Bluetooth Car Using Arduino

Project Report
On
Bluetooth Car Using Arduino

Submitted in partial fulfilment of the requirements for the award of degree of
BACHELOR OF ENGINEERING
IN
COMPUTER SCIENCE & ENGINEERING
Submitted to: Submitted By:

Punit Soni Team Leader: Arkin Markan, 19BCS2195 (Grp-A)
Member 1: Rainy Thakur, 19BCS2189 (Grp-A)
Member 2: Sajal Srivastava, 19BCS2187 (Grp-A)
Member 3: Girish Gour, 19BCS2215 (Grp–B)
Mentor Signature:
Saurabh (E-8616)
DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING
CHANDIGARH UNIVERSITY, GHARUAN
May, 2021
CERTIFICATE
This is to certify that the work embodied in this Project Report entitled “Bluetooth Car Using
Arduino ” being submitted by “Arkin Markan” – UID “19BCS2195”, “Rainy” – UID
“19BCS2189”, “Sajal Srivastava” – UID “19BCS2187”, “Girish Gour” – UID “19BCS2215”,
4th Semester for partial fulfillment of the requirement for the degree of “ Bachelor of Engineering
in Computer Science & Engineering ” discipline in “ Chandigarh University ” during the
academic session JAN-JUNE 2021 is a record of bonafide piece of work, carried out by student
under my supervision and guidance in the “ Department of Computer Science & Engineering
”, Chandigarh University.
APPROVED & GUIDED BY:
Project Supervisor: Saurabh, E-8616
Project Teacher: Punit Soni, E-9880

DECLARATION
We, student of Bachelor of Engineering in Computer Science & Engineering, 4th Semester ,
session: Jan – June 2021, Chandigarh University, hereby declare that the work presented in this
Project Report entitled “Bluetooth Car Using Arduino” is the outcome of our own work, is bona
fide and correct to the best of our knowledge and this work has been carried out taking care of
Engineering Ethics. The work presented does not infringe any patented work and has not been
submitted to any other university or anywhere else for the award of any degree or any professional
diploma.
Student details and Signature
S.No Name of the Student Contact No. Signature
1. Arkin Markan +919914603141
2. Rainy +918894181097
3. Sajal Srivastava +919794805656
4. Girish Gour +917051356769
APPROVED & GUIDED BY:
Project Supervisor: Saurabh, E-8616

Project Teacher: Punit Soni, E-9880
ABSTRACT
The project aims is to design an arduino bot and write program in to the arduino microprocessor.
Arduino car contains arduino microcontroller with basic mobility features.
The world is at the dawn of a smart phone era where everything in our day to day life is, and can
be controlled via a smart phone. This smart phone usage is rapidly evolving and has moved on
from being just a device for voice calls and texting into a daily driver, which is being used to
automate and control various day to day objects near and around us, some of which include lights,
televisions, sound systems, air conditioners etc. So in such a time where people are migrating to a
smart phone based life, exercising control over things near and around them, our project is aimed
at developing a toy car to entertain kids and which can be controlled through a smart phone app.
Making best use of the high end byte crushing processors in their hands, the app facilitates the user
to control the toy car which attracts the child, plays with the child and also packs some additional
features for entertainment of the user.
Arduino programs contains instructions mediating between android controller and Arduino car.
Android mobile controller uses different mobile sensors to supervise motion. An appropriate
program in the arduino microprocessor to interact with the android controller has to be created.
The interface is easy to use and provide feedback from the arduino microprocessor through the
bluetooth after giving instruction to arduino for various actions through interface via bluetooth
module. After doing all of this we have test this project thoroughly and find the maximum no. of
error & wrong logic in the microprocessor program. After doing this only we can say that we have
been able to create as per our goal described. The device can be controlled by any smart device
with android.
Since robotics has become a major part in our daily life and also in the engineering field and it
plays a vital role in the development of new technology. This is a type form of remote control car,
where the ordinary micro-controller has been replaced by Arduino and IR sensors has been
replaced by a Bluetooth module. The remote can be any android or IOS cell phones. This project
can be made in a bigger scale for real time vehicles.
TABLE OF CONTENTS
S. No. Topic Page No.
Certificate……………………………………… i
Declaration…………………………………….. ii
Abstract………………………………………... iii
Acknowledgement..................................................... 1
1. SummaryReport.................................................... 2
2. Phase-Wise Marksheet........................................ 3
3. Project Proposal................................................... 4
4. Project Synopsis..................................................... 5-13

