Guesture Controlled Robot

My project is a guesture controlled robot. This project has two seperate parts, the robot, and the controller. The robot part of this project has 4 wheels and can drive around. The controller uses a bluetooth conection to the robot to tell it what to do, which is decided by the controller based on an accelerometr that is used to detect the motion of the controller. This means that by moving the controller in a certain way, you will be able to move the robot.

Engineer School Area of Interest Grade
Nolan S. Alameda High Computer Science Incoming Senior

Final Milestone

My final milestone was completing the entire project.

Second Milestone

My second milestone was figuring out how to connect and configure the two bluetooth modules.

First Milestone

My first milestone was getting the robot part of the project to work.

Schematics

Code

//Code for the car
// This is to receive data from the other bluetooth module and read the gestures
// The robot should move accordingly! 

#include <SoftwareSerial.h>

#define tx 2
#define rx 3

SoftwareSerial configBt(rx, tx);

//character variable for command
char c = "";

//start at 50% duty cycle
//int s = 120;

//change based on motor pins
int in1 = 4;
int in2 = 5;
int in3 = 6;
int in4 = 7;

void setup()
{
  //opens serial monitor and bluetooth serial monitor
  Serial.begin(38400);
  configBt.begin(38400);
  pinMode(tx, OUTPUT);
  pinMode(rx, INPUT);

  //initializes all motor pins as outputs
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
}

void loop()
{
  //checks for bluetooth data
  if (configBt.available()){
    //if available stores to command character
    c = (char)configBt.read();
    //prints to serial
    Serial.println(c);
  }

  //acts based on character
  switch(c){
    
    //forward case
    case 'F':
      forward();
      break;
      
    //left case
    case 'L':
      left();
      break;
      
    //right case
    case 'R':
      right();
      break;
      
    //back case
    case 'B':
      back();
      break;
      
    //default is to stop robot
    case 'S':
      freeze();
    }
}

//moves robot forward 
void forward(){
  
    //chages directions of motors
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);

  }

//moves robot left
void left(){

    //changes directions of motors
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);

  }

//moves robot right
void right(){

    //changes directions of motors
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);

  }

//moves robot backwards
void back(){

    //changes directions of motors
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);

  }

//stops robot
void freeze(){

    //changes directions of motors
    digitalWrite(in1, LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, LOW);

  }


//Code for the controller
#include <Wire.h>

#define MPU6050_ADDRESS 0x68

int16_t accelerometerX, accelerometerY, accelerometerZ;

void setup()
{
  Wire.begin();
  Serial1.begin(38400);

  // Initialize MPU6050
  Wire.beginTransmission(MPU6050_ADDRESS);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU6050)
  Wire.endTransmission(true);

  delay(100); // Delay to allow MPU6050 to stabilize
}

void loop()
{
  readAccelerometerData();
  determineGesture();
  delay(500);
}

void readAccelerometerData()
{
  Wire.beginTransmission(MPU6050_ADDRESS);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU6050_ADDRESS, 6, true);  // request a total of 6 registers

  // read accelerometer data
  accelerometerX = Wire.read() << 8 | Wire.read();
  accelerometerY = Wire.read() << 8 | Wire.read();
  accelerometerZ = Wire.read() << 8 | Wire.read();
}

void determineGesture()
{
  if (accelerometerY >= 6500) {
    Serial1.write('F');
  }
  else if (accelerometerY <= -4000) {
    Serial1.write('B');
  }
  else if (accelerometerX <= -3250) {
    Serial1.write('L');
  }
  else if (accelerometerX >= 3250) {
    Serial1.write('R');
  }
  else {
    Serial1.write('S');
  }
}

Bill of Materials

Part Note Price Link
Smart Car Kit The body and motors of the car 18.99 Amazon
2 Bluetooth Modules Communication between the two parts 20.78 Amazon
Arduino Uno Controlling the Car 24.00 Arduino
Arduino Micro Controlling the Controller 21.60 Arduino
Motor Driver Board Controlling the Motors 6.99 Amazon
Breadboards Solderless Circuits 9.99 Amazon
Soldering Kit Soldering all Wires 30.00 Amazon
Velcro Attaching parts to the Car 9.99 Amazon
Wires Connecting all the parts 16.94 Amazon
Batteries Power 9.70 Amazon
Battery Holder Power 6.99 Amazon