR), DEC);
}
}
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin
at 'vibrate' speed
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed

Serial.print("Up held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
}
105
vibrate = ps2x.Analog(PSAB_CROSS); //this will set the large motor vibrate speed
based on how hard you press the blue (X) button
if (ps2x.NewButtonState()) { //will be TRUE if any button changes state (on
to off, or off to on)
if(ps2x.Button(PSB_L3))
Serial.println("L3 pressed");
if(ps2x.Button(PSB_R3))
Serial.println("R3 pressed");
if(ps2x.Button(PSB_L2))
Serial.println("L2 pressed");
if(ps2x.Button(PSB_R2))
Serial.println("R2 pressed");
if(ps2x.Button(PSB_TRIANGLE))
Serial.println("Triangle pressed");
}
if(ps2x.ButtonPressed(PSB_CIRCLE)) //will be TRUE if button was JUST

pressed
Serial.println("Circle just pressed");
if(ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST
pressed OR released
Serial.println("X just changed");
if(ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST
released
Serial.println("Square just released");
if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either

is TRUE
Serial.print("Stick Values:");
Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options:
LX, RY, RX
Serial.print(",");
Serial.print(ps2x.Analog(PSS_LX), DEC);
Serial.print(",");
Serial.print(ps2x.Analog(PSS_RY), DEC);
Serial.print(",");
Serial.println(ps2x.Analog(PSS_RX), DEC);
}
}
delay(50);
}
106
In the above program, we instructed to read the test button. In this experiment we want to implement the
PS2 remote control car function. We firstly define all the button functions as follows:
Figure .3.2.60 Functions of PS2 Handle Buttons

Mark UP: move forward
Mark DOWN: move backward
Mark LEFT: turn left
Mark RIGHT: right
Mark A: speed up
Mark B: servo turns left
Mark C: slow down
Mark D: servo turns right
Mark 3: Right joystick (mark 5) control key, only when you press R1, the Right joystick will work.
Mark 4: Left joystick (mark 6) control key, only when you press L1, the Left joystick will work.
Joystick left: joystick remotes control direction
Joystick Right：joystick remotes control speed

Ps2 Control program in “hummer-bot\Lesson\Comprehensive
Experiment\Hummerbot_PS2\Hummerbot_PS2\ Hummerbot_PS2.ino”
107
The program flow chart is as follows:
108

Hummer-Bot-2.0 Instruction Manual v.2.3

Uploaded by

Copyright:

Available Formats

Hummer-Bot-2.0 Instruction Manual v.2.3

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Hummer-Bot-2.0 Instruction Manual v.2.3

Uploaded by

Copyright:

Available Formats

Hummer-Bot-2.

2017/9/16 V.1.0 Create Baron.li

1.1 Writing Purpose

1.2 Product Introduction

Product Device List

Figure 2.1.1 ArduinoIDE download interface

Figure 2.1.2 Arduino IDE Installation Package

Figure 2.1.3 Extracted files

Figure 2.1.4 Driver installation success interface

2.1.2 Install Driver

Figure 2.1.7 Driver Update Selection Screen

Figure 2.1.8 Driver file selection interface

Figure 2.1.10 Driver Success Recognition Interface

2.1.3 IDE Interface Introduction

Figure 2.1.11 Software Catalog

Figure 2.1.13 File Menu Bar Options

Figure 2.1.15 USB serial port selection

Figure 3.1.1 Schematic diagram of motor mounting

Figure 3.1.2 Effect diagram of motor mounting

Figure 3.1.3 Effect diagram of solder the wire

Step3: You need to fix the wire with a cable tie.

Figure 3.1.4 Effect diagram of fixing the wire

Figure 3.1.5 Schematic diagram of motor installation

Figure 3.1.6 Effect diagram of motor installation

Figure 3.1.7 Schematic diagram of wheel installation

Figure 3.1.8 Effect diagram of wheel installation

Figure 3.1.9 Shematic diagram of fixing motor driver board

Figure 3.1.10 Shematic diagram of fixing motor driver board

Figure 3.1.11 Shematic diagram of copper column of tracking moduble installation

Figure 3.1.12 Effect diagram of copper column of tracking moduble installation

Figure 3.1.14 Effect diagram of copper column of tracking moduble installation

Figure 3.1.15 Shematic diagram of motor wiring

Figure 3.1.16 Effect diagram of motor wiring

Figure 3.1.18 Effect diagram of copper column installstion

Figure 3.1.19 Shematic diagram of Keywish Uno R3 board installation

Figure 3.1.20 Effect diagram of Keywish Uno R3 board installation

Figure 3.1.21 Shematic diagram of battery box installation

Figure 3.1.22 Effect diagram of battery box installation

Figure 3.1.23 Shematic diagram of servo installation

Figure 3.1.24 Effect diagram of servo installation

Figure 3.1.7.2 Open the serial monitor schematic diagram

Figure 3.1.2.4 Calibration diagram of Servo

int ServoPin = 13;

void SetServoDegree(int Angle)

3.1.8 Infrared obstacle avoidance module installation

Figure 3.1.27 Shematic diagram of infrared obstacle module installation

3.1.9 Voltage display module and DC head installation

Figure 3.1.30 Shematic diagram of solder DC power supply head

Figure 3.1.31 Effect diagram of solder DC power supply head

Figure 3.1.33 Shematic diagram of infrared remote control receiver installation

Figure 3.1.34 Effect diagram of infrared remote control receiver installation

Figure 3.1.35 Shematic diagram of Overall assembly

Figure 3.1.37 Effect diagram of Overall assembly

Figure 3.1.38 Bluetooth Moduile Picture

Figure 3.1.39 Schematic diagram of bluetooth module installation

3.1.13 Expansion board wiring diagram

Figure 3.1.40 Expansion Board Connection Diagram

Figure 3.1.41 Extension board wiring diagram

Figure .3.2.1 Arrangement of Chip Pins

ENA IN1 IN2 Motor status