6/12/23, 4:46 PM How to make a multi-function Arduino robot - SriTu Hobby

 

How to make a multi-function Arduino robot

Hello, welcome back to another interesting tutorial from the SriTu Hobby. In this tutorial, we
will learn how to make a multi-functional robot using the Arduino platform. That is, this
includes obstacle avoidance, Bluetooth control, and voice control functions. Also, It mainly
uses an Ultrasonic sensor and a Bluetooth module. The L293D motor drive shield is used to
drive the motors. Also, in this tutorial, you will be able to easily create this as the tutorial
shows you step by step how to build this robot car.

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The process of this robot

We can control this robot car using three methods. That is, 

1.Obstacle avoidance
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In this case, the robot car moves along using the obstacle avoiding. The ultrasonic sensor is
mainly used for this purpose. Study the previous articles for more information.

2.Bluetooth control

In this case, we can control the robot through an app on the smartphone. The Bluetooth
module is used for this.

3.Voice control

In this case, we can control this robot using several voice commands. This also requires a
Bluetooth module and mobile app.

OK,let’s do this project step by step. The required components are given below.

Arduino UNO board x 1 — Amazon / Our Store

L293D motor driver x 1 — Amazon / Our Store
Ultrasonic sensor x 1 — Amazon / Our Store
Bluetooth module x 1 — Amazon / Our Store
Servo motor x 1 — Amazon / Banggood
Gear motor x 4 — Amazon / Our Store
Robot wheel x 4 — Amazon / Our Store
Li-ion battery holder x 1 — Amazon / Our Store
Li-ion battery x 2 — Amazon / Banggood
Jumper wires — Amazon / Our Store
Foam board or cardboard — Amazon / Banggood

Step 1

Firstly, identify these components.



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L293D motor driver shield Ultrasonic sensor

Bluetooth module Servo motor

Li-ion battery Li-ion battery

Foamboard Robot wheel

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Gear motor Jumper wires

Arduino UNO board

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Step 2
Secondly, cut the foam board piece as follows.

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Step 3
Thirdly, glue the four gear motors to the foam board piece.

Step 4
Then, attach the motor shield to the Arduino board and glue it to the robot chassis.

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Step 5
Next, dig two holes on either side of the Arduino board and insert the gear motor wire through
these holes.

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Step 6
Then, connect the motors to the motor driver shield. To do this, use the circuit diagram below.

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Step 7
Afterward, attach the servo motor and ultrasonic sensor as follows.

Step 8
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Next, connect the servo motor and the ultrasonic sensor using the circuit diagram above.

Step 9
Then, connect the Bluetooth module to the motor driver shield and glue it to the robot chassis.

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Step 10
After, glue the battery holder and connect it to the driver shield.

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Step 11
Now, attach the robot wheels and put the batteries to the battery holder.

Step 12
So, let’s creates the program for this project. This program includes all three functions. We
can run these separately. It is as follows.

AF motor library — Download

The complete program of this project – Download 

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1 /*obstacle avoiding, Bluetooth control, voice control robot car.

2 https://srituhobby.com
3 */
4 #include <Servo.h>
5 #include <AFMotor.h>
6 #define Echo A0
7 #define Trig A1
8 #define motor 10
9 #define Speed 170
10 #define spoint 103
11 char value;
12 int distance;
13 int Left;
14 int Right;
15 int L = 0;
16 int R = 0;
17 int L1 = 0;
18 int R1 = 0;
19 Servo servo;
20 AF_DCMotor M1(1);
21 AF_DCMotor M2(2);
22 AF_DCMotor M3(3);
23 AF_DCMotor M4(4);
24 void setup() {
25 Serial.begin(9600);
26 pinMode(Trig, OUTPUT);
27 pinMode(Echo, INPUT);
28 servo.attach(motor);
29 M1.setSpeed(Speed);
30 M2.setSpeed(Speed);
31 M3.setSpeed(Speed);
32 M4.setSpeed(Speed);
33 }
34 void loop() {
35 //Obstacle();
36 //Bluetoothcontrol();
37 //voicecontrol();
38 }
39 void Bluetoothcontrol() {
40 if (Serial.available() > 0) {
41 value = Serial.read();
42 Serial.println(value);
43 } 
44 if (value == 'F') {
45 forward();
46
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47 } else if (value == 'B') {