4.1 Introduction................................................................. 6-7
4.2 Feasibility Study…………………………………….. 8
4.3 Methodology/Planning of Work………………........ . 9
4.4 Module & Roles of each team member……………... 10
4.5 Innovations in Project ….……………………….... 11
4.6 Software & Hardware Requirements .……………. 12
4.7 Bibliography ……………………………….…….... 13
5. Project Log Reports with Implementation…….. 14-17
5.1 Project Log Report 1 ……………………………………......... 14
5.2 Project Log Report 2 ……………………………………………. 15
6. Progress Report-1................................................ 18-25
6.1 Project Design............................................................. 19-21
6.2 Innovation………....................................................... 22-23
6.3 Use Case Diagram....................................................... 24-25
7. Progress Report-2 …………………………...... 26
7.1 Implementation……………………………………… 27—29
7.2 Arduino Code ……………………………………….. 30-35
7.3 Output Validation And Comparison ……………….. 36
7.4 Applications ………………………………………… 37-38
7.5 Team Work. ………………………………………… 39
7.6 Summary …………………………………………… 40
8. Discussion ………………………………………. 41
9. Conclusion ............................................................ 42
Acknowledgement
We would like to express our special thanks of gratitude to our Project Supervisor, Mr. Saurabh
for his sincere guidance, inspiration and cooperation in this project.
We would also like to extend our gratitude to our Project Teacher, Mr. Punit Soni
for his kind guidance, coordination and encouragement. This project would not have been possible
without the support of our families and for that, we are indebted to them and would like to thank
them from the bottom of ourhearts.
We gained a lot of knowledge on the topics that were involved in this project and we are sure that
it will prove to be very useful for us in the future.
1
1. Summary Report
SUMMARY SHEET
PHASES Date of Comments Review by Marks by Remarks
Submission by Mentor Mentor by Project
Students Teacher
Project 17/02/2021 Completed
Proposal the part of
proposal.
Synopsis 24/02/2021 Searched

and Learnt
the
required
techs
needed for
the project
Project Design 19/03/2021 Made
and Modeling Circuit
diagrams
and worked
on some
designing
part
Project 24/04/2021 Made the
Implementation physical
model of
car
IEEE
Paper/patent
for (PIE)
Final Project
Assessment
2
2. PHASE-WISE MARKSHEET
University Institute of Engineering,

ChandigarhUniversity
Department of Computer Science &
Engineering
Date: 06-02-2021
S. No Project Synopsis Project Project IEEE Paper/ Final Mentor
Proposal (5 (8 Design and Impleme Patent/ H/w Project Signatur
Marks) Marks) Modeling ntation (12) Product (5) Assessment e
(10) +Viva (20)
19bcs2195 4 7
19bcs2189 4 7
19bcs2187 4 7
19bcs2215 4 7
Project Teacher Signature
3
3. PROJECT PROPOSAL
University Institute of Engineering, Chandigarh University

Department of Computer Science & Engineering
Project Proposal
Date:
Project Title
BLUETOOTH CAR USING ARDUINO
Project Team
Team Designation Name UID Section
Leader ARKIN MARKAN 19BCS2195 A

Member1 RAINY 19BCS2189 A
Member2 SAJAL 19BCS2187 A
Member3 GIRISH GOUR 19BCS2215 B
Project Objective
To make a power full car and control it using Arduino Uno and use Bluetooth module to control it through
mobile phone.
Project ID (If selected from project basket) 172
Project Outcome (Tick the H/W + S/W
Patent Journal Paper S/W Project  Other
Column) Project
Remark of Supervisor
Name of Supervisor Signature

S.No. Name of the Students Contac Signature
t No.
Arkin Markan
1. 9914603141
Rainy Thakur
2. 8894181097
Sajal Srivastava
3. 9794805656
Girish Gour
4. 7051356769
Signature (Project Teacher)
4
4. PROJECT SYNOPSIS

IN

Mr. Punit Soni Arkin Markan-Leader
19BCS2195
Rainy
19bcs2189
Sajal
19bcs2187
GirishGour
19bcs2215
Mentor Signature
(Mr. Saurabh / E8616)

