VIETNAM NATIONAL UNIVERSITY, HO CHI MINH CITY

UNIVERSITY OF INFORMATION TECHNOLOGY

FACULTY OF COMPUTER ENGINEERING
FULL NAME: TRẦN GIA KIỆT
ID: 21522264
CLASS: CE103.O11.MTCL

CAPSTONE PROJECT
BLUETOOTH CONTROLLED CAR USING ARDUINO
UNO OSTACLE AVOIDING
XE ĐIỀU KHIỂN BLUETOOTH SỬ DỤNG ARDUINO
UNO TRÁNH VẬT CẢN

MIDTERM CAPSTONE PROJECT REPORT

MENTOR
PhD. TRI NHUT DO
HO CHI MINH CITY, 2023

1
 TABLE OF CONTENTS

Chapter 1. INTRODUCTION…..……………………………………………………….3
Chapter 2. INGREDIENT DESCRIPTION……………………………………………..4
2.1.Arduino Uno………………………………………………………………………....4
2.2.Module Bluetooth HC-05……………………………………………………………8
2.3.Motor Driver L298N ………………………………………………………………..10
2.4. Ultrasonic sensors HC-SR04………………………………………………………..12
2.5.Secondary Ingredients……………………………………………………………….14
Chapter 3.SYSTEM DESIGN…………………………………………………………..16
3.1.Circuit map………………………………………………………………………….16
3.2.Flow chart…………………………………………………………………………..17
3.3.Block Diagram……………………………………………………………………...19
3.4. Operating principle ………….…………………………………………………….19
3.5.Controlled app bluetooth…………………………………………………………...20
3.6.Code………………………………………………………………………………...20
Chapter 4.RESULT……………..………………………………………………………26
Chapter 5.CONCLUSION……………………………………… ……………………..27
REFERENCES………….………………………………………………………………28
LIST OF FIGURE………………………………………………………………………29

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Chapter 1: INTRODUCTION
In the recent days, the process of being developing is drastically improved, particularly
increased in the communication fields such as Bluetooth, other remote-controlled cars
and robots. In every country technology is currently developing with many users,
especially in India every people are using different operating systems which are available
in several smart phones. In olden days the communication between devices should be
transmitted in wired and risky way without seeking any help of any person. But in present
world the communication between devices is improved in wireless manner without risk
and fast are kept feasible manner with taking help of persons. Android operating system
is used to communicate between Smartphone hardware and several mobile applications.
This designed model is controlled with the help of Bluetooth using Smartphone.
Due to limited time and understanding, we certainly have some shortcomings in the
process. We hope you will give us your sincere feedback.

3
Chapter 2: INGREDIENT DESCRIPTION
2.1.Arduino Uno
Arduino Uno is an open control board based on the Microchip ATmega328
microcontroller developed by Arduino.cc. The board is equipped with Digital and Analog
input/output sets that can interface with various board extensions. The Arduino Uno
circuit is suitable for those who are new to and passionate about electronics,
programming... Based on the open platform Arduino.cc, it allows you to easily build your
own project as quickly as possible (set up robots, autonomous vehicles). operation,
control to turn off LED lights...).

Figure 1

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 Specifications
Contrller chip ATmega328P

Operating voltage 5V

Input
7-12V
voltage(recommended)

Input voltage (limited) 6-20V

Digital pin number 14 (of which 6 provide PWM output)

PWM Digital pin number 6

Analog pin number 6

DC current per I/O pin 20 mA

DC current on 3.3V pin 50 mA

32 KB (ATmega328P) of which 0.5 KB used by

Flash Memory
bootloader

SRAM 2 KB (ATmega328P)

EEPROM 1 KB (ATmega328P)

Quartz speed 16 MHz

LED_BUILTIN 13

Length 68.6 mm

Width 53.4 mm

Weight 25 g

5
Power
LED: There is 1 LED integrated on the circuit board and connected to pin D13. When the
pin has a high value (HIGH), the LED will light up and the LED will turn off when it is
low (LOW).
VIN: This pin is used to supply external power (supply voltage from 7-12VDC).
5V: Output voltage 5V (maximum current on each pin is 500mA).
3.3V: Output voltage 3.3V (maximum current on each pin is 50mA).
GND: Is the pin that carries the negative electrode on the board.
IOREF: Measures the operating voltage of the microcontroller on Arduino UNO and can
read the voltage on the IOREF pin. The IOREF pin is not used as a power supply pin.

