Tools, APP Software Used etc.

arduino IDE

Description

THE ULTIMATE OFFROAD RC ROVER

Let's make an all-terrain remote-controlled rover bot. This is a great starter project for hobbyists. In this tutorial, I am showing how to make an all-terrain robot using Arduino with two modes of control. Using a smartphone and the other one is, using our own designed RF remote. It is easier and more flexible to use and also low cost. The total cost of making this robot is less than 60$.

Areas or fields of its application(with the updated version 2.0)

Disaster management.
Spying agent for military purposes
Rainwater drainage system cleaning robot
Repairing pipelines that humans can't access
In nuclear plant disasters

Controlling mods

1. The RF controller

This is the remote controller of this robot. It is made up of a low-cost NRF2401 RF transceiver to transmit the data from the remote to the robot.

2. The Bluetooth controlling.

In this option, we can use our smartphone for controlling the robot.

Watch this video to see the V2.0 of the robot.(Control using a smartphone)

Step 1: Materials Needed

Electronic parts

Arduino Uno - Amazon.in or Amazon.com
Dual DC motor driver 20A - robokits.co.in or robokitsworld.com
NRF2401 - Amazon.in or Amazon.com
HC-05 Bluetooth module (Only for Bluetooth controlling option) - Amazon.in or Amazon.com
Jumper wires - Amazon.in or Amazon.com

Mechanical parts

2 x Metal gear motor - robokits.co.in or robokitsworld.com
2 x Gear motor - robokits.co.in or robokitsworld.com
4 x Wheel - robokits.co.in
SwitchLIPO 2600 mah battery - Amazon.in or Amazon.com
3 x 'L' shaped clamp for plastic gear motor - robokits.co.in or robokitsworld.com
2 x 'L' shaped clamp for metal gear motor - robokits.co.in or robokitsworld.com
Aluminium sheet 2 mm (from a local store)

Tools

Screwdriver
Wirecutter
Cutter tool
Soldering iron
Drilling machine(not important)

Step 2: Making the Chassis.

Let's make the chassis of this rover. I am using two '3mm thick' & 20x15 cm aluminium sheets to make the chassis.

First, drill the holes for placing the 'L' shaped clamp for connecting the motors. Here I used two 200 rpm metal gear motors (for the backside of the rover) and two 200 rpm plastic gear motors (on the front side). Then connect the 4 motors and take out wires from the motors.

"Download and Zoom in the circuit diagram for a clear view"

Wiring instruction' NRF2401' >> 'ARDUINO'

VCC >> VCC
GND >> GND
MISO >> PIN 12
MOSI >> PIN 11
SCN >> PIN10
SCK >> PIN 13
CE >> PIN 9
IRQ (not in use)

If you are using the Bluetooth controlling option then,

Wiring instruction of HC-05 Bluetooth module >> Arduino

TX of HC-05 >> RX of Arduino
RX of HC-05 >> TX of Arduino
VCC of HC-05 >> 5volt of arduino
GND of HC-05 >> GND of Arduino

Read about the motor controller in the next step.

Step 4: Connecting All Parts Together and Testing.

Then connect all the parts together as shown in the circuit diagram, before attaching this item to the chassis make sure everything is working fine. You can find the codes needed for the rover in the next step of this tutorial.

The motor controller used

The motor driver used here was purchased from the robotkits.co.in. We can control it either by analog input or by PWM input. Which is a low cost and 6V - 18V compatible 20A capable Dual DC motor driver. It is ideal for this application where two motors (I am using 4 motors, by the parallel connection of two motors on the same side) are required for up to 20 Amperes of current during startup and during normal operations. Read more about this motor driver in this PDF here.

Step 5: Last Step Adding a Switch and Finishing. (Arduino Code)

In this last step, we are connecting the battery and an on/off switch for the rover. After connecting the switch and battery as shown in the figure. Close the upper side using another 20x15 cm size aluminium sheet and at last connect the wheels also. Now we have finished the making of the rover bot.

Battery used

In this robot, I use a LiPo 11.1 volt 2800mah 30 C battery. For choosing your own battery read this article. This is my first LiPo battery therefore I don't know much about it.