48 backward();
49 } else if (value == 'L') {
50 left();
51 } else if (value == 'R') {
52 right();
53 } else if (value == 'S') {
54 Stop();
55 }
56 }
57 void Obstacle() {
58 distance = ultrasonic();
59 if (distance <= 12) {
60 Stop();
61 backward();
62 delay(100);
63 Stop();
64 L = leftsee();
65 servo.write(spoint);
66 delay(800);
67 R = rightsee();
68 servo.write(spoint);
69 if (L < R) {
70 right();
71 delay(500);
72 Stop();
73 delay(200);
74 } else if (L > R) {
75 left();
76 delay(500);
77 Stop();
78 delay(200);
79 }
80 } else {
81 forward();
82 }
83 }
84 void voicecontrol() {
85 if (Serial.available() > 0) {
86 value = Serial.read();
87 Serial.println(value);
88 if (value == '^') {
89 forward();
90 } else if (value == '-') { 
91 backward();
92 } else if (value == '<') {
93 L = leftsee();
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94 servo.write(spoint);
95 if (L >= 10 ) {
96 left();
97 delay(500);
98 Stop();
99 } else if (L < 10) {
100 Stop();
101 }
102 } else if (value == '>') {
103 R = rightsee();
104 servo.write(spoint);
105 if (R >= 10 ) {
106 right();
107 delay(500);
108 Stop();
109 } else if (R < 10) {
110 Stop();
111 }
112 } else if (value == '*') {
113 Stop();
114 }
115 }
116 }
117 // Ultrasonic sensor distance reading function
118 int ultrasonic() {
119 digitalWrite(Trig, LOW);
120 delayMicroseconds(4);
121 digitalWrite(Trig, HIGH);
122 delayMicroseconds(10);
123 digitalWrite(Trig, LOW);
124 long t = pulseIn(Echo, HIGH);
125 long cm = t / 29 / 2; //time convert distance
126 return cm;
127 }
128 void forward() {
129 M1.run(FORWARD);
130 M2.run(FORWARD);
131 M3.run(FORWARD);
132 M4.run(FORWARD);
133 }
134 void backward() {
135 M1.run(BACKWARD);
136 M2.run(BACKWARD);
137 M3.run(BACKWARD); 
138 M4.run(BACKWARD);
139 }
140 void right() {
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141 M1.run(BACKWARD);
142 M2.run(BACKWARD);
143 M3.run(FORWARD);
144 M4.run(FORWARD);
145 }
146 void left() {
147 M1.run(FORWARD);
148 M2.run(FORWARD);
149 M3.run(BACKWARD);
150 M4.run(BACKWARD);
151 }
152 void Stop() {
153 M1.run(RELEASE);
154 M2.run(RELEASE);
155 M3.run(RELEASE);
156 M4.run(RELEASE);
157 }
158 int rightsee() {
159 servo.write(20);
160 delay(800);
161 Left = ultrasonic();
162 return Left;
163 }
164 int leftsee() {
165 servo.write(180);
166 delay(800);
167 Right = ultrasonic();
168 return Right;
}

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Code explanation
Firstly, libraries are included.

1 #include <Servo.h>
2 #include <AFMotor.h>

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Secondly, ultrasonic sensor pins, servo motor pin, motor speed, and servo motor starting point
are defined.

1 #define Echo A0
2 #define Trig A1
3 #define motor 10
4 #define Speed 170
5 #define spoint 103

Thirdly, some variables have been created to help the program.

1 char value;
2 int distance;
3 int Left;
4 int Right;
5 int L = 0;
6 int R = 0;
7 int L1 = 0;
8 int R1 = 0;

Then, objects are created for the Servo Library and the AFMotor Library.

