LAFVIN Smart Robot Tank Kit

Content
Packing List ....................................................................................................................................... 1
Smart Robot Tank Kit Introduction .................................................................................................. 2
Lesson 1 Getting Started with Arduino IDE .....................................................................................7
How to Install Arduino IDE ......................................................................................................... 7
How to Install Arduino Driver ................................................................................................... 15
How to Add Libraries ................................................................................................................. 22
Blink Test .................................................................................................................................... 26
Lesson 2 Getting Started with Mixly ..............................................................................................39
Introduction of Mixly Software ................................................................................................. 39
How to Install Mixly Software ...................................................................................................44
How to Add Mixly Libraries ...................................................................................................... 47
How to open the reference program ...........................................................................................53
Lesson 3 Motor Speed and Direction Control ................................................................................99
Lesson 4 Infrared Obstacle Avoidance Robot Tank ..................................................................... 108
Lesson 5 Ultrasonic Obstacle Avoidance Robot Tank ................................................................. 128
Lesson 6 Infrared Remote Control Robot Tank ........................................................................... 154
Lesson 7 APP Control Robot Tank ............................................................................................... 163
 Company Profile
Established in 2011, lafvin is a manufacturer and trader specialized in research,development and production of 2560 uno,nano boards,and all
kinds of accessories or sensors use for arduino,rasperrry.We also complete starter kits designed for interested lovers of any levels to learn
Arduino or Raspberry.We are located in Shenzhen,China.All of our products comply with international quality standards and are greatly
appreciated in a variety of different markets throughout the world.
Customer Service
We are cooperating with a lot of companies from diffirent countries.Also help them to purchase electronic component products in china,and
became the biggest supplier of them. We look forward to build cooperate with more companies in future.
By the way,We also look forward to hearing from you and any of your critical comment or suggestions.Pls email us by [email protected]
if you have any questions or suggestions.As a continuous and fast growing company. We keep striving our best to offer you excellent products
and quality service.
Our Store
Aliexpress store: https://www.aliexpress.com/store/1942043 Brand in Amazon:LAFVIN

Product Catalog
https://drive.google.com/drive/folders/0BwvEeRN9dKllblZING00TkhYbGs?usp=sharing

Tutorial
This tutorial include codes,libraries and lessons. It is designed for beginners. It will teach every users how to assembly the robot kit and use
Arduino UNO controller board, sensors,servo and bluetooth. Simultaneously supports mixly graphical programming and arduino IDE code
programming, which is convenient for beginners to learn.The easy-to-install DIY tank chassis is adopted for easy installation. The power supply
uses two 18650 lithium batteries with long-lasting battery life.The newly created APP control software, the five major functions of the tank kit
are comprehensively controlled by the APP, and the function mode can be switched freely.
Packing List

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 Smart Robot Tank Kit Introduction
The robot tank kit is mainly manufactured using the arduino uno R3 main control and the TB6612 Motor drive expansion
board, two reduction motors, the tank DIY chassis and some sensors.
Smart tanks have the following advantages:

1)TB6612 motor drive expansion board integrates the driver chip, eliminating the traditional L298N complex wiring and
installation space, the expansion board uses standard interface wiring, simple and easy to understand, fast installation
wiring.

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2) The newly created APP control software, the five major functions of the tank kit are comprehensively controlled by the
APP, and the function mode can be switched freely.

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3) The newly designed Bluetooth module is connected to the circuit, and the upload program does not require manual
disconnection of the Bluetooth module. Help beginner learners to successfully avoid the trap of uploading program failure.

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4)Simultaneously supports mixly graphical programming and arduino IDE code programming, which is convenient for
beginners to learn.

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5)The easy-to-install DIY tank chassis is adopted for easy installation. The power supply uses two 18650 lithium batteries
with long-lasting battery life.

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 Lesson 1 Getting Started with Arduino IDE
How to Install Arduino IDE
Introduction
The Arduino Integrated Development Environment (IDE) is the software side of the Arduino platform.In this Project, you
will learn how to setup your computer to use Arduino and how to set about the Projects that follow.The Arduino software
that you will use to program your Arduino is available for Windows, Mac and Linux. The installation process is different for
all three platforms and unfortunately there is a certain amount of manual work to install the software.

STEP 1: Go to https://www.arduino.cc/en/Main/Software and find below page.

The version available at this website is usually the latest version, and the actual version may be newer than the
version in the picture.

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STEP2：Download the development software that is compatible with the operating system of your computer.
Take Windows as an example here.

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Click Windows Installer.

Click JUST DOWNLOAD.

Also version 1.8.0 is available in the material we provided, and the versions of our
materials are the latest versions when this course was made.

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Installing Arduino (Windows)
Install Arduino with the exe. Installation package.

Click I Agree to see the following interface

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Click Next

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You can press Browse… to choose an installation path or directly type in the directory you want.
Click Install to initiate installation

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Wait for the installing process, if appear the interface of Window Security, just continue to click
Install to finish the installation.

Next, the following icon appears on the desktop

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Double-click to enter the desired development environment

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 How to Install Arduino Driver
Next, we will introduce the driver installation of UNO R3 development board. The driver installation may have slight
differences in different computer systems. So in the following let’s move on to the driver installation in the Window system.

The Arduino folder contains both the Arduino program itself and the drivers that allow the Arduino to be connected to your
computer by a USB cable. Before we launch the Arduino software, you are going to install the USB drivers.

When you connect UNO board to your computer at the first time, right click the icon of your
“Computer” —>for “Properties”—> click the “Device manager” ,
under “Other Devices”or“USB-Serial”, you should see an icon for “Unknown device” with a little yellow warning triangle
next to it. This is your Arduino.Or you can search for "devi" in your computer, or you can open the device manager of your
computer.

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Then right-click on the device and select the top menu option (Update Driver Software...) shown as the figure below.

Then it will be prompted to either “Search Automatically for updated driver software” or “Browse my computer for driver

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software”. Shown as below. In this page, select “Browse my computer for driver software”.

Right-click on the device and select the top menu option (Update Driver Software...).
You will then be prompted to either ‘Search Automatically for updated driver software’ or ‘Browse my computer for driver

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software’. Select the option to browse and navigate to the :C\Program Files(x86)\Arduino\drivers.(Note: Here is the path
you choose to install arduino IDE. The path chosen in the installation tutorial in the previous section is that, so the path I
chose isC\Program Files(x86)\Arduino\drivers)

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Click “Next” and you may get a security warning, if so, allow the software to be installed.
Once the software has been installed, you will get a confirmation message. Installation completed,click “Close”.

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Up to now, the driver is installed well. Then you can right click “Computer”—>“Properties”—>“Device manager” , you
should see the device as the figure shown below.

