//first , you need to insstall the motor driver for L293D motor driver
// Go to Sketch-> Include Librabry-> Manage Library-> Search for Adafruit
Motor Shield V1
#include <AFMotor.h>
#include <SoftwareSerial.h>
SoftwareSerial HC05(9, 10); // RX, TX
//initial motors pin
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);
char command;
void setup()
{
HC05.begin(9600); //Set the baud rate to your Bluetooth module.
}
void loop() {
if (HC05.available() > 0) {
command = HC05.read();
Stop(); //initialize with motors stoped
switch (command) {
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
}
}
}
void forward()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void back()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(BACKWARD); //rotate the motor anti-clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(BACKWARD); //rotate the motor anti-clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(BACKWARD); //rotate the motor anti-clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(BACKWARD); //rotate the motor anti-clockwise
}
void left()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(50); //Define lower velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(50); // Define lower velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void right()
{
motor1.setSpeed(50); //Define lower velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(50); //Define lower velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void Stop()
{
motor1.setSpeed(0); //Define minimum velocity
motor1.run(RELEASE); //stop the motor when release the button
motor2.setSpeed(0); //Define minimum velocity
motor2.run(RELEASE); //rotate the motor clockwise
motor3.setSpeed(0); //Define minimum velocity
motor3.run(RELEASE); //stop the motor when release the button
motor4.setSpeed(0); //Define minimum velocity
motor4.run(RELEASE); //stop the motor when release the button
}