1 Servo servo;
2 AF_DCMotor M1(1);
3 AF_DCMotor M2(2);
4 AF_DCMotor M3(3);
5 AF_DCMotor M4(4);

In the setup function, Ultrasonic pins are set to INPUT and OUTPUT. Also, the gear motor
speeds have been included.

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1 void setup() {
2 Serial.begin(9600);
3 pinMode(Trig, OUTPUT);
4 pinMode(Echo, INPUT);
5 servo.attach(motor);
6 M1.setSpeed(Speed);
7 M2.setSpeed(Speed);
8 M3.setSpeed(Speed);
9 M4.setSpeed(Speed);
10 }

In the loop function, the three main functions are included. we can run these functions one by
one. These are described below.

1 void loop() {
2 //Obstacle();
3 //Bluetoothcontrol();
4 //voicecontrol();
5 }

This function includes the Bluetooth control code. The code lines are described one by one in
the code

1 void Bluetoothcontrol() {
2 //gets the serial communication values and puts them into the char variable.
3 if (Serial.available() > 0) {
4 value = Serial.read();
5 Serial.println(value);
6 }
7 //Next, these values are checked using the IF condition.
8 //Then, if the char value is 'F', the car moves forward.
9 if (value == 'F') {
10 forward();
11 //If the char value is "B", the car moves backward.
12 } else if (value == 'B') { 
13 backward();
14 //If the char value is "L", the car moves left.
15
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15
16 } else if (value == 'L') {
17 left();
//If the char value is "R", the car moves right.
18
19 } else if (value == 'R') {
20 right();
21 //If the char value is "S", the car is stopped.
} else if (value == 'S') {
22
23 Stop();
}
24
}

This function includes the obstacle-avoiding code. The code lines are described one by one in
the code.

void Obstacle() {

//gets the ultrasonic sensor reading and puts it into the variable.
distance = ultrasonic();

//then, these values are checked using the IF condition.

//If the value is less than or equal to 12,
//the robot is stopped and the servo motor rotate left and right.
// Also, gets both side distance.
if (distance <= 12) {
Stop();
backward();
delay(100);
Stop();
L = leftsee();
servo.write(spoint);
delay(800);
R = rightsee();
servo.write(spoint);

//After, if the left side distance less than the right side distance. The robot turn
if (L < R) {
right();
delay(500);
Stop();
delay(200); 
//After, if the left side distance more than the right side distance. The robot turn

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30 } else if (L > R) {
31 left();
32 delay(500);
33 Stop();
34 delay(200);
35 }
36
37 //Otherwise, the robot moves forward.
38 } else {
39 forward();
40 }
}

This function includes the voice control code. The code lines are described one by one in the
code.

1 void voicecontrol() {
2
3 //gets the serial communication values and puts them into the char variable.
4 if (Serial.available() > 0) {
5 value = Serial.read();
6 Serial.println(value);
7
8 //If the char value is "^", the car moves forward.
9 if (value == '^') {
10 forward();
11
12 //If the char value is "-", the car moves backward.
13 } else if (value == '-') {
14 backward();
15
16 //If the char value is "<", the car moves left.
17 } else if (value == '<') {
18 L = leftsee();
19 servo.write(spoint);
20 if (L >= 10 ) {
21 left();
22 delay(500);
23 Stop();
24 } else if (L < 10) { 
25 Stop();
26 }
27
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27
28
29 //If the char value is ">", the car moves right.
30 } else if (value == '>') {
31 R = rightsee();
32 servo.write(spoint);
33 if (R >= 10 ) {
34 right();
35 delay(500);
36 Stop();
37 } else if (R < 10) {
38 Stop();
39 }
40
41 //If the char value is "*", the car is stopped.
42 } else if (value == '*') {
43 Stop();
44 }
45 }
}

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Step 13
Obstacle avoidance program

OK, now connect this robot car to the computer. Then, remove the two forward slash in front
of the “obstacle” function. Next, remove the RX and TX jumper wires connected to the
Bluetooth module.

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Now, select board and port. After, upload this code to the robot and reconnect the RX and TX
jumper wires.