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 How to Add Libraries
Installing Additional Arduino Libraries
Once you are comfortable with the Arduino software and using the built-in functions, you may want to extend the ability of
your Arduino with additional libraries.

What are Libraries?

Libraries are a collection of code that makes it easy for you to connect to a sensor, display, module, etc. For example, the
built-in LiquidCrystal library makes it easy to talk to character LCD displays. There are hundreds of additional libraries
available on the Internet for download. The built-in libraries and some of these additional libraries are listed in the reference.
To use the additional libraries, you will need to install them.
How to Install a Library

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Importing a .zip Library
Libraries are often distributed as a ZIP file or folder. The name of the folder is the name of the library. Inside the folder will
be a .cpp file, a .h file and often a keywords.txt file, examples folder, and other files required by the library. you can install
3rd party libraries in the IDE. Do not unzip the downloaded library, leave it as is.
In the Arduino IDE, navigate to Sketch > Include Library. At the top of the drop down list, select the option to "Add .ZIP
Library''.

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You will be prompted to select the library you would like to add. Navigate to the .zip file's location and open it.

(Note: This is just to demonstrate how to add a zip library file, whether you need to add a library file depends on your actual
program needs)

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Return to the Sketch > Import Library menu. You should now see the library at the bottom of the drop-down menu. It is
ready to be used in your sketch. The zip file will have been expanded in the libraries folder in your Arduino sketches
directory.
NB: the Library will be available to use in sketches, but examples for the library will not be exposed in the File > Examples
until after the IDE has restarted.

Those two are the most common approaches. MAC and Linux systems can be handled likewise. The manual installation to
be introduced below as an alternative may be seldom used and users with no needs may skip it.

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 Blink Test
you will learn how to program your UNO controller board to blink the Arduino’s built-in LED, and how to download
programs by basic steps.
The UNO board has rows of connectors along both sides that are used to connect to several electronic devices and plug-in
'shields' that extends its capability.
It also has a single LED that you can control from your sketches. This LED is built onto the UNO board and is often
referred to as the 'L' LED as this is how it is labeled on the board.

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You may find that your UNO board's 'L' LED already blinks when you connect it to a USB plug. This is because the boards
are generally shipped with the 'Blink' sketch pre-installed.
In this Project, we will reprogram the UNO board with our own Blink sketch and then change the rate at which it blinks.
In the previous chapter-How to install Arduino IDE, you set up your Arduino IDE and made sure that you could find the
right serial port for it to connect to your UNO board. The time has now come to put that connection to the test and program
your UNO board.
The Arduino IDE includes a large collection of example sketches that you can load up and use. This includes an example
sketch for making the 'L' LED blink.
Load the 'Blink' sketch that you will find in the IDE's menu system under File > Examples > 01.Basics

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When the sketch window opens, enlarge it so that you can see the entire sketch in the window.

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The example sketches included with the Arduino IDE are 'read-only'. That is, you can upload them to an UNO R3 board, but
if you change them, you cannot save them as the same file.
Since we are going to change this sketch, the first thing you need to do is save your own copy.
From the File menu on the Arduino IDE, select 'Save As..' and then save the sketch with the name 'MyBlink'.

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You have saved your copy of 'Blink' in your sketchbook. This means that if you ever want to find it again, you can just
open it using the File > Sketchbook menu option.

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Attach your Arduino board to your computer with the USB cable and check that the
'Board Type' and 'Serial Port' are set correctly.

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Note: The Board Type and Serial Port here are not necessarily the same as shown in picture. If you are using 2560,
then you will have to choose Mega 2560 as the Board Type, other choices can be made in the same manner. And the

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Serial Port displayed for everyone is different, despite COM 6 chosen here, it could be COM3 or COM4 on your
computer. A right COM port is supposed to be COMX (arduino XXX), which is by the certification criteria.
The Arduino IDE will show you the current settings for board at the bottom of the window.

Click on the 'Upload' button. The second button from the left on the toolbar.

If you watch the status area of the IDE, you will see a progress bar and a series of messages. At first, it will say 'Compiling
Sketch...'. This converts the sketch into a format suitable for uploading to the board.

Next, the status will change to 'Uploading'. At this point, the LEDs on the Arduino should start to flicker as the sketch is
transferred.

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Finally, the staus will change to 'Done'.

The other message tells us that the sketch is using 928 bytes of the 32,256 bytes available.After the 'Compiling Sketch..'
stage you could get the following error message:

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It can mean that your board is not connected at all, or the drivers have not been installed (if necessary) or that the wrong
serial port is selected.
If you encounter this, go back to Project 0 and check your installation.
Once the upload has completed, the board should restart and start blinking. Open the code

Note that a huge part of this sketch is composed of comments. These are not actual program instructions; rather, they just
explain how the program works. They are there for your benefit.
Everything between /* and */ at the top of the sketch is a block comment; it explains what the sketch is for.
Single line comments start with // and everything up until the end of that line is considered a comment.
The first line of code is: int led = 13;
As the comment above it explains, this is giving a name to the pin that the LED is attached to. This is 13 on most Arduinos,

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including the UNO and Leonardo.
Next, we have the 'setup' function. Again, as the comment says, this is executed when the reset button is pressed. It is also
executed whenever the board resets for any reason, such as power first being applied to it, or after a sketch has been
uploaded.
void setup() {
// initialize the digital pin as an output. pinMode(led, OUTPUT);
}
Every Arduino sketch must have a 'setup' function, and the place where you might want to add instructions of your own is
between the { and the }.
In this case, there is just one command there, which, as the comment states tells the Arduino board that we are going to use
the LED pin as an output.
It is also mandatory for a sketch to have a 'loop' function. Unlike the 'setup' function that only runs once, after a reset, the
'loop' function will, after it has finished running its commands, immediately start again.
void loop()
{ digitalWrite(led, HIGH); delay(1000);
digitalWrite(led, LOW); delay(1000);
}

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Inside the loop function, the commands first of all turn the LED pin on (HIGH), then 'delay' for 1000 milliseconds (1
second), then turn the LED pin off and pause for another second.
You are now going to make your LED blink faster. As you might have guessed, the key to this lies in changing the
parameter in () for the 'delay' command.
// turn the LED off (LOW is the voltage level) // wait for a second
// turn the LED on (HIGH is the voltage level) // wait for a second

This delay period is in milliseconds, so if you want the LED to blink twice as fast, change the value from 1000 to 500. This
would then pause for half a second each delay rather than a whole second.
Upload the sketch again and you should see the LED start to blink more quickly

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 Lesson 2 Getting Started with Mixly
Introduction of Mixly Software
Mixly is a free open-source graphical Arduino programming software, based on Google’s Blockly graphical programming

framework, and developed by Mixly Team@ BNU. It is a free open-source graphical programming tool for creative

electronic development; a complete support ecosystem for creative e-education; a stage for maker educators to realize

their dreams.Although there is an Ardublock graphical programming software launched by Arduino official, Ardublock is

not perfect enough, and many common functions cannot be realized.

