#include "EEPROM.

h"

#define D1 2 // direction of motor rotation 1

#define M1 3 // PWM left motor
#define D2 4 // direction of motor rotation 2
#define M2 5 // PWM right motor
#define HORN 13 // additional channel 1
//#define autoOFF 2500 // milliseconds after which the robot stops when the connection

#define cmdL 'L' // UART-command for left motor

#define cmdR 'R' // UART-command for right motor
#define cmdH 'H' // UART-command for additional channel (for example Horn)
#define cmdF 'F' // UART-command for EEPROM operation
#define cmdr 'r' // UART-command for EEPROM operation (read)
#define cmdw 'w' // UART-command for EEPROM operation (write)

char incomingByte; // incoming data

char L_Data[4]; // array data for left motor

byte L_index = 0; // index of array L
char R_Data[4]; // array data for right motor
byte R_index = 0; // index of array R
char H_Data[1]; // array data for additional channel
byte H_index = 0; // index of array H
char F_Data[8]; // array data for EEPROM
byte F_index = 0; // index of array F
char command; // command

unsigned long currentTime, lastTimeCommand, autoOFF;

void setup() {
Serial.begin(9600); // initialization UART

pinMode(HORN, OUTPUT); // additional channel

pinMode(D1, OUTPUT); // output for motor rotation

 pinMode(D2, OUTPUT); // output for motor rotation

/*EEPROM.write(0,255);

EEPROM.write(1,255);

EEPROM.write(2,255);

EEPROM.write(3,255);*/

timer_init(); // initialization software timer

void timer_init() {
uint8_t sw_autoOFF = EEPROM.read(0); // read EEPROM "is activated or not stopping the car when losing
connection"
if(sw_autoOFF == '1'){ // if activated

char var_Data[3];

var_Data[0] = EEPROM.read(1);

var_Data[1] = EEPROM.read(2);

var_Data[2] = EEPROM.read(3);

autoOFF = atoi(var_Data)*100; // variable autoOFF ms

else if(sw_autoOFF == '0'){

autoOFF = 999999;

else if(sw_autoOFF == 255){

autoOFF = 2500; // if the EEPROM is blank, dafault value is 2.5 sec

currentTime = millis(); // read the time elapsed since application start

void loop() {
if (Serial.available() > 0) { // if received UART data

incomingByte = Serial.read(); // raed byte

if(incomingByte == cmdL) { // if received data for left motor L

command = cmdL; // current command

memset(L_Data,0,sizeof(L_Data)); // clear array

L_index = 0; // resetting array index

else if(incomingByte == cmdR) { // if received data for left motor R

command = cmdR;

memset(R_Data,0,sizeof(R_Data));

R_index = 0;

}
 else if(incomingByte == cmdH) { // if received data for additional channel

command = cmdH;

memset(H_Data,0,sizeof(H_Data));

H_index = 0;

else if(incomingByte == cmdF) { // if received data for EEPROM op

command = cmdF;

memset(F_Data,0,sizeof(F_Data));

F_index = 0;

else if(incomingByte == '\r') command = 'e'; // end of line

else if(incomingByte == '\t') command = 't'; // end of line for EEPROM op

if(command == cmdL && incomingByte != cmdL){

L_Data[L_index] = incomingByte; // store each byte in the array

L_index++; // increment array index

else if(command == cmdR && incomingByte != cmdR){

R_Data[R_index] = incomingByte;

R_index++;

else if(command == cmdH && incomingByte != cmdH){

H_Data[H_index] = incomingByte;

H_index++;

else if(command == cmdF && incomingByte != cmdF){

F_Data[F_index] = incomingByte;

F_index++;

else if(command == 'e'){ // if we take the line end

Control4WD(atoi(L_Data),atoi(R_Data),atoi(H_Data));

delay(10);

else if(command == 't'){ // if we take the EEPROM line end

Flash_Op(F_Data[0],F_Data[1],F_Data[2],F_Data[3],F_Data[4]);

lastTimeCommand = millis(); // read the time elapsed since application start

if(millis() >= (lastTimeCommand + autoOFF)){ // compare the current timer with variable lastTimeCommand +
autoOFF
 Control4WD(0,0,0); // stop the car

void Control4WD(int mLeft, int mRight, uint8_t Horn){

bool directionL, directionR; // direction of motor rotation L298N

byte valueL, valueR; // PWM M1, M2 (0-255)

if(mLeft > 0){

valueL = mLeft;

directionL = 0;

else if(mLeft < 0){

valueL = 255 - abs(mLeft);

directionL = 1;

else {

directionL = 0;

valueL = 0;

if(mRight > 0){

valueR = mRight;

directionR = 0;

else if(mRight < 0){

valueR = 255 - abs(mRight);

directionR = 1;

else {

directionR = 0;

valueR = 0;

analogWrite(M1, valueL); // set speed for left motor

analogWrite(M2, valueR); // set speed for right motor

digitalWrite(D1, directionL); // set direction of left motor rotation

digitalWrite(D2, directionR); // set direction of right motor rotation

 digitalWrite(HORN, Horn); // additional channel

void Flash_Op(char FCMD, uint8_t z1, uint8_t z2, uint8_t z3, uint8_t z4){

if(FCMD == cmdr){ // if EEPROM data read command

Serial.print("FData:"); // send EEPROM data

Serial.write(EEPROM.read(0)); // read value from the memory with 0 address and print it to UART

Serial.write(EEPROM.read(1));

Serial.write(EEPROM.read(2));

Serial.write(EEPROM.read(3));

Serial.print("\r\n"); // mark the end of the transmission of data EEPROM

else if(FCMD == cmdw){ // if EEPROM data write command

EEPROM.write(0,z1); // z1 record to a memory with 0 address

EEPROM.write(1,z2);

EEPROM.write(2,z3);

EEPROM.write(3,z4);

timer_init(); // reinitialize the timer

Serial.print("FWOK\r\n"); // send a message that the data is successfully written to EEPROM