Now, power On this robot and enjoy it.

Bluetooth control program

OK, now connect this robot car to the computer. Then, remove the two forward slash in front
of the “Bluetooth control” function. Next, remove the RX and TX jumper wires connected to the
Bluetooth module.

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Now, select board and port. After, upload this code to the robot and reconnect the RX and TX
jumper wires.

OK, now download and install the app below. Then, follow the steps below.

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After, run this application and click the Settings button. Then, click the “Connect to Car” button
and select the name of the Bluetooth module. Now, you can see the green bulb in the corner.

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OK, now click the controller buttons and enjoy it.

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Voice control program

OK, now connect this robot car to the computer. Then, remove the two forward slash in front
of the “voicecontrol” function. Next, remove the RX and TX jumper wires connected to the
Bluetooth module.

Now, select board and port. After, upload this code to the robot and reconnect the RX and TX
jumper wires.

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OK, now download and install the app below. Then, follow the steps below.

After, run this application and click the setting button. Then, click the “voice commands
configuration ” button and include the commands one by one. These are as follows.


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OK, now click the voice control button and enjoy this project. The full video guide is given
below. So, we will meet in the next tutorial.

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How to make a multi-function Arduino robot

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Arduino obstacle avoiding + voice control + Bluetooth co…

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13 thoughts on “How to make a multi-function Arduino robot”

CARL A RAJACK
MAY 24, 2021 AT 12:56 AM

Hello, this is an excellent project/tutorial. I made it and it works great. However, I tried to
expand some of the commands e.g front lights ON/OFF but I did not see the code (“W”) in the
serial monitor. I would also like to use the Horn and the slider but I don’t get any serial data
from those controls. I only see the Forward, Reverse, Left, Right and Stop commands through
the serial port.

Could you explain why this happens. Thanks very much.

Reply

SRITU HOBBY
MAY 24, 2021 AT 10:28 AM

For that, you need to modify this code. First, you need to select the commands that you

have with the Bluetooth app. After, those commands must be entered using the IF condition

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Reply

PURAB SINGI
NOVEMBER 13, 2021 AT 7:44 PM

Sir, instead of gear motor, DC motors can also be used.

Reply

SRITU HOBBY
NOVEMBER 21, 2021 AT 5:12 AM

I think it’s not practical. Gear motors are good for this project.

Reply

VICTOR
JANUARY 8, 2022 AT 9:12 PM

Hi, I have the same project. I downloaded the library and put the codes. I tried to compile but I
got an error message saying that the ‘A1’ is not defined. That is the trig a1. What do I do from
here, please? it is quite urgent

Reply

NEERAJ
APRIL 5, 2022 AT 2:16 PM

Can you mention the more practical applications of this project, where all it can be used?

Reply


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AISHWARYA
APRIL 10, 2022 AT 5:38 PM

hy..hiii i found the project interesting….i am planning to do this project…can i get the block
diagram and if u had done any software simulation of the project……

Reply

SRITU HOBBY
APRIL 17, 2022 AT 4:26 PM

All information is included in the blog

Reply

PALOS
JULY 11, 2022 AT 11:51 AM

Hello! I really like your project, can I have the block diagram in your project? Thank you!

Reply

IFTEKHAR
OCTOBER 18, 2022 AT 9:21 PM

error-Arduino: 1.8.18 (Windows 10), Board: “Arduino Uno”

bluetooth_control_voice_obstacle:5:10: fatal error: AFMotor.h: No such file or directory

#include

^~~~~~~~~~~

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compilation terminated.

exit status 1

AFMotor.h: No such file or directory

This report would have more information with

“Show verbose output during compilation”
option enabled in File -> Preferences.

Reply

SRITU HOBBY
OCTOBER 18, 2022 AT 11:07 PM

Please include the AFmotor library file

Reply

SHUBHAM
MAY 24, 2023 AT 3:30 PM

I am working on this project but while working on obstacle avoiding part, I am unable to get
values from my ultrasonic sensor,the sensor is perfectly fine I tested it through arduino.

Reply

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