Design Concept:
(1) Usability
Mixly is designed to be completely green. Currently. It can run on Windows xp and above.

(2) Simplicity
Mixly uses the Blockly graphical programming engine to replace complex text manipulation with graphical building

blocks, providing a good foundation for beginners to get started quickly.

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 1 Use the different color icons to represent different types of functional blocks, very convenient for users to classify.

2 Provide default options in the composite function block to effectively reduce the number of user drags.

3 Integrate all the features of the software in the same interface.

4 Provide the reference tutorial and code examples.

(3) Functionality
It has versatile functions. Mixly can almost implement all the functions that Arduino IDE has. Support all official

development boards of arduino.

(4) Continuity
The goal of the graphical programming system is definitely not to replace the original text programming method,but to

better understand the programming principles and program thinking through graphical programming, and lay the

foundation for future text programming. It is also the design philosophy for Mixly. More continuous content has been

added to the design of the software to protect the user's learning outcomes. To be specific, it includes the introduction of

variable types, the consistency of text programming as much as possible in the design of the module, and the support of

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 both graphical and text programming.

(5) Ecological
The most important design concept of Mixly is its ecological feature, which can distinguish it from other Arduino

graphical programming.In order to achieve sustainable development, Mixly is designed to allow manufacturers to

develop their own unique modules.But users require JavaScript programming foundation to make this part of the

module).It also allows users directly use Mixly's graphical programming function to generate common modules (such as

LED digital display, buzzer broadcast, etc. Users are able to make this part of the module only using Mixly). Both of the

two kinds of modules mentioned above can be imported into the Mixly system through the "Import" function, thereby

realizing the user's own value in the popularity of Mixly software.

User Groups:
From the above design concept, it can be seen that Mixly is suitable for primary and secondary school students to

cultivate programming thinking. It is also available for quick programming when creating a work.it is good for those

lovely friends who don't want to learn text programming, but want to do some small works with intelligent control.

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Mixly Blocks Functions:
System Functions
Look at the main interface of Mixly, it includes five parts, that is, Blocks selection, code edit, text code (hidden),

system function and message prompt area. Shown below.

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Some common functions:
Through this interface, you can complete the code compile、upload、save and manage. It support four remove

methods: drag it left out code window, or drag to Recycle Bin, delete key, or right-click to delete block. It supports

four languages: English、Español (Spanish)、中文简体(Chinese Simplified)、中文繁体(Chinese Traditional).

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 How to Install Mixly Software
First decompress the mixly programming software file

After unzipping you will get the following files(Note: The name of the uncompressed path cannot have a space bar. If

the named name needs a separator, you can use an underscore to replace the space bar, for example,you should name the

folder Mixly_Sofewave instead of Mixly Sofewave)

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Double-click the mixly application file to open the software. And select the main control board as Arduino/Genuino Uno

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 How to Add Mixly Libraries
The mixly library file is an integrated graphical code customized for a certain control board. For example, we have written a

mixly library file for smart robot tanks. You can directly load it into mixly software and use it directly, which brings

convenience to your programming process.The general library file contains the following files, the last .xml file is the

readable library file of the mixly software

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After opening the mixly software, select "import" and then select the path where the "Smart_Robot_Tank.xml" folder is

located,select the file --”Smart_Robot_Tank.xml”, and click "open"

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The figure below shows that the ”Smart_Robot_Tank”library file has been successfully imported into the mixly software.

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Next we write a program on the software and upload it to smart robot tank.

Drag the block to control the tank advance to the programming area, and modify the PWM variable to 200.

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Connect the Arduino UNO development board to the computer with a USB data cable, and turn on the power switch. Select

the development board type as "Arduino UNO" on the software and you will see a new connection serial port "COM5"

appears.

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Click Upload and wait for the upload to complete.After the program upload is completed, your Tank will go forward at a

PWM of 200. The variable range of PWM is 0-255, 0 stands for stop, 255 stands for the maximum speed

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 How to open the reference program
Click "OPEN" on the mixly software and select the reference program

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Maybe the program software you opened displays Chinese, you can set the language in the upper right corner of the

software, you can choose English.Currently, Smart_Robot_Tank library does not support Spanish. You choose Spanish, the

system still displays English

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The use of each statement block is described below
In/Out Block:

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NO. BLOCK ICON DEFINITION

1 Returns HIGH or LOW voltage

Write digital value to a specific Port. Digital

Output: set the HIGH or LOW output for IO pins

2

Returns a digital value of a specific Port. Digital

3 IO Read Pin, generally used to read the HIGH or

LOW level detected by Digital sensor

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 Write analog value between 2 and 255 to a

4 specific Port. Analog Output: set the Analog

value output by Analog IO pins (0~255).

Returns value between 0 and 1023 of a specific

Port. Analog IO Read Pin, generally used to read

5
the Analog value detected by Analog sensor.

External Interrupts function, with three trigger

6
interrupt modes RISING, FALLING, CHANGE.

Detachs interrupt to a specific Port. Turn off the

7
given interrupt function.

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8 Set the IO pins as Output or Input state

Read the continuous time of HIGH or LOW pulse

9 from IO pins ( generally used for ultrasonic

ranging)

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Control Block:

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NO
BLOCK ICON DEFINITION
.

1 Initialization (run only once)

End the program, means the program will stop

2
running when use this block.

Delay function, click to select ms or us (pause the

3
program for the amount of time (in milliseconds)

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 specified as parameter. There are 1000 milliseconds in

a second.)

if_do function (first evaluate a value be true or false, if

a value is true, then do some statement. You can click

4
the blue gear icon to select the else if block or else

block.)

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 switch function. You can click the blue gear icon to

select the case block or default block. (used to

5
evaluate several programs then execute the

corresponding function matched with program.)

6 Equal to for statement.

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7 A while loop statement.

8 break function, used to exit from the containing loop.

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 millis() function, returns the system running time since

9 the program started. (The unit can be ms

(milliseconds) or μs（ m icrosecond)).

Timer interrupt function, that is, set a trigger interrupt

10 for the amount of time (in milliseconds) specified as

parameter.