Figure 2

Memory
ATmega328 microcontroller:
32 KB of Flash memory: of which the bootloader occupies 0.5KB.

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2 KB for SRAM: (Static Random Access Menory): values of declared variables will be
saved here. The more variables you declare, the more RAM memory it takes up. When
the data source on SRAM is lost, it will be lost.
1 KB for EEPROM: (Electrically Eraseble Programmable Read Only Memory): This is
where data can be read and written to and data will not be lost when the power is lost.

Input and output pins

On the Arduino Uno Board there are 14 Digital pins used as input and output pins and
they use the pinMode(), digitalWrite(), digitalRead() functions. The voltage value on
each pin is 5V, the current on each pin is 20mA and the internal pull-up resistor is 20-50
ohm. The maximum current on each I/O pin must not exceed 40mA to avoid damaging
the circuit board.
In addition, some Digital pins have special functions:
+Serial: 0 (RX) and 1 (TX): Used to receive data (RX) and transmit data (TX) TTL.
+External interrupt: Pins 2 and 3.
+PWM: 3, 5, 6, 9 and 11 Provides PWM pulse output with 8-bit resolution using the
analogWrite() function.
+SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication
using the SPI library.
+LED: There is 1 LED integrated on the circuit board and connected to pin D13. When
the pin has a high value (HIGH), the LED will light up and the LED will turn off when it
is low (LOW).
+TWI/I2C: A4 (SDA) and A5 (SCL) support I2C/TWI communication with other
devices.
Arduino Uno R3 has 6 Analog pins from A0 to A5, the input provides a resolution of 10
bits.

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 Figure 3

2.2.Module bluetooth HC-05

HC-05 is the best Bluetooth device that uses UART communication protocol. HC-05
Bluetooth has many different features compared to all other Bluetooth devices because of
its many pins and functions.
The module typically uses UART serial communication with TX and RX pins at 9600
baunds. Has bidirectional data communication and can function as a slave and master.
The Module can work in two modes:
Master mode: It can share data with all slaves.
Slave mode: It receives data from a master Bluetooth.
Here, our Bluetooth module is working as a slave while the smartphone is a master.

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 Figure 4
It consists of 6 pins which are STATE, RXD, TXD, GND, VCC, and EN as mentioned
on the back of the module.

 STATE pin: This pin defines the state of the module whether it is paired or not with
another device.
 RxD pin: This pin uses serial UART communication. This pin is used to send AT
command when the module is in command mode.
 TxD pin: This pin uses serial UART communication. This pin is used to push out
responses to AT command when the module is in command mode.
 Vcc pin: This pin is used to supply power to the module to make it work. It is typically
connected to the 5V pin on the Arduino board. Its voltage range lies between 3.6v to 5v.
 GND pin: This pin is used to connect the module to the ground of the Arduino board.
 EN pin: This pin is used to switch between command and data mode. The module will be
in command mode if this pin is set to HIGH. Similarly, the module will be in data mode
if this pin is set to LOW.

Features of Bluetooth HC-05:

The HC-05 Bluetooth module provides two communications over shorter distances at fast
speeds.

There is an enale pin that allows switching between command line and data mode.

The module has UART protocol for easy communication with any microcontroller or
system.

Communication range is up to 8 - 10 meters but will decrease when there are obstacles.

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The device uses a 5V power source.

Module can be Master or Slave.

Supported transmission speed:

+9600

+19200

+38400

+57600

+115200

+230400

+460800

HC-05 application:

+Remote control cars for children.

+In wireless headsets and mice, HC05 is available for fast wireless communication.

+In IoT instead of using WiFi network, some devices also have Bluetooth

2.3. Motor Driver L298N

The Module functions as a driver/controller for the wheel-geared motors, enabling
control over both their direction and speed. As we are not utilizing the PWM signal
generated by Arduino to regulate the speed, the geared motors will operate at their
maximum speed because we keep the current state of the sorted PWM pins (ENA &
ENB) present on the Board. Hence, the driver module is utilized only to alter the rotation
direction of the motor, allowing the bot to move in all four directions.

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 Figure 5
It consists mainly of all the connections from connecting the motor to controlling it.