Chandigarh University, Gharuan
February 2021
5
INTRODUCTION
The world is at the dawn of a smart phone era where everything in our day to day life is, and can
be controlled with a smartphone.
The main purpose of this project is to create a remote interface to control Robot with wireless
technology. There is a need to communicate with a robot remotely to control the movement of
robots and to transmit critical information in both ways.
Today, the most common method is material handling process. This process improves customer
service, reduces delivery time and hard work. To alleviate the hassle of handling robots, a
Bluetooth-powered robotic car is a relatively inexpensive, easy-to-use and efficient way to go.
The aim of the project is to design an Arduino bot system and write a program on arduino
Microprocessor. The Arduino car contains an Arduino microcontroller with basic navigation
features. Arduino apps contain mediation instructions between Android controller and Arduinocar.
Android mobile controller uses various mobile sensors to monitor movement. An appropriate
program in the arduino microprocessor to interact with the android controller has to be created.
The program will be complied through arduino IDE to the arduino microprocessor & loaded in to
it after proper checking of logic to to minimize any hardware loss / damage. We will use a android
application that will provide user an interface to interactwith the arduino powered car. The
interface will be easy to use and will control arduino microprocessor via the Bluetooth after giving
instruction to arduino for various actions throughinterface through the Bluetooth module.
Arduino will be interfaced with Bluetooth module to establish the connectivity and it will alsobe
attached with motor driver to control the motor speed. The user will have access to controlthe
robot car using the Android programmed app. This robot car will move according to the instruction
given through the Android application by the user. The proposed model of robot car will be
operated on any kind of surface that is another advantage. This is also cost efficientand simple than
other existing systems. The proposed system is more suitable for modern era.
The Arduino Uno is a microcontroller board based on the ATmega328P. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz
crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains
6
Everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started. You can tinker with your
UNO without worrying too much about doing something wrong, worst case scenario you can
replace the chip for a few dollars and start over again.
"Uno" means 1 in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The
Uno board and version 1.0 of Arduino Software (IDE) were the reference versions of Arduino,
now evolved to newer ones. The Uno board is the first in a series of USB Arduino boards, and the
reference model for the Arduino platform; for an extensive list of current, pastor outdated boards
see the Arduino index of boards.
The L298 is an integrated monolithic circuit in a 15- lead Multiwatt and PowerSO20 packages.It is
a high voltage, high current dual bridge driver designed to accept standard TTL logic levelsand drive
inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputsare provided
to enable or disable the device independently of the input signals. The emitters ofthe lower
transistors of each bridge are connected together and the corresponding external terminal can be
used for the connection of an external sensing resistor.
An additional supply input is provided so that the logic works at a lower voltage. Bluetooth isa
wireless technology standard for exchanging data over short distances from fixed and mobile
devices, and building personal area networks (PANs). Range is approximately 10 Meters (30 feet).
BLOCK DIAGRAM
Dc
Bluetooth Motor
Motor
Module Arduino
Driver
(HC-05) Dc
Motor
7
FEASIBILITY STUDY
We are living in the 21st century. Now, smart phone has become the most essential thing in our
daily lives. Android based smartphones are becoming each time more powerful and equipped
with several accessories that are useful for Robots. This project describes how to control a robot
using smartphone using Bluetooth communication, some features about Bluetooth technology,
components of the mobile and robot. We will present a review of robotscontrolled by mobile
phone via moving the robot upward, backward, left and right side by theandroid application.
Bluetooth has changed how people use digital device at home or office, and has transferred
traditional wired and digital devices to wireless devices. Here we are using Bluetooth
communication, interface microcontroller and android application. We are using Arduino
software to interface the Bluetooth module with microcontroller. According tocommands
received from android the robot motion will be controlled. We will derive simple solutions to
provide a framework for building robots with a low cost but with high computationand sensing
capabilities provided by the smartphone that will be used as a control device.
 We have used Arduino because it is an open source device which can be programmed
through any operating system like Windows, Mac, Linux, etc.
 The language used is understandable and easy.
 Arduino can be used by beginner in robotics to professionals.
 Changing of program is easy.
 Shield (external circuits) are available for various purpose like, if we want to connect
the Arduino to a network then a wi-fi shield is available. For controlling the motor a
motor shield is available, and for this project a Bluetooth shield is used
 Once a program is burned we don‘t need to worry about the program getting erased as
long as it is not reset.
 Arduino has also over all other microcontroller because of its efficiency and user
friendly property.
Many connection technologies are used nowadays such as GSM, GPRS, Wi-Fi, WLANs and
Bluetooth. Every technique has its own distinctive characteristics and applications. Among
these wireless connections, Bluetooth and Wi-Fi technology is usually enforced.
8
METHODOLOGY/ PLANNING OF WORK
For this project we will use a toy car toy. Here we have selected an toy car with a left-hand
drive feature. We have changed its RF circuit and our Arduino circuit. This car will have two
motor motors front and rear. A front-wheel drive vehicle will be used to provide vehicle
direction means a left turn or a right turn. The rear-wheel drive vehicle will also be used to
drive the car forward and forward. The Bluetooth module will be used to receive commands
from the Android phone and the Arduino UNO will be used to control the entire system.
The Motor driver of the car is connected to arduino to run the car. The driver's input pins are
connected to the arduino digital pins. Here we have used two DC motors to driver car in which
one motor is connected at output pin of motor driver and another motor is connected with rest
pins. Battery is used to power a motor driver to drive motors. Bluetooth module’s rx and tx
pins are directly connected to tx and rx of the Arduino. And the vcc and ground pin of Bluetooth
module is connected to +5 volt and Arduino ground. And a 9 volt battery is used to power the
circuit in Arinino's Vin pin.
The Bluetooth-enabled car will move with the touch button on the Android Bluetooth mobile
app. To run this project first we will need to download the Bluetooth app from Google Play
Store. We may use any Bluetooth device that will support or send the data. Here are some
application names that might work well. - Bluetooth Spp pro / Bluetooth controller for arduino.
When we will touch forward button in Bluetooth controller app then car will start moving in
forward direction and it continues running forward until the finger will be moved.
When we will touch backward button in Bluetooth controller app then car will start moving in
reverse direction and it continues reverse until the finger will be moved .
When we will touch left button in Bluetooth controller app then car will start moving in left
direction and it continues left until the finger will be moved. In this condition front side motor
will turn front side wheels in left direction and rear motor will run in forward direction.
When we will touch right button in Bluetooth controller app then car will start moving in right
direction and it continues right until the finger will be moved. In this condition front side motor
will turn front side wheels in right direction and rear motor will run in forward direction.
9
MODULE & TEAM MEMBER WISE DISTRIBUTION OF WORK
Group Members Name Work Date to accomplish