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11 Timer interrupt start block

12 Timer interrupt stop block

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Math Block:

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NO. BLOCK ICON DEFINITION

1 A number

Click to select the Arithmetic Operators:＋

(addition) ;－(subtraction) ; x (Multiplication); ÷

2 (division); % (remainder); ^ (bitwise xor)

Click to select the & (bitwise end); l (bitwise or); <<

3
(bitshift left); >> (bitshift right)

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 Click to select the sin; cos; tan; asin; acos; atan; ln;

log10; e^; 10^; ++ (increment) ; --(decrement)

Click to select the Round; Ceil; Floor; abs; sq; sqrt

Round: Returns the integer part a number using

around. Ceil: Returns the integer part a number using

5
ceil. Floor: Returns the integer part a number using

floor. abs: Return the absolute value of a number. sq:

Return the square of a number. sqrt: Return the

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 square root of a number.

If select the max, returns the larger number;

6
if select the min, returns the smaller number.

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Text Block:

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NO. BLOCK ICON DEFINITION

1 character string: a letter, word, or line of text.

2 A character

Creates a piece of text by joining together two piece of

3 text. ( Here Hello join Mixly equals HelloMixly)

4 Converts a string into an integer or an float.

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 Returns the char corresponding to an ASCII code
5
(Decimal number 97 corresponding to a)

6 Returns the ASCII code corresponding to a char.

7 Converts a number into a string.

8 Calculates the length of a string

9 Output the char of a string (the char at 0 of hello is h)

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 The first string equals or startsWith or endsWith the

10 second string, returns 1, otherwise returns 0. (if equals,

both strings are abc, returns 1.)

Returns a decimal value of the first string subtracts the

11
second string.

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List Block:

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NO. BLOCK ICON DEFINITION

Create a list with any number of items

2 Creats a list from a text. (int mylist [ ]={0,0,0};)

3
Returns the length of a list

Returns the value of at the specified position in a list.

4

Sets the value of at the specified position in a list.

5 Set the first item in mylist to another item.

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Logic Block:

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NO
BLOCK ICON DEFINITION
.
logic comparision =: Return true if both inputs equal each

other. ≠: Return true if both inputs are not equal to each

other. <: Return true if the first input is smaller than the

second input. ≤: Return true if the first input is smaller

1
than or equal to the second input. >: Return true if the

first input is greater than the second input. ≥: Return true

if the first input is greater than or equal to the second

input.

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 and: Return true if both inputs are true; or: Return true if
2
at least one of the inputs is true

Returns true if the input is false. Returns false if the input

3
is true.

4 Returns either true or false.

5 Returns null

If the first number is true, the second number is returned,

6
otherwise the third number.

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SerialPort Block:

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NO. BLOCK ICON DEFINITION

1 Set the serial buad rate to 9600

2 Write the specified number, text or other value.

Print the specified number, text or other value

3
on monitor.

Print the specified number, text or other value

4
on newline of monitor.

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 Print the specified number in hexademical
5
format on newline of monitor.

If the serial port is available, it returns true,

6 otherwise returns false. (generally used in

Bluetooth communication)

7 Returns a string in serial port

A string read from serial port to a string variable,

8
pause until read the specified character.

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 Read the serial data by byte (generally used to

9 read the value sent from Bluetooth) (delete the

data has been read)

10 Wait for the output data completed

Set the software serial port (call this function if

11
need to use several serial ports)

Event function trigger by serial port data, that is,

12 serial port is ready to call this function. (equal to

an interrupt function)

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Monitor Block:

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NO. BLOCK ICON DEFINITION

1 Set the IIC LCD1602 address

Input the value on LCD line 1 and line 2 from left to

2
right.

3 Set the row and column of LCD to print the char

4 Clear the LCD screen

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Variables Block

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NO. BLOCK ICON DEFINITION

1 Define an integer variable

whose name is item

2 Mandatory type conversion of

constants or variables

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Functions Block:

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NO. BLOCK ICON DEFINITION

Creates a function with no output. Click the blue icon to set the
1
procedure parameter. (no return value)

Creates a function with an output. Click the blue icon to set the

2 procedure parameter. (with return value and can set the data

types)

3 If a value is true, then return a second value.

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Smart_Robot_Tank Block:

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NO. BLOCK ICON DEFINITION

1 Control the tank to move forward, and the

digital PWM can be filled to control the

speed. The range of the PWM value is 0~255.

When the PWM equals 255, the tank moves at

the maximum speed, and the PWM equals 0

means stop.

2 Control the tank to move backward, and the

digital PWM can be filled to control the

speed. The range of the PWM value is 0~255.

When the PWM equals 255, the tank moves at

the maximum speed, and the PWM equals 0

means stop.

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3 Control the tank to rotate counterclockwise

(rotate to the left), the digital PWM can be

filled to control the speed, the range of PWM

value is 0~255, when the PWM is equal to

255, the tank moves at the maximum speed,

and the PWM equals 0 means stop

4 Control the tank to turn left

5 Control the tank to rotate clockwise (rotate to

the right), the digital PWM can be filled to

control the speed, the range of PWM value is

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 0~255, when the PWM is equal to 255, the

tank moves at the maximum speed, and the

PWM equals 0 means stop

Control the tank to turn right

Control tank stop

8 Control the rotation angle of the servo motor,

the angle range of rotation is 0~180 degrees

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9 Infrared remote control receiver, receive the

signal of infrared remote control, and store

the received key value to the variable ir_rec

10 Use the ultrasonic module to measure the

distance, the program block returns the

measured distance value, the unit is cm

The function of this program block is to

receive the detection result of the infrared

obstacle avoidance sensor and save the

received result to the variable

left_infrared_avoidance_sensor or

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 right_infrared_avoidance_sensor

This program block is used to receive the

information sent by the Bluetooth module,

and store the received information in the

variable bluetooth_val

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 Lesson 3 Motor Speed and Direction Control
Overview
In this lesson we will learn how to control the rotation of the motor, and realize the direction and speed control of the tank

by controlling the rotation of the two motors.

Motor Driver
The robot tank uses TB6612FNG as the driving chip of the motor. The expansion board has integrated the TB6612FNG

chip.TB6612FNG is a straight product produced by Toshiba Semiconductor Corporation.Current motor drive device, which

has a large current MOSFET-H bridge junction Structure, dual-channel circuit output, can drive 2 motors at the same

time.TB6612FNG outputs continuous drive power up to 1 A per channel Current, starting peak current up to 2A/3A

(continuous pulse/single pulse (Punch); 4 motor control modes: forward/reverse/brake/stop End; PWM supports frequencies

up to 100 kHz; standby state;Internal low voltage detection circuit and thermal shutdown protection circuit; working

temperature:-20～85℃; SSOP24 small patch package.