 VCC: Pin used to provide the supply to the board. Its operating supply voltage range
from 4-46 volts.
 GND: Pin used to connect the board to the ground of the supply. To ensure the proper
functioning of the board when interfacing it with an Arduino that is already powered, it is
essential to establish a connection between the ground of the board and the ground of the
Arduino.
 5V: Since the board has an inbuilt 5-volt voltage regulator. This pin provides a constant
5-volt output to power internal logic circuitry as well as to power other devices
simultaneously like microcontrollers.
 ENA & ENB: These pins are used to control the speed of the motor. Pulling the specified
pins HIGH will initiate the rotation of the motors at maximum Speed, whereas pulling
them LOW will halt their movement. However, by utilizing Pulse Width Modulation
(PWM), it becomes possible to control the speed of the motors. Typically, the module is
equipped with a jumper on these pins. When the jumper is installed, the motors operate at
maximum speed. If you desire to programmatically regulate the motor speed, removing
the jumpers and connecting the pins to the Arduino's PWM-enabled pins is necessary.
 IN1 & IN2: These pins are used to control the motors’ spinning direction and to stop
them. These two pins are assigned to control one side motor while the IN3 & IN4 are
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 assigned to control the other motor. Putting logic HIGH-LOW to IN1 & IN2 will create a
spin in the forward direction while LOW-HIGH reverses the spin. Similarly, the same is
applicable for IN3 & IN 4. Putting logic LOW-LOW & HIGH-HIGH will cause the
motor to stop. And these pins are connected to the digital pins of the Arduino.
 OUT-1 & OUT-2: This pin is used to connect to the Motors. One motor is connected to
OUT-1 & another one to OUT-2. You can connect the motor up to a voltage range of 5v
to 35volt. Keep in mind that you will get approximately a 2-volt decrement by whatever
voltage you are applied to VCC.

2.4.Ultrasonic sensors HC-SR04

Figure 6

Ultrasonic sensor HC-SR04 is a modular sensor. This sensor is usually just a circuit
board, operating on the principle of receiving and transmitting ultrasonic waves by two
high-frequency speakers.

The HC-SR04 ultrasonic sensor is often combined with Arduino, PIC, AVR,... to run a
number of applications such as: detecting obstacles on robot vehicles, measuring object
distances,...

Because it is a module ultrasonic sensor, most of the sensor's application or accuracy

depends on the code that the user programs and loads into the control circuit board.

*Structure of HC-SR04 ultrasonic sensor:

The structure of the HC-SR04 ultrasonic sensor includes 3 parts:

-Ultrasound transmitter:

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+The structure of the ultrasonic transmitter and receiver are special ceramic speakers that
emit high-intensity ultrasound at a frequency of usually 40kHz for distance measurement
needs.

+ In principle, these speakers need a high voltage source to play well (manufacturer
announced = 30V). On the power circuit, IC MAX232 is used as a buffer. This IC will
take the signal from the controller, amplify the amplitude to +/-30V to power the above
speaker. This IC will be switched on and off through a transistor to limit current
consumption.

- Reflective ultrasonic receiver:

The receiver is a ceramic speaker that is only sensitive to one frequency, such as 40KHz.
Through a series of components such as OPAM TL072, NPN transistor... This signal is
continuously amplified in amplitude and finally passed through a comparator, combined
with the signal from the controller to send to the controller.

- Signal processing and control unit

Microcontrollers (PIC16F688, STC11,...) are used to generate pulses and calculate the
time from transmitting to receiving ultrasonic waves if a TRIG signal is received.

*Operating principle of HC-SR04 ultrasonic sensor

Figure 7

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To measure distance with the HC-SR04 ultrasonic sensor, we will emit a very short pulse
(5 microSeconds) from the Trig pin. Next, a HIGH pulse at the Echo pin will be
generated and transmitted by the sensor until a reflected wave is received at this pin. At
this time, the width of the pulse will be equal to the time the ultrasonic wave is emitted
from the sensor and reflected back.

In air, the speed of sound reaches 340 m/s (constant), equivalent to 29.412
microSeconds/cm (106 / (340*100)).

Once we have calculated the time, we will divide it by 29.412 to get the distance value.

*Technical specifications of HC-SR04 ultrasonic sensor

Model: HC-SR04

Working voltage: 5VDC

Current: 15mA

Frequency: 40 KHZ

Detection distance: 2cm – 4m

Output signal: High level pulse 5V, low level 0V

Sensor angle: No more than 15 degrees.

