// Pins for Motor Driver
const int ENA = 5; // Speed control for Motor A
const int IN1 = 6; // Direction control for Motor A
const int IN2 = 7; // Direction control for Motor A
const int ENB = 10; // Speed control for Motor B
const int IN3 = 8; // Direction control for Motor B
const int IN4 = 9; // Direction control for Motor B
// Bluetooth Module Serial Communication
char command;
void setup() {
// Set Motor Driver pins as output
pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
// Initialize serial communication for Bluetooth
Serial.begin(9600);
}
void loop() {
// Read the command sent via Bluetooth
if (Serial.available()) {
command = Serial.read();
controlMotors(command);
}
}
// Function to control motors based on the command
void controlMotors(char command) {
switch (command) {
case 'F': // Move Forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 150); // Adjust speed (0-255)
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, 150); // Adjust speed (0-255)
break;
case 'B': // Move Backward
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, 150);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, 150);
break;
case 'L': // Turn Left
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, 150);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, 150);
break;
case 'R': // Turn Right
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 150);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, 150);
break;
case 'S': // Stop
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
analogWrite(ENA, 0);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
analogWrite(ENB, 0);
break;
default: // Do nothing
break;
}
}