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Specifications:

Recommended motor voltage (VMOT): 4.5 – 13.5 V

• Logic voltage (VCC): 2.7 – 5.5 V

• Output current maximum: 3 A per channel

• Output current continuous: 1 A per channel (can be paralleled to deliver 2 A continuous)

• Maximum PWM frequency: 100 kHz

• Built-in thermal shutdown circuit

• Filtering capacitors on both supply lines

• Reverse-power protection on the motor supply

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A1 A2 B1 B2 of the motor arduino shield is the interface of the motor. A1 and A2 are the same. B1 and B2 are also the same.

The motor of the A interface is controlled by the D2 PIN, and the D5 PIN outputs the PWG signal to control the speed. The

motor of B interface is controlled by D4 PIN, and the speed of D6 PIN output PWG signal controls the speed.

The PWM value is in the range of 0-255. The greater the value, the faster the motors turn.

Tank D2 D5(PWM) Left Motor（A1） D4 D6(PWM) Right Motor（B1）

Forward LOW 255 Anticlockwise rotation HIGH 255 clockwise rotation

Backward HIGH 255 clockwise rotation LOW 255 Anticlockwise rotation

Rotate to left HIGH 255 clockwise rotation HIGH 255 clockwise rotation

Rotate to right LOW 255 Anticlockwise rotation LOW 255 Anticlockwise rotation

Stop / 0 Stop / 0 Stop

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How to connect the circuit

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Let's program
Test 1--Motor Speed and Direction Control
In experimental test 1, we will write code to control the tank to move forward, backward, rotate to left, rotate to right, stop.

Mixly Code
Wire it up well as the above diagram. Okay, let’s move on to write the test code.Open mixly software.Click “New” to add

new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Motor_Speed_and_Direction_Control.mix" in the reference materials we provided.

Programming Thinking

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This block controls the direction of the tank to forward, 255 represents the maximum speed, and the range that can be

modified is 0-255. When the speed is set to 0, it means stop.

The character is "left", the speed value is 200, which means that the control tank is rotated to the left, and the rotation speed

is 200.

The character is "turn left", which means that the control tank turns to the left and forward

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Motor_Speed_and_Direction_Control.ino" in the reference materials we provided.

Programming Thinking

In arduino IDE, It means to define a sub-function. Here we define a sub-function to control the progress of the tank. It can

be called directly and conveniently in the loop.

//Code logic writing

void forward()

{digitalWrite(2,LOW);

analogWrite(5,255);

digitalWrite(4,HIGH);

analogWrite(6,255);

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What will you see
Upload the test code to UNO R3 control board, turn the POWER switch ON.You will see that the tank takes 1 second to

move forward, then 1 second to retreat, 1 second to the left, 1 second to the right, and 1 second to stop. And then loop

through these processes.

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 Lesson 4 Infrared Obstacle Avoidance Robot Tank
Overview
In this lesson, we will complete the test of two experimental codes. In Experimental Test 1, we separately learn how to use

infrared obstacle avoidance sensors to detect obstacles, and observe the results returned by the sensors to determine whether

obstacles are detected. In Experimental Test 2, we learned to combine the infrared obstacle avoidance sensor with the motor

to control the tank to complete the obstacle avoidance function.

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What is infrared obstacle avoidance sensor
The infrared obstacle detector sensor has a pair of infrared transmitting and receiving tubes.The transmitter emits an

infrared rays of a certain frequency. When the detection direction encounters an obstacle (reflecting surface), the infrared

rays are reflected back, and receiving tube will receive it.At this time, the indicator ( green LED) lights up. After processed

by the circuit, the signal output terminal will output Digital signal.You can rotate the potentiometer on the shield to adjust

the detection distance. It is better to adjust the potentiometer to make the green LED in a state between on and off. The

detection distance is the best,almost 10cm.

How to use the infrared obstacle avoidance sensor

we read the signal level of obstacle detector sensor to judge whether detect obstacles or not.

When detects an obstacle, sensor’s signal pin outputs LOW (display 0); otherwise, output HIGH (display 1).

Show the result on the serial monitor, and control the external LED module turn ON/OFF.

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110/193
How to connect the circuit

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Let's program
Test 1--infrared obstacle avoidance sensor
The main purpose of the test experiment is to read the return signal of the infrared obstacle avoidance sensor and print it to

the serial port monitor.When detects an obstacle, sensor’s signal pin outputs LOW (display 0); otherwise, output HIGH

(display 1).

Mixly Code
Wire it up well as the above diagram. Okay, let’s move on to write the test code.Open mixly software.Click “New” to add

new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Infrared_Obstacle_Avoidance_Sensor.mix" in the reference materials we provided.

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Perhaps the language displayed when you open the mixly software is not English, you can switch the software language

here

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After uploading the program, open the serial monitor to view the signal returned by the infrared obstacle
avoidance sensor.

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Then you can see the data as blow:
When there is an obstacle in the front, -light_value=0, and the indicator light on the sensor lights up.

Important note: Before you upload the program, you need to close the serial monitor, otherwise the serial monitor will
occupy the communication interface of the uploaded program.

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson
"Test_1_Infrared_Obstacle_Avoidance_Sensor.ino" in the reference materials we provided.

After uploading the code, click the button in the upper right corner to open the serial monitor to view the measured distance

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Then you can see the data as blow:
When there is an obstacle in the front, light_value=0, and the indicator light on the sensor lights up.

Important note: Before you upload the program, you need to close the serial monitor, otherwise the serial monitor will
occupy the communication interface of the uploaded program.

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 Test 2--Infrared Obstacle Avoidance Robot Tank
Mixly Code
Think about the code logic.Open mixly software.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson
"Test_2_Infrared_Obstacle_Avoidance_Robot_Tank.mix" in the reference materials we provided.

Programming Thinking

(1)If the infrared obstacle avoidance sensor on the left detects an obstacle, the infrared obstacle avoidance sensor on the

right does not detect an obstacle,The tank turns right.

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(2)If the infrared obstacle avoidance sensor on the right detects an obstacle, the infrared obstacle avoidance sensor on the

left does not detect an obstacle,The tank turns left.

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(3)If the left and right sensors detect obstacles at the same time,The tank go backward,then the tank randomly chooses to

turn left or right.

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(4)If neither the left nor the right sensors detect obstacles,The tank go straight.

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson
"Test_2_Infrared_Obstacle_Avoidance_Robot_Tank.ino" in the reference materials we provided.

Programming Thinking

(1)If the infrared obstacle avoidance sensor on the left detects an obstacle, the infrared obstacle avoidance sensor on the

right does not detect an obstacle,The tank turns right.