High precision: Up to 3mm

Connection mode: VCC / Trig (T-Trigger) / Echo (R-Receive) / GND

2.5. Secondary Ingredients

Figure 8

14
Figure 9

Figure 10

15
Figure 11

16
Chapter 3:System design
3.1.Circuit map

Figure 12
3.2.Flow chart

17
 Figure 13
Figure 13 suggests flow chart of the designed model.

In the above figure represents flow chart of the designed model. There are many
steps of the flow chart I have been mentioned below.

Step1: Before starting the process the designed model it has the feasibility of a
primary checking of the power supply.

If there is any power supply “available” then it activates the robot car to start
the initialization of the several codes which is given by instructor. If in case the
power supply is not supplied to the designed model then it will move to starting
process and again repeat the initial checking of the power supply.

Step2: After the step 1 process completed, my designed robot car is moves to
initialization of the coding which is given by instructor. If in case coding has
several errors while initialization and stop the process of step 2 and again repeat
the process of step 1.

Step 3: After the step 2 process completed, then it sends the data to robot car then
my designed model starts moving the robot car in several directions which is
given by instructor.

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 Step4: Now then repeat the entire process to send the data and move several
directions. Suppose the instructor giving the several commands to the robot car
then it sending the data and repeat the process.

Step5: After successfully completed all steps then the entire process will come to
end.

3.3.Block Diagram

Ulatrasonic sensor

Forward DC Back DC
motor motor

Figure 14

3.4. Operating principle

When the switch is turned on, the bluetooth module lights up and sends data to the
arduino. From the arduino we send information to the motor driver and transmit it back to
the DC motor.Therefore,We can controlled a robot car through the application on the
phone Android. When there is an obstacle in front of you, the car stops and you cannot
operate the forward button. At that time, you can only operate the left, right, and reverse
buttons.

3.5.Controlled app bluetooth

Before proceeding, ensure that the switch of the robot car is turned ON and verify that the
batteries are fully charged. Additionally, carefully inspect all connections to ensure they
are secure and not loose.

19
 The wireless interfacing between the robot and the smartphone is facilitated by the
Bluetooth connectivity feature of the bot which is implemented by using the HC-05
module.
On our Bluetooth Enabled Smartphone, the mobile App has a control interface. This
interface allows the user to send commands to the robot car, specifying the desired
actions or movements.

 Upload the Code to Arduino and check the blinking LEDs of the BT module.
 Open the Application, turn on the Bluetooth of the smartphone, and paired App with BT
module named “HC-05”.
 If the Application is Successfully paired, the red mark at the left top corner will change to
Green.

Figure 15
Once the connection is established and the control interface is ready, the user can
wirelessly control the robot car using the Smartphone device. The control signals are
transmitted over Bluetooth and received by the Arduino board, which then interprets
them and controls the motors accordingly, executing the desired movements.
3.6.Code
#include "SoftwareSerial.h"
#include "NewPing.h" //Ultrasonic sensor function library.

SoftwareSerial HC05 (4, 3); //TX, RX

int ENA = 5;
int IN1 = 6;
int IN2 = 7;
int IN3 = 8;
int IN4 = 9;

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int ENB = 10;

int val;
int carSpeed = 100;

int cm = 0;
int duration=0;
int iterations=2;
int middleDistance = 0;
int DIS = 25;

#define Trig A4
#define Echo A5
#define maxDistance 400

boolean goForward = false;

NewPing sonar1(Trig, Echo, maxDistance); //sensor function

void setup(){
HC05.begin(9600);
Serial.begin(9600);
pinMode(Trig,OUTPUT);
pinMode(Echo,INPUT);
pinMode(ENA,OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENB,OUTPUT);
Stop();
delay(100);
}

void loop()
{
middleDistance = readPingM();
Serial.print(" Distance Middle is: ");
Serial.print(middleDistance);
if (middleDistance <= DIS)
{
goForward = false;
Stop();
delay(100);
}

