In this tutorial, I’ll share with you on how to build a mobile robot using a Maker Drive. Before this we’re using an L298N motor driver and now we’re going to change it to Maker Drive and here are the reasons why:
- Easy to troubleshoot with the push button and LED indicator.
- Support motor voltage from 2.5V to 9.5VDC
- Solid state components provide faster response time and eliminate the wear and tear of mechanical relay
- 5V Output (200mA) to power the controller with minimum input voltage of 2.5V.
HARDWARE PREPARATION
This tutorial use :
You can make the hardware connection based on the diagram and table below.
Connection | |
|---|---|
| Maker Drive M1A | Maker UNO: Pin 3 |
| Maker Drive M1B | Maker UNO: Pin 9 |
| Maker Drive 5V | Maker UNO: 5V |
| Maker Drive GND | Maker UNO: GND |
| Maker Drive M2A | Maker UNO: 10 |
| Maker Drive M2B | Maker UNO: 11 |
| Bluetooth HC05 : TX | Maker UNO: Pin 2 |
| Bluetooth HC05 : RX | Maker UNO: Pin 4 |
| Bluetooth HC05 : VCC | Maker Drive: 5V |
| Bluetooth HC05 : GND | Maker UNO: GND |
Sample Code
This is the sample code used for this tutorial. Try it!
| #define BT_TX 4 | |
| #define BT_RX 2 | |
| #include "SoftwareSerial.h" | |
| SoftwareSerial BTSerial(BT_TX, BT_RX); // Maker UNO RX, TX | |
| #include "CytronMotorDriver.h" | |
| // Configure the motor driver. | |
| CytronMD motor1(PWM_PWM, 3, 9); // PWM 1A = Pin 3, PWM 1B = Pin 9. | |
| CytronMD motor2(PWM_PWM, 10, 11); // PWM 2A = Pin 10, PWM 2B = Pin 11. | |
| #define BUTTON 2 | |
| #define PIEZO 8 | |
| #define NOTE_G4 392 | |
| #define NOTE_C5 523 | |
| #define NOTE_G5 784 | |
| #define NOTE_C6 1047 | |
| int btConnect[] = {NOTE_G5, NOTE_C6}; | |
| int btConnectNoteDurations[] = {12, 8}; | |
| int btDisconnect[] = {NOTE_C5, NOTE_G4}; | |
| int btDisconnectNoteDurations[] = {12, 8}; | |
| #define playBtConnectMelody() playMelody(btConnect, btConnectNoteDurations, 2) | |
| #define playBtDisconnectMelody() playMelody(btDisconnect, btDisconnectNoteDurations, 2) | |
| boolean BTConnect = false; | |
| char inChar; | |
| String inString; | |
| void setup() | |
| { | |
| pinMode(BUTTON, INPUT_PULLUP); | |
| Serial.begin(9600); | |
| BTSerial.begin(9600); | |
| delay(1000); | |
| } | |
| void loop() | |
| { | |
| if (BTSerial.available()) { | |
| if (BTConnect == false) { | |
| BTConnect = true; | |
| playBtConnectMelody(); | |
| } | |
| inString = ""; | |
| while (BTSerial.available()) { | |
| inChar = BTSerial.read(); | |
| inString = inString + inChar; | |
| } | |
| Serial.println(inString); | |
| if (inString == "#b=0#") { | |
| robotStop(); | |
| } | |
| else if (inString == "#b=9#" || | |
| inString == "#b=19#" || | |
| inString == "#b=29#" || | |
| inString == "#b=39#" || | |
| inString == "#b=49#") { | |
| robotBreak(); | |
| } | |
| else if (inString == "#b=1#") { | |
| robotForward(); | |
| } | |
| else if (inString == "#b=2#") { | |
| robotReverse(); | |
| } | |
| else if (inString == "#b=3#") { | |
| robotTurnLeft(); | |
| } | |
| else if (inString == "#b=4#") { | |
| robotTurnRight(); | |
| } | |
| else if (inString.startsWith("+DISC")) { | |
| BTConnect = false; | |
| delay(1000); | |
| while (BTSerial.available()) { | |
| BTSerial.read(); | |
| } | |
| playBtDisconnectMelody(); | |
| } | |
| } | |
| } | |
| void playMelody(int *melody, int *noteDurations, int notesLength) | |
| { | |
| pinMode(PIEZO, OUTPUT); | |
| for (int thisNote = 0; thisNote < notesLength; thisNote++) { | |
| int noteDuration = 1000 / noteDurations[thisNote]; | |
| tone(PIEZO, melody[thisNote], noteDuration); | |
| int pauseBetweenNotes = noteDuration * 1.30; | |
| delay(pauseBetweenNotes); | |
| noTone(PIEZO); | |
| } | |
| } | |
| void robotStop() | |
| { | |
| motor1.setSpeed(0); // Motor 1 stops. | |
| motor2.setSpeed(0); // Motor 2 stops. | |
| } | |
| void robotForward() | |
| { | |
| motor1.setSpeed(200); // Motor 1 runs forward. | |
| motor2.setSpeed(200); // Motor 2 runs forward. | |
| } | |
| void robotReverse() | |
| { | |
| motor1.setSpeed(-200); // Motor 1 runs backward. | |
| motor2.setSpeed(-200); // Motor 2 runs backward. | |
| } | |
| void robotTurnLeft() | |
| { | |
| motor1.setSpeed(-200); // Motor 1 runs forward. | |
| motor2.setSpeed(200); // Motor 2 runs backward. | |
| } | |
| void robotTurnRight() | |
| { | |
| motor1.setSpeed(200); // Motor 1 runs backward. | |
| motor2.setSpeed(-200); // Motor 2 runs forkward. | |
| } | |
| void robotBreak() | |
| { | |
| motor1.setSpeed(0); // Motor 1 stops. | |
| motor2.setSpeed(0); // Motor 2 stops. | |
| } | |
Thank you
Thank you for reading this tutorial and we hope it helps your project development. If you have any technical inquiry, please post at Cytron Technical Forum.
2 thoughts on “Bluetooth Mobile Robot wih Maker Drive”
Hi, kenapa bila saya nak buat mobile robot saya tu reverse, sebelah tayar je yang gerak sebelah lagi tak. Kenapa ye?
Hi,
The Maker Driver board connection to Maker UNO board shown in video is different from the sample code.