Updates in the rover

I updated this robot later by adding a 3 DOF robotic arm and an ultrasonic sensor. To see it's working watch the video below. And the tutorial of that will be posted soon on my blog.

Arduino codes

Here you can download the codes. The first code is for controlling the robot using the custom made remote. For the code used in the transmitter(Remote) visit the tutorial on making a remote -Click here to visit that tutorial. In this Arduino code, there is a library called print.h. For using that library in the Arduino code you need to add the print.h file and Arduino code in the same folder that I have provided here.

The second code is for Bluetooth controlling option, using this application - Click here to download the application.

Code

RC_rover_code_for_RF_function.ino

C/C++

#include <Servo.h> 
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "printf.h"

// Set up nRF24L01 radio on SPI bus plus pins 9 & 10
RF24 radio(9,10);
int stop1=2;
int stop2=4;
int back1=5;
int back2=7;

int pwm1=6;
int pwm2=3;



// Single radio pipe address for the 2 nodes to communicate.
const uint64_t pipe = 0xE8E8F0F0E1LL;

//
// Payload
//

uint8_t received_data[2];
uint8_t num_received_data =sizeof(received_data);

//
// Setup
//

void setup(void)
{
  delay(2000); //wait until the esc starts in case of Arduino got power first
  pinMode(6, OUTPUT);
  pinMode(3, OUTPUT);
  
  pinMode(stop1, OUTPUT); 
  pinMode(stop2, OUTPUT); 
  pinMode(back1, OUTPUT); 
  pinMode(back2, OUTPUT); 


  //
  // Print preamble
  //

  Serial.begin(57600);
  printf_begin();

  //
  // Setup and configure rf radio
  //

  radio.begin(); //Begin operation of the chip.
  // This simple sketch opens a single pipes for these two nodes to communicate
  // back and forth.  One listens on it, the other talks to it.
  radio.openReadingPipe(1,pipe);
  radio.startListening();
  //
  // Dump the configuration of the rf unit for debugging
  //
  radio.printDetails(); 
}


void Stop(void)
{
  analogWrite(pwm1, 0);
  analogWrite(pwm2, 0);
}
void Forward1(void)
{
  analogWrite(pwm1, 255);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
}
void Forward2(void){
  analogWrite(pwm2, 255);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
}
void Backward1(void){
  analogWrite(pwm1, 255);
  digitalWrite(back1, HIGH);

}
void Backward2(void){
  analogWrite(pwm2, 255);

  digitalWrite(back2, HIGH); 
}


void loop(void)
{
  // if there is data ready
  if ( radio.available() )
  {
    bool done = false;
    int value1;
    int value2;
    while (!done)
    {
      // Fetch the payload, and see if this was the last one.
      done = radio.read( received_data, num_received_data );
      value1=received_data[0]; //Multiplication by 10 because the ESC operates for vlues around 1500 and the nRF24L01 can transmit maximum of 255 per packet 
      value2=received_data[1]; //Multiplication by 10 because the ESC operates for vlues around 1500 and the nRF24L01 can transmit maximum of 255 per packet 
    //analogWrite(pwm2,value2);
    Serial.println("value2=");
    Serial.println(value2);
    Serial.println("value1=");
    Serial.println(value1);   
       if(value1<170 && value1>140 || value2>70 && value2<100){
       Stop();
       }
       if(value1>170 && value1!=0){
       Forward1();
       }
       if(value2<70 && value2!=0){
       Forward2();
       }
       if(value1<140 && value1!=0){
       Backward1();
       }
       if(value2>100 && value2!=0){
       Backward2();
       }

    }
  }
}

RC_rover_code_for_bluetooth_controling.ino

C/C++

#include <Servo.h> 
//Constants and variable
int stop1=2;
int stop2=4;
int back1=5;
int back2=7;

int pwm1=6;
int pwm2=3;

char dataIn = 'S';
char determinant;
char det;
int vel = 255; //Bluetooth Stuff


void setup() {
  Serial.begin(9600); // set up Serial library at 9600 bps

  pinMode(6, OUTPUT);
  pinMode(3, OUTPUT);
  
  pinMode(stop1, OUTPUT); 
  pinMode(stop2, OUTPUT); 
  pinMode(back1, OUTPUT); 
  pinMode(back2, OUTPUT); 
  
