Table of Contents

Chapter Title Page

CANDIDATE DECLARATION

Acknowledgment 1
Abstract 2
List of Figures 4
List of Abbreviation 5
1 Introduction
1.1 Background 6
1.2 Problem Statement 7
1.3 Project Overview 7

2 Literature Review 8
3 Methodology
3.1 Tools 10
3.2 Pin Diagram and Connection 14
3.3 Source Code 15
3.4 Flow Chart of Implementation 16

4 Result and Discussion 17

5 Conclusion 18

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 List of Figures

No. Figure Name Page

1 Chassis of Car 8
2 Arduino UNO 9
3 L293D Motor Driver 9
4 Jumper wire 10
5 Battery 10
6 Bluetooth Module 11
7 Pin Diagram and Connection 12

List of Abbreviation

ROSCOSMOS: Russian Federal Space Agency Technology, Space, Astronomy

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RC: Radio/Remote Control

LI-ON Battery: Lithium-Ion Battery

NASA: National Aeronautics and Space Administration.

USB: Universal Serial Bus

Chapter-01
Introduction

1.1 Background:

Wireless or Bluetooth control cars are developed to make our day-to-day life easy and simpler.
Today for striving in this modern era it is necessary to use modern technology to simplify our day-
to-day activities. Thousands of people die because of driving vehicles. If it can be

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remotecontrolled, we will be able to save thousands of lives. The drone started a revolution in this
regard. Bluetooth-controlled cars can be a revolutionary project for our upcoming future. It can be
used for low-range mobile surveillance devices, (military Applications where no human
intervention will be needed), Assistive devices (like wheelchairs), home automation, etc. It is
aimed to bring a huge groundbreaking change in society by overcoming the hurdles we are facing
today. Driverless cars are providing mobility to many people who cannot drive which is an added
advantage to commuters who wish to use cars on daily basis. Bluetooth control cars are the gadget
of the future. [1]

1.2 Problem statement:

Bluetooth Control cars can be a helping hand for the cripples, or for the ones who want to drive
but are unable due to many physical inabilities, where human life is at risk, we can use it from a
very distance as it is fully wireless.

1.3 Project Overview:

The main processing unit consists of Arduino UNO to perform specified operations. Arduino UNO
board is used as the main microprocessor of the device. It will run and will control the movement
of the vehicle through the use of the motor driver who will control the wheels. The Programs are
compiled using Arduino IDE and then the sketch is uploaded to the board using a pc and a USB
cable. Speed variations can be achieved by making slight changes to the sketch. It is based on a 4-
wheel drive platform integrated with an ultra-sonic sensor to avoid obstacles and line tracer
sensors. It also has an infra-red remote controller for the manual steering of the vehicle. The car is
upgradable and can replace, upgrade and expand the input sensors and add other functionality by
adding other modules. [2]

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 Chapter-02

Literature Review

Wireless control is one of the most important basic needs for all people all over the world.
Bluetooth is one of the most used wireless technologies. A Bluetooth control car is such a car that
can be controlled wirelessly using a Bluetooth control system and Arduino. With the combination
of Arduino, and Bluetooth we can control many other things, like home Lighting, air conditioners,
and many more through our cell phones. The Arduino can also contribute at large to the Smart
Home system. Nowadays it has made us easier to convert digital signals into physical movements
with such microcontrollers.

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Today people are using autonomation in every sector. There are many benefits, for example, it
reduces the risk of injury, it is fast, it can work day long, it is reliable, etc. This Bluetooth control
car is just an example of autonomation. This type of car is used in law enforcement and military
engagements for some the reasons like Hazard exposure which is controlled from a location of
relative safety. Such vehicles are used by many police department bomb squads to defuse or
detonate explosives.

These vehicles are also used in space exploration, by using such vehicle NASA. ESA and
ROSCOSMOS have explored and collected many data from space, the moon, and mars. In recent
days giant companies are using remote control vehicles to deliver their products. And Many of the
giant factories have their transportation which is remotely controlled.