//Code logic writing

else if (left_light==0&& right_light==1)

backward();

delay(500);

rotate_right();

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 delay(500);

(2)If the infrared obstacle avoidance sensor on the right detects an obstacle, the infrared obstacle avoidance sensor on the

left does not detect an obstacle,The tank turns left.

//Code logic writing

else if (left_light==1&& right_light==0)

backward();

delay(500);

rotate_left();

delay(500);

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 (3)If the left and right sensors detect obstacles at the same time,The tank go backward,then the tank randomly chooses to

turn left or right.

//Code logic writing

if (left_light==0&& right_light==0)

stopp();

delay(500);

backward();

delay(500);

if (random(1, 10) > 5)

rotate_left();

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 else

rotate_right();

delay(500);
}

(4)If neither the left nor the right sensors detect obstacles,The tank go straight.

//Code logic writing

else

forward();

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What will you see
Upload the test code to UNO R3 control board, turn the POWER

switch ON.

If there is an obstacle in front of the left of the tank, the tank will retreat

and turn right,

If there is an obstacle in the front right of the tank, the tank will retreat

and turn left,

If there are obstacles in the front left and front right, the tank moves

backwards and then randomly chooses to turn right or left

If there are no obstacles ahead, the tank goes straight.

Note: According to the physical laws: Black objects have a strong ability to absorb light. The infrared obstacle avoidance

function relies on transmitting and receiving infrared rays to detect obstacles in front. When all obstacles in front of the tank

are black objects, the sensitivity of the sensor detection will decrease.

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 Lesson 5 Ultrasonic Obstacle Avoidance Robot Tank
Overview
In this lesson we will learn about ultrasonic sensors and servos and combine them. The servo motor drives the ultrasonic

wave to help the tank detect the front left and front right obstacles as well as the front obstacles, thus avoiding obstacles.Use

ultrasound to measure the distance of objects in front of the tank to help the tank to follow the object in front of it.

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What is an ultrasonic sensor
Review the ultrasonic sensor from the previous lesson. It works like a bat's eye. Determine the distance of obstacles in front

after receiving and receiving high-frequency sound waves.

As the following picture shown, it is our ultrasonic module. It has two something like eyes.

One is transmitting end, the other is receiving end.

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What is a servo motor
Servo motors are great devices that can turn to a specified position.Usually, they have a servo arm that can turn 180 degrees.

Using the Arduino, we can tell a servo to go to a specified position and it will go there. As simple as that!Servo motors were

first used in the Remote Control (RC) world, usually to control the steering of RC cars or the flaps on a RC plane. With time,

they found their uses in robotics, automation, and of course, the Arduino world.

There are two ways to control a servomotor with Arduino. One is to use a common digital sensor port of Arduino to produce

square wave with different duty cycle to simulate PWM signal and use that signal to control the positioning of the motor.

Another way is to directly use the Servo function of the Arduino to control the motor. In this way, the program will be

easier.Next, we learn how to control the servo.The servo motor has three leads. The color of the leads varies between servo

motors, but the red lead is always 5V and GND will either be brown.The red one is the power wire and should be connected

to the 5v port and this is usually orange.

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131/193
How to connect the circuit

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Let's program
Test 1--Servo
In experimental test 1, we learned how to control the servo motor and control the servo motor to rotate to the
specified angle.
Mixly Code
Wire it up well as the above diagram. Okay, let’s move on to write the test code.Open mixly software.Click “New” to add

new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson "Test_1_Servo.mix" in the reference

materials we provided.

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Programming Thinking

This code block is used for loop counting, counting from 0 to 180, increasing by 1 each time

This code block is used to control the motor rotation angle, the angle of pos code input, the range is 0-180

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Arduino Code
if you want to refer to the program we provide.open Arduino IDE software and open the reference code for this lesson

"Test_1_Servo.ino" in the reference materials we provided.

Before you can run this, make sure that you have installed the < Servo> library or re-install it, if necessary. Otherwise,

your code won't work.For details about loading the library file, see Lesson about how to add libraries .

Programming Thinking

//This code block is used for loop counting, counting from 0 to 180, increasing by 1 each time
for (int POS = 0; POS <= 180; POS = POS + (1))
{
}

//This code block is used to control the motor rotation angle, the angle of pos code input, the range is 0-180
myservo.write(POS);

After uploading the code, the servo motor rotates from 0 degrees to 180 degrees, 1 degree at a time. Then rotate from 180

degrees to 0 degrees, one degree at a time.

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 Test 2--Ultrasonic Sensor Module
In Experimental Test 2, we will learn how to control the ultrasonic sensor, and display the distance measured
by the ultrasonic sensor on the serial monitor.
Mixly Code
Wire it up well as the above diagram. Okay, let’s move on to write the test code.Open mixly software.Click “New” to add

new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson "Test_2_Ultrasonic Sensor

Module.mix" in the reference materials we provided.

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After uploading the program, open the serial monitor to view the distance measured by the ultrasonic sensor.

Then you can see the data as blow:

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Arduino Code
if you want to refer to the program we provide.open Arduino IDE software and open the reference code for this lesson

"Test_2_Ultrasonic Sensor Module.ino" in the reference materials we provided.

After uploading the code, click the button in the upper right corner to open the serial monitor to view the measured distance

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Then you can see the data as blow:

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 Test 3--Ultrasonic_Obstacle_Avoidance_Robot_Tank
In the experimental test 3, the servo motor, ultrasonic sensor and motor are simultaneously controlled to help the tank

achieve ultrasonic waves to avoid obstacles

Mixly Code
Think about the code logic.Open mixly software.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_3_Ultrasonic_Obstacle_Avoidance_Robot_Tank.mix" in the reference materials we provided.

Programming Thinking

First, we define the distance between tank and the obstacle in front left as DL, the distance between tank and the obstacle in

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front is DM, and the distance between tank and the obstacle in front is DR.

If the distance in front of the tank is less than 20cm, the tank stop

At the same time, when the distance of obstacles in front left or front right is less than 50cm, and

The obstacle in front right is closer to the tank than the obstacle in front left, turn left

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The obstacle on the front left is closer to the tank than the obstacle on the right, turn right

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143/193
Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_3_Ultrasonic_Obstacle_Avoidance_Robot_Tank.ino" in the reference materials we provided.

Programming Thinking

First, we define the distance between tank and the obstacle in front left as DL, the distance between tank and the obstacle in

front is DM, and the distance between tank and the obstacle in front is DR.