  //Initalization messages
  Serial.println("ArduinoBymyself - ROVERBot");
  Serial.println("     AF Motor test!");
 
}

void loop() {

  det = check(); //call check() subrotine to get the serial code
  
  //serial code analysis
  switch (det){
    case 'F': // F, move forward
  analogWrite(pwm1,vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 

  analogWrite(pwm2, vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
    det = check();
    break;
   //------- 

    case 'B': // B, move back
  analogWrite(pwm1, vel);
  digitalWrite(back1, HIGH);
   
  analogWrite(pwm2, vel);
  digitalWrite(back2, HIGH); 
    det = check();
    break;
    
//-----    
    case 'L':// L, move wheels left
    analogWrite(pwm1,vel);
    digitalWrite(back1, LOW);
    analogWrite(pwm2, vel);
    digitalWrite(back2, HIGH); 
    det = check();
    break;
//----------
    
    case 'R': // R, move wheels right
    analogWrite(pwm2, vel);
    digitalWrite(back2, LOW); 
    analogWrite(pwm1, vel);
    digitalWrite(back1, HIGH); 
    det = check();
    break;
  //-----


   case 'I': // I, turn right forward
    analogWrite(pwm1,0);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 

    analogWrite(pwm2, vel);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 
    det = check();
    break;
    
    case 'J': // J, turn right back
  analogWrite(pwm1,vel);
  digitalWrite(back1, HIGH);

  analogWrite(pwm2,0);
  digitalWrite(back2, HIGH); 
    det = check();
    break;
    
    case 'G': // G, turn left forward
  analogWrite(pwm1,vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 

  analogWrite(pwm2,0);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
    det = check();
    break;
    
    case 'H': // H, turn left back
  analogWrite(pwm1,0);
  digitalWrite(back1, HIGH);

  analogWrite(pwm2, vel);
  digitalWrite(back2, HIGH);
    det = check();
    break;


  case 'S': // R, move wheels right
    analogWrite(pwm1, 0);
    analogWrite(pwm2, 0);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 
    det = check();
    break;
    
  }
}
    

//get bluetooth code received from serial port
int check(){
  if (Serial.available() > 0){// if there is valid data in the serial port
    dataIn = Serial.read();// stores data into a varialbe

    //check the code
    if (dataIn == 'F'){//Forward
      determinant = 'F';
    }
    else if (dataIn == 'B'){//Backward
      determinant = 'B';
    }
    else if (dataIn == 'L'){//Left
      determinant = 'L';
    }
    else if (dataIn == 'R'){//Right
      determinant = 'R';
    }
    else if (dataIn == 'I'){//Froward Right
      determinant = 'I';
    }
    else if (dataIn == 'J'){//Backward Right
      determinant = 'J';
    }
    else if (dataIn == 'G'){//Forward Left
      determinant = 'G';
    }    
    else if (dataIn == 'H'){//Backward Left
      determinant = 'H';
    }
    else if (dataIn == 'S'){//Stop
      determinant = 'S';
    }
    else if (dataIn == '0'){//Speed 0
      vel = 0;
    }
    else if (dataIn == '1'){//Speed 25
      vel = 25;
    }
    else if (dataIn == '2'){//Speed 50
      vel = 50;
    }
    else if (dataIn == '3'){//Speed 75
      vel = 75;
    }
    else if (dataIn == '4'){//Speed 100
      vel = 100;
    }
    else if (dataIn == '5'){//Speed 125
      vel = 125;
    }
    else if (dataIn == '6'){//Speed 150
      vel = 150;
    }
    else if (dataIn == '7'){//Speed 175
      vel = 175;
    }
    else if (dataIn == '8'){//Speed 200
      vel = 200;
    }
    else if (dataIn == '9'){//Speed 225
      vel = 225;
    }
    else if (dataIn == 'A'){//Speed 255
      vel = 255;
    }
    else if (dataIn == 'X'){//Extra On
      determinant = 'X';
    }
    }
  return determinant;
}

Schematic and Layout

CIRCUIT DIAGRAM

CIRCUIT DIAGRAM.jpg