Arkin Markan Circuit Designing and 10 March and 14 April
Implementation
Rainy Circuit Diagramand 2 March and 14 April
Assembling
Sajal Srivastava Requirement analysis and 2 March And 14 April
Arduino Programming
Girish Gour Circuit Designing and 10 March and 14 April
Implementation
First Step will be gather the list of components required for this project and then the next step
would be the implementation of the block diagram. Then after the block diagram the next step
will be to design the circuit diagram.
Once we have the components we will start working with the hardware part and designing of
car.
The next step will be to implement the base of the car along with the tyres and motors in it.
Then connecting the circuits of the car and arduino uno and connecting it to the Bluetooth
module. After this it will be the time to write and upload the program in arduino chip.
Before connecting it to the mobile device, once all the connections will be checked so that there
is no fault or wrong connection so as to avoid the damage of hardware parts.
Team member will download a compatible app from playstore and connect the car with mobile
phone using Bluetooth and test the car.
Than after the project is ready it will the testing part which will be performed to check whether
the car moves and accepts the commands correctly and troubleshoot the errors if any.
10
INNOVATIONS IN PROJECT
Our project controls the car not through sensors or transmitter but using Bluetooth which is the
easiest way to communicate today. Remote control for this project is an Android tool with a
built-in Bluetooth module.
Bluetooth is a serial communication method that can connect two devices. Here we have
included a Bluetooth module that connects to the phone's Bluetooth, which allows us to
communicate and allow us to control it.
The Bluetooth module does not work alone in controlling the car. The main part of the car
control is played by Arduino UNO which comes with the micro-controller ATMEGA32.
Arduino played a major role in the robotic category and made it easy to convert digital and
analog signals into physical movements. This project is Bluetooth-based because it gives us a
wide range of control and performance.
It also allows us to change the remote at any time, which means we can use any Android device
including phones, tablets, computers. Physical barriers such as walls, doors, etc. They do not
work in car control.
Even this car will have a rechargeable battery instead of simple ones which will help in future
use as it will help us in avoiding to buy new batteries after a time.
11
HARDWARE AND SOFTWARE REQUIREMENTS
Hardware of this project consists of