Bluetooth Arduino Tank Control

This sample sketch is for Arduino based bluetooth tank with the following components, feel free to modify the code to suit your DIY project. Happy building!


1) Arduino UNO R3
2) Motor Driver (2A Dual L298N H-Bridge)
3) HC06 Bluetooth Module

Note: Disable bluetooth power when uploading sketch


Data sent while pressing button:

Up = w
Down = x
Left = a
Right = d
Cannon left = q
Cannon right = e

While release button will sent out = s

Download
Arduino Code = https://dl.dropboxusercontent.com/u/17916918/BluetoothTankBasicCode.ino



Arduino Code
// Define Motor Driver Pins
int ENA=9;
int IN1=7;
int IN2=8;

int IN3=2;
int IN4=4;
int ENB=10;


// Define Motor Speed Value
int motorSpeed=80; // Normal Speed
int motorTurnSpeed=110; // Speed When Turning Left or Right

char val; // Define val To Store The Serial Input


void setup() // Run once, when the sketch starts
{
Serial.begin(9600); // Set the baud rate to match with bluetooth
pinMode(ENA,OUTPUT); // Sets the pin as output
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);

pinMode(ENB,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
}


void forward()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
analogWrite(ENA,motorSpeed); // Enable Motor & Set the Speed

digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
analogWrite(ENB,motorSpeed);
}


void backward()
{
digitalWrite(IN1,LOW); // Motor drivers may have difference setting, change it accordingly
digitalWrite(IN2,HIGH);
analogWrite(ENA,motorSpeed);

digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
analogWrite(ENB,motorSpeed);
}


void left()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
analogWrite(ENA,motorTurnSpeed);

digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
analogWrite(ENB,motorTurnSpeed);
}


void right()
{
analogWrite(ENA,motorTurnSpeed);
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);

analogWrite(ENB,motorTurnSpeed);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}


void motorStop()
{
analogWrite(ENA,0);
analogWrite(ENB,0);
}


void loop() // Run continuously until powered down
{
val = Serial.read(); // Read & store information from the serial port to val

if (val != -1) {

if (val == 'w' || val == '8')
forward();

else if (val == 'x' || val == '2')
backward();

else if (val == 'a' || val == '4')
left();

else if (val == 'd' || val == '6')
right();

else if (val == 's')
motorStop();
}
}