21
 while (HC05.available() > 0)
{
val = HC05.read();
Serial.println(val);
Serial.println("");
switch (val)
{
case 'F':if (middleDistance >= DIS) {forward();}; break;
case 'B':backward(); break;
case 'L':left(); break;
case 'R':right(); break;
case 'I':forwardRight(); break;
case 'G':forwardLeft(); break;
case 'J':backwardRight(); break;
case 'H':backwardLeft(); break;
case 'S':Stop(); break;
case '0':carSpeed = 0; break;
case '1':carSpeed = 25.5; break;
case '2':carSpeed = 51; break;
case '3':carSpeed = 76.5; break;
case '4':carSpeed = 102; break;
case '5':carSpeed = 127.5; break;
case '6':carSpeed = 153; break;
case '7':carSpeed = 178.5; break;
case '8':carSpeed = 204; break;
case '9':carSpeed = 229.5; break;
case 'q':carSpeed = 255; break;
}
}
}

int readPingM()
{
delay(10);
duration = sonar1.ping_median(iterations);
cm=(duration/2)*0.0343;
if(cm>=400)
{
cm=400;
}
if(cm<=2)
{
cm=400;
}
return cm;

22
}

void forward() //Chay Toi

{
if(!goForward)
{
goForward=true;
Serial.println("Forward");
Serial.println("");
analogWrite(ENA,carSpeed);
analogWrite(ENB,carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
}

void backward() //Chay Lui

{
goForward = false;
Serial.println("Backward");
Serial.println("");
analogWrite(ENA,carSpeed);
analogWrite(ENB,carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

void left() //Re Trai

{
goForward = false;
Serial.println("Turn Left");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void right() //Re Phai
{

23
 goForward = false;
Serial.println("Turn Right");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

void forwardRight() //Toi Phai

{
goForward = false;
Serial.println("Forward Right");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
void backwardRight() //Lui Phai
{
goForward = false;
Serial.println("Backward Right");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void forwardLeft() //Toi Trai
{
goForward = false;
Serial.println("Forward Left");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);

24
 digitalWrite(IN4, LOW);
}
void backwardLeft() //Lui Trai
{
goForward = false;
Serial.println("Backward Left");
Serial.println("");
analogWrite(ENA,carSpeed-20);
analogWrite(ENB,carSpeed-20);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

void Stop() //Ngung

{
goForward = false;
Serial.println("Stop");
Serial.println("");
analogWrite(ENA,LOW);
analogWrite(ENB,LOW);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

25
Chapter 4:RESULT

Video: https://drive.google.com/file/d/1Q8hmxTXuWrkKrO-ksL-
qdNAcWiMbDC0E/view?usp=sharing

26
Chapter 5: CONCLUSION
1.Application:
- Automatic car + line detection
- Self-driving cars use IMU sensors
-…
2. Evaluation and direction of topic development
Robots and smart phone are a perfect match for us to realize smart living not only
at work, but in our homes, with the aid of easily available and widely used
technology, the Bluetooth. As the mobile devices are becoming more advanced,
using them for controlling Robots and other wireless devices is likely to be a huge
trend. It can be concluded that this idea of smart living will let us control our
surroundings remotely and wirelessly. With the ever increasing problems, our
knowledge has to expand to adapt better to the changes all around us. In the same
way it is hoped that this activity is a small step that would lead us to further
enhancements and goals

27
REFERENCES
1, https://mecsu.vn/ho-tro-ky-thuat/module-dieu-khien-dong-co-l298n.lGG
2, https://mecsu.vn/ho-tro-ky-thuat/module-bluetooth-hc05.8wL
3, https://academicprojectworld.com/how-to-build-4wheel-bluetooth-controlled-
robotic-car-using-arduino/
4, http://arduino.vn/bai-viet/42-arduino-uno-r3-la-gi
5, https://huphaco.vn/cam-bien-sieu-am-hc-sr04/

28
 LIST OF FIGURE
Figure 1:Arduino UNO……………………………………………………………………4
Figure 2:Power of Arduino UNO…………………………………………………………6
Figure 3:Pin of Arduino UNO……………………………………………………...8
Figure 4:Module Bluetooth HC-05…………………………………………………9
Figure 5:Motor driver L298N……………………………………………………..11
Figure 6:Ultrasonic sensors HC-SR04……………………………………………12
Figure 7: Size and wave of HC-SR04 ultrasonic sensor………………………….13
Figure 8:Pin 18650………………………………………………………………..14
Figure 9: Battery base……………………………………………………………..15
Figure 10:Chassis………………………………………………………………....15
Figure 11: Circuit wire……………………………………………………………16
Figure 12:Circuit map…………………………………………………………….17
Figure 13:Flowchart………………………………………………………………18
Figure 14:Block diagram………………………………………………………….19
Figure 15:Controlled bluetooth app……………………………………………….20

29