If the distance in front of the tank is less than 20cm, the tank stop

//Code logic writing

if (DM < 20)

stopp();

delay(1000);

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}

At the same time, when the distance of obstacles in front left or front right is less than 50cm, and The obstacle in

front right is closer to the tank than the obstacle in front left, turn left

//Code logic writing

if (DL < 50 || DR < 50) {

if (DL > DR) {

procedure(90);

rotate_left();

delay(500);

forward();

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（2）The obstacle on the front left is closer to the tank than the obstacle on the right, turn right

//Code logic writing

if (DL < 50 || DR < 50) {

if (DL > DR) {

procedure(90);

rotate_left();

delay(500);

forward();

} else {

procedure(90);

rotate_right();

delay(500);

forward();}

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What will you see
Upload the code to UNO R3 control board,, and turn the POWER switch ON.

When there is no obstacle in front of the tank, the tank keeps walking straight. When the distance of the obstacle in front of

the tank is less than 20cm, the tank stops, then detects whether there is an obstacle in the left front and right front, and then

turns in the opposite direction.

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 Test 4--Ultrasonic_Follow_Robot_Tank
In this experimental test,Use ultrasound to measure the distance of objects in front of the tank to help the tank to follow the

object in front of it.

Mixly Code
Think about the code logic.Open mixly software.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_4_Ultrasonic_Follow_Robot_Tank.mix" in the reference materials we provided.

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Programming Thinking

When detecting that the distance of the object in front is less than 10cm, the tank moves backward.

When the distance of the object in front is detected between 10~20cm, the tank stops.

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When the distance of the object in front is detected between 20~60cm, the tank moves forward.

When detecting that the distance of the object in front is greater than 60cm, the tank stops.

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_4_Ultrasonic_Follow_Robot_Tank.ino" in the reference materials we provided.

Programming Thinking

//When detecting that the distance of the object in front is less than 10cm, the tank moves backward.
if (distance <= 10)
{
backward();
}

//When the distance of the object in front is detected between 10~20cm, the tank stops.
else if (distance > 10 && distance < 20)
{
stopp();
}

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//When the distance of the object in front is detected between 20~60cm, the tank moves forward.
else if (distance >= 20 && distance <= 60)
{
forward();
}

//When detecting that the distance of the object in front is greater than 60cm, the tank stops.
else
{
stopp();
}

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What will you see
Upload the code to UNO R3 control board,, and turn the POWER switch ON.

The tank detects the distance of the object in front through the ultrasonic sensor. When the front object moves, the tank will

follow the movement, keeping the distance between the tank and the object in front between 10cm~20cm.

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 Lesson 6 Infrared Remote Control Robot Tank
Overview
In this lesson, we will learn the infrared remote control, and use the infrared remote control to control the tank go forward,

backward, turn left, turn right,rotate left rotate right.

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What is an infrared remote control
There is no doubt that infrared remote control is commonly seen in our daily life. It's hard to imagine our world without

it.An infrared remote control can be used to control a wide range of home appliances such as television, audio, video

recorders and satellite signal receivers.Well, in the following let’s get a better understanding of the infrared remote

control.Infrared remote control is composed of infrared transmitting and infrared receiving systems.That is, consist of an

infrared remote control, an infrared receiver module and a microcontroller that can decode.You can refer to the figure below.

Remote control key value

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 The 38K infrared carrier signal transmitted by an infrared remote controller is encoded by an encoding chip inside the

remote controller. It is composed of a pilot code, user code, data code, and data inversion code.The time interval between

pulses is used to distinguish whether it is a signal 0 or 1. (when the ratio of high level to low level is about 1:1, considered

as signal 0.)

And the encoding is just well composed of signal 0 and 1.The user code of the same button on remote controller is

unchanged. Using difference data distinguish the key pressed on the remote control. When press down a button on the

remote control, it will send out an infrared carrier signal. And when infrared receiver receives that signal, its program will

decode the carrier signal, and through different data codes, thus can judge which key is pressed.The microcontroller is

decoded by an received signal 0 or 1 to determine which key is pressed by the remote control.

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What is an infrared receiver
The robot shield comes with infrared receiver module. It is mainly composed of an infrared receiving head. This

device integrates with reception, amplification and demodulation.Its inter IC has been demodulated, outputting Digital

signal. Suitable for IR remote control and infrared data transmission.

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Let's program
Test 1--Infrared Remote Control Robot Tank
In experimental test 1, learn to receive infrared remote control signals, and distinguish the corresponding
remote control key value, and finally realize infrared remote control tank.

Mixly Code
Think about the code logic.Well, figure out the logic,you can have a try to write out the code logic of infrared obstacle

avoidance.Open mixly software.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Infrared_Remote_Control_Robot_Tank.mix" in the reference materials we provided.

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Programming Thinking

This program block stores the received key values of the infrared remote control into variables ir_rec.

If the value of the pressed key is equal to 0FXX629D, it means that the up key is pressed. Control the tank to

advance at a speed of 240.

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After completing the code upload, use the infrared remote control to control the tank's direction of advance.

Key on IR

remote

control

Robot status Go forward Go backward Turn left Turn right Rotate to left Rotate to right Stop

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Infrared_Remote_Control_Robot_Tank.ino" in the reference materials we provided.

Before you can run this, make sure that you have installed the < IRremote > library or re-install it, if necessary. Otherwise,

your code won't work.For details about loading the library file, see Lesson about how to add libraries .

Programming Thinking
//This program block stores the received key values of the infrared remote control into variables ir_rec.

if (irrecv.decode(&results))

ir_rec=results.value;

irrecv.resume();

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After completing the code upload, use the infrared remote control to control the tank's direction of advance.

Key on IR

remote

control

Robot status Go forward Go backward Turn left Turn right Rotate to left Rotate to right Stop

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 Lesson 7 APP Control Robot Tank
Overview
In this lesson, we mainly study two experimental tests. In Test 1, we learn the communication between the Bluetooth

module and the mobile phone. In Test 2, we can freely switch the various functional modes through the mobile phone app,

such as ultrasonic obstacle avoidance, infrared obstacle avoidance, infrared remote control, gravity sensor remote control.

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What is a Bluetooth module
Principle and Application of Bluetooth Remote Control Bluetooth, as the name implies,

blue teeth, and is not used to bite people, but a wireless data transmission method.Bluetooth

technology is a wir eless standard technology that enables short-range data exchange among

fixed devices, mobile devices, and personal area networks of buildings (UHF radio waves

in the ISM band of 2.4 to 2.485GHz).There are two kinds of commonly used Bluetooth module

on the market,HC-05 and HC-06 models. The difference between them is that the HC-05 is

a master-slave one. It can not only make small reports to its own “master”, but also can receive the command given to it.

The HC-06 can only work in slave mode, which can only accept the superior command. For instance, in many cases you

may want to be an overbearing man, letting the subordinates obey the order without any nonsense. So in such situation, it is

enough to use the HC-06 module shown as below.