Here we have connected this 4-wheeler with Arduino and Bluetooth Module/ There is an Android
application that is already installed in the remote device. We send our instruction to the vehicle
with that application, that application is connected with the module in the vehicle. Bluetooth
module transfer that instruction as a signal to the Arduino, and Arduino works with that signal. In
the Arduino, we have installed the code which can work with the signals and convert those
instructions to the pre-defined signals. Signals were transferred to the motors, and the car started
running.
This car does not have advanced features but we can attach any kind of features like line detecting,
or obstacle detecting, even though we can attach the camera to the vehicle and watch it with the
remote. This one is just a basic prototype of a remote-control car, we can add a lot of advanced
features and get an armed/especially capable RC Car.

This project aimed to design an automated vehicle prototype built with Arduino and controlled
with software developed on Android that can perform manual or automatic paths. Until now
research and analyzing the simulation of experiments shown, it is believed that it is feasible to use
the prototype designed for cognitive development, for future users can learn to insert custom paths
that can process logic issues and more complex mathematics allowing the prototype to perform the
desired movements. Analyzing the financial costs of design, it is believed that it is feasible to
construct this type of prototype because it presents a low cost of the components used, particularly
if they are chosen in a largescale production. It is worth noting that both the Arduino programming

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language and the language for Arduino in development are free, not burdening additional costs for
the development of the project, pointing out that this applies also to the tools used for development.
[3] [12] [14]

Chapter-03
Methodology 3.1 Tools:

● Chassis (Including motors and wheels):

The main body of the car consists of the chassis. Alongside there will be four motors for
the four wheels which will lead down the car. [4]

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Figure-01: Chassis (Including motors and wheels)

8
●
Arduino Uno:

The Arduino Uno is an open-source microcontroller board based on the Microchip

ATmega328P microcontroller and developed by Arduino. cc. The board is equipped with
sets of digital and analog input/output pins that may be interfaced with various expansion

boards and other circuits. [5]

Figure-02: Arduino Uno ●

L293D Motor Drive H-Shield:

The Motor Driver is a module for motors that allows you to control the working speed and
direction of two motors simultaneously. This Motor Driver is designed and developed
based on L293D IC. L293D is a 16 Pin Motor Driver IC. This is designed to provide
bidirectional drive currents at voltages from 5 V to 36 V. Rotation of a motor depends on
the enabled pins. [6]

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●

Figure-03: L293D Motor Drive H-Shield

Jumper Wires:

A jump wire (also known as jumper, jumper wire, DuPont wire) is an electrical wire, or
group of them in a cable, with a connector or pin at each end (or sometimes without them
– simply "tinned"), which is normally used to interconnect the components of a breadboard
or other prototype or test circuit, internally or with other equipment or components, without
soldering. [7]

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●

Figure-04: Jumper Wires

● Battery:

A battery is an energy source consisting of one or more electrochemical cells and terminals
on both ends called an anode (-) and a cathode (+). Here for the project, a 6V battery has
been used. (In figure 5)

Figure-05: Battery

Figure-06: Switch ●
Bluetooth Module:

In figure 7 HC-05 6 Pin Wireless Serial Bluetooth Module is a Bluetooth module for use
with any microcontroller. It uses the UART protocol to make it easy to send and receive
data wirelessly. The HC-06 module is a slave-only device. This means that it can connect
to most phones and computers using Bluetooth technology. [8]

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●

Figure-07: Bluetooth Module

Figure-08: LCD Display 3.2 Pin

Diagram & Connection:

Figure-09: Pin Diagram & Connection

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 3.3 Source Code:

//TAFHIM BIN NASIR

//This program is used to control a robot using a app that communicates with Arduino
through a bluetooth module.
//Error Code Chart: Code 01; Turnradius is higher than Speed; Code 02; Speed is
higher than 255;
#define in1 5 //L298n Motor Driver pins.
#define in2 6
#define in3 10
#define in4 11
#define LED 13
int command; //Int to store app command state.
int Speed = 204; // 0 - 255.
int Speedsec;
int buttonState = 0;
int lastButtonState = 0;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will
malfunction if this is higher than int Speed.
int brakeTime = 45;
int brkonoff = 1; //1 for the electronic braking system, 0 for normal.
void setup() {
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(LED, OUTPUT); //Set the LED pin.
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
}

void loop() {
if (Serial.available() > 0) {
command = Serial.read();
Stop(); //Initialize with motors stoped.
switch (command) {
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
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 right();
break;
case 'G':
forwardleft();
break;
case 'I':
forwardright();
break;
case 'H':
backleft();
break;
case 'J':
backright();
break;
case '0':
Speed = 100;
break;
case '1':
Speed = 140;
break;
case '2':
Speed = 153;
break;
case '3':
Speed = 165;
break;
case '4':
Speed = 178;
break;
case '5':
Speed = 191;
break;
case '6':
Speed = 204;
break;
case '7':
Speed = 216;
break;
case '8':
Speed = 229;
break;
case '9':
Speed = 242;
break;
case 'q':
Speed = 255;

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 break;
}
Speedsec = Turnradius;
if (brkonoff == 1) {
brakeOn();
} else {
brakeOff();
}
}
}

void forward() {
analogWrite(in1, Speed);
analogWrite(in3, Speed);
}

void back() {
analogWrite(in2, Speed);
analogWrite(in4, Speed);
}

void left() {
analogWrite(in3, Speed);
analogWrite(in2, Speed);
}

void right() {
analogWrite(in4, Speed);
analogWrite(in1, Speed);
}
void forwardleft() {
analogWrite(in1, Speedsec);
analogWrite(in3, Speed);
}
void forwardright() {
analogWrite(in1, Speed);
analogWrite(in3, Speedsec);
}
void backright() {
analogWrite(in2, Speed);
analogWrite(in4, Speedsec);
}
void backleft() {
analogWrite(in2, Speedsec);
analogWrite(in4, Speed);
}

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void Stop() {
analogWrite(in1, 0);
analogWrite(in2, 0);
analogWrite(in3, 0);
analogWrite(in4, 0);
}

void brakeOn() {
//Here's the future use: an electronic braking system!
// read the pushbutton input pin:
buttonState = command;
// compare the buttonState to its previous state
if (buttonState != lastButtonState) {
// if the state has changed, increment the counter
if (lastButtonState == 'F') {
if (buttonState == 'S') {
back();
delay(brakeTime);
Stop();
}
}
if (lastButtonState == 'B') {
if (buttonState == 'S') {
forward();
delay(brakeTime);
Stop();
}
}
if (lastButtonState == 'L') {
if (buttonState == 'S') {
right();
delay(brakeTime);
Stop();
}
}
if (lastButtonState == 'R') {
if (buttonState == 'S') {
left();
delay(brakeTime);
Stop();
}
}
}
// save the current state as the last state,
//for next time through the loop

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 lastButtonState = buttonState;
}
void brakeOff() {

}
3.4 flow chart of Implementation:

Give command using app or remote and send it

through wireless or blutooth system.

Recieve data from the app using blutooth module.

Recognize data commands by the

microprocessor.

Execute the instructions by controlling the motor

drivers.

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 Chapter-04
Result and Discussion

The prototype is created using 4 DC motors driven by an H-bridge with dual output, connecting
the two left wheels and the two right ones to its outputs. The car is remotely controlled either by
Bluetooth an app or by infrared. Some extra functionalities can be added to the software.

Better line tracking mode: When the robot finds an object in front placed on the line, it will try
to go around it until it finds the line again, continuing afterward. This function can be added using
an ultrasonic sensor.

Custom mode: The ability to program the prototype from the app has not been implemented, as
it is relatively easy to use the custom mode by modifying the code.

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19
20
 Chapter-05

Conclusion

This project consists of a basic prototype of a Bluetooth control car above stated. The prototype
car can recognize commands from users and can turn the car left, right, and stop with great
accuracy. It can be further improved by using different sensors like ultrasonic or infrared and with
various levels of coding.

Our Bluetooth control car has a range of 10-20 meter with the mobile Bluetooth controlling system.
The range mostly depends on the receivers transmission level.

In the future, we could use rechargeable batteries like Ni-Cd Battery or Li-ion batteries that could
avoid the present disadvantage. Also, we could make use of this RC Motor Car as a surveillance
system or rovers by adding a few more sensors and updating the code. This would make them into
robots. These robots could self-monitor under any human supervision, thereby reducing
manpower. These are just the alternatives, on which this project could be improvised and updated.

IoT or the internet of things is a very important part of both computers and our daily lives. The
above model describes how the Arduino programs the car motor module and by IoT, we rotate the
wheels and give direction to the car. IoT allows us to work with different platforms and it helps us
to create various interesting modules to work on.

With the ever-increasing problems, our knowledge has to expand to adapt better to the changes all
around us. In the same way, it is hoped that this activity is a small step that would lead us to further
enhancements and goals.

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CHAPTER 7

References:

1. Website:

https://www.washingtonpost.com/local/trafficandcommuting/driverless-cars-promise-
fargreater-mobility-for-the-elderly-and-people-with-disabilities/2017/11/23/6994469c-
c4a311e7-84bc-5e285c7f4512_story.html

Access Date: 15th May, 2022

2. Website: https://www.arduino.cc/en/Guide/Introduction

Access Date: 15th May, 2022

3. Website:
https://www.academia.edu/37091561/Bluetooth_Remote_Controlled_Car_using_Arduino

Access Date: 17th May, 2022

4. Website:

https://create.arduino.cc/projecthub/samanfern/bluetooth-controlled-
card5d9ca?ref=similar&ref_id=382865&offset=0

Access Date: 17th May, 2022

5. Website:

https://www.engpaper.net/arduino.htm

Access Date: 21st May, 2022

6. Website: https://www.engineersgarage.com/arduino-l293d-motor-driver-shield-tutorial/

Access Date: 21st May, 2022

7. Website:

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 https://en.wikipedia.org/wiki/Jump_wire

Access Date: 21st May, 2022

8. Website:
HC-05 Bluetooth Module Pinout, Specifications, Default Settings, Replacements &
Datasheet (components101.com)
Access Date: 21st May, 2022
9. Website:
LCD 16X2 : Pin Configuration, Commands, Interfacing & Its Applications
(watelectronics.com)

Access Date: 27st May, 2022

10. Website:
https://create.arduino.cc/projecthub/theSTEMpedia/4-wheel-robot-made-
witharduino-controlled-using-dabble-4650f7

Access Date: 27st May, 2022

11. Website:
(4) Bluetooth Remote Controlled Car using Arduino | International Journal of Scientific
Research in Science, Engineering and Technology IJSRSET - Academia.edu Access
Date: 27st May, 2022

12. Website:
https://www.researchgate.net/publication/355085611_Bluetooth_Car_Controlle
d_Using_Arduino

Access Date: 27st May, 2022

13. Wang, B.Y. (2009) Summary of IoT Technology Research. Journal of Electronic
Measurement and Instrument, 12, 1-7.

14. J. Gubbi, R. Buyya, S. Marusic, M. Palaniswami, Internet of things (IoT): a vision

architectural elements and future directions, Future Gener. Comput. Syst. 29 (7)
(Sep. 2013) 1645–1660.

15. A. Ibrahim, D. Ibrahim, Real-time GPS-based outdoor WiFi localization system

with map display, Adv. Eng. Softw. 41 (2010) 1080–1086.

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