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How to connect the circuit

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Instructions for the use of app

Firstly, download the “APP for LAFVIN iBot.apk” file from the folder to your mobile phone and install it into an

application software.

Then make sure the Bluetooth module is connected. Pair your phone with HC-06. for doing this go to

Settings->Bluetooth->Scan device->select HC-06 and pair it. Pass code to pair is '1234'.Open Bluetooth Terminal software,

go to options and select 'connect a device - secure' option. It it ask for pass code enter 1234.If your phone is connected to the

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Bluetooth module, you will see a usable device called HC-06 on the PAIRED DEVICES(As shown below).If the HC-06

does not appear on the PAIRED DEVICES, reoperate the above steps.

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After the above steps are complete, we open the LAFVIN_iBot app.

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Click the Connect Bluetooth icon button in the upper right corner to enter the Bluetooth connection interface

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Then click on the , and the HC-06 will appear in our scan results.Select HC-06.

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After selecting the hc-06 device, Click to connect will appear in the Gray box of the app.

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click on the button Click to connect .Gray box turns into orange box. wait 5 seconds.

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The button shows the Connected , which means that the app is connected to the Bluetooth module successfully.The icon in the upper right

corner of the connection is changed from red to white (Note: When the Bluetooth module is not successfully
connected, the red LED light will continue to flash. When the connection is successful, the red LED light will be remain

on.)

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If there is a warning in the interface, it means that Bluetooth is not turned on normally or the selected device is wrong.

Follow the steps above to reconnect

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Let's program
Test 1--Bluetooth Module Receives Information
In Experimental Test 1, we learned how to receive the information sent by the mobile phone app to the
Bluetooth module HC-06.
Mixly Code
Think about the code logic.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Bluetooth_Module_Receives_Information.mix" in the reference materials we provided.

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Programming Thinking

Set the baud rate for serial communication to 9600. The communication speed between the serial port of the
arduino uno main control board and the serial port of Bluetooth needs to be the same. The communication
baud rate of the HC-06 Bluetooth module is 9600 by default.

Store the information received by Bluetooth in the variable bluetooth_val and display it on the serial
monitor.

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Perhaps the language displayed when you open the mixly software is not English, you can switch the software language

here.After completing the program upload, open the serial monitor to view the information received by the Bluetooth

module.

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Then you can see the data as blow:

When you press the up button , the character received by Bluetooth is ‘F’,

When you press the down button , the character received by Bluetooth is ‘G

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Important note: Before you upload the program, you need to close the serial monitor, otherwise the serial monitor will
occupy the communication interface of the uploaded program.

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_1_Bluetooth_Module_Receives_Information.ino" in the reference materials we provided.

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Programming Thinking
//Set the baud rate for serial communication to 9600. The communication speed between the serial port of the arduino uno

main control board and the serial port of Bluetooth needs to be the same. The communication baud rate of the HC-06

Bluetooth module is 9600 by default.

void setup(){

Serial.begin(9600);}

//Store the information received by Bluetooth in the variable bluetooth_val and display it on the serial monitor.

if (Serial.available())

bluetooth_val = Serial.read();

Serial.println(bluetooth_val);

After completing the program upload, open the serial monitor to view the information received by the Bluetooth module.

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Then you can see the data as blow:

When you press the up button , the character received by Bluetooth is ‘F’,

When you press the down button , the character received by Bluetooth is ‘G

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Important note: Before you upload the program, you need to close the serial monitor, otherwise the serial monitor will
occupy the communication interface of the uploaded program.

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 Test 2--APP Control Robot Tank
In this experimental test, all our functions are collected into the same program, including ultrasonic obstacle
avoidance function, infrared remote control function, infrared obstacle avoidance function, gravity sensor
control function, and any function can be freely switched through the app.
Mixly Code
Think about the code logic.Click “New” to add new project, then start your programming .

if you want to refer to the program we provide.open the reference code for this lesson "Test_2_APP_Control_Robot_Tank

.mix" in the reference materials we provided.

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Programming Thinking

The method of defining sub-functions, here defines a sub-function called Infrared Remote Control, do is filled with code

blocks executed by sub-functions.

The code block do Infrared Remote Control is to directly call the subfunction.

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Arduino Code
if you want to refer to the program we provide.open the reference code for this lesson

"Test_2_APP_Control_Robot_Tank.ino" in the reference materials we provided.

Before you can run this, make sure that you have installed the < IRremote > <Servo> library or re-install it, if necessary.

Otherwise, your code won't work.For details about loading the library file, see Lesson about how to add libraries .

Programming Thinking
//After Bluetooth receives the information, "switch" judges what the received information character is, "F" stands for tank

forward, "G" stands for tank backward, "H" stands for tank turn left, and "I" stands for tank right Turn,'J' means the tank

rotates left,'K' means the tank rotates right,'C' means the tank enters infrared obstacle avoidance function mode,'D' means

the tank enters infrared remote control function mode,'E' means the tank enters ultrasonic obstacle avoidance function

Functional mode. Click the return and "STOP" button APP will send the ‘S’ character to control the tank to exit the function

mode being executed and the motor will stop rotating.

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if (Serial.available())

bluetooth_data = Serial.read();

Serial.println(bluetooth_data);

switch (bluetooth_data) {

case 'F':

forward(250,250);

break;

case 'G':

backward(240,240);

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 break;

case 'H':

turn_left(100,255);

break;

case 'I':

turn_right(255,100);

break;

case 'J':

rotate_left(240,240);

break;

case 'K':

rotate_right(240,240);

break;

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 case 'S':

stopp();

break;

case 'E':

Infrared_Obstacle_Avoidance();

break;

case 'C':

Ultrasonic_Obstacle_Avoidance();

break;

case 'D':

Infrared_Remote_Control();

break;

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How to use the app to control the robot car

After completing the program upload, and then open the app software to complete the connection of the Bluetooth device

(App and HC-06 Bluetooth module connection reference Test 1 Bluetooth Module Receives Information).

The interface after the app software and Bluetooth module are successfully connected is as follows.

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If you want to select the ultrasonic obstacle avoidance mode, swipe the screen to the right on the homepage, click the

corresponding function icon, the app will send the character'D' to the tank's Bluetooth module HC-06, the tank will judge

the distance of the obstacle through the ultrasonic wave, if Too close to the obstacle, the tank turns and then

advances.avoidance.

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If you want to exit the ultrasonic obstacle avoidance function mode, click the back button in the upper left corner to return

to the home page

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You can freely switch the various functional modes through the mobile phone app, such as ultrasonic obstacle avoidance,

infrared obstacle avoidance, infrared remote control, gravity sensor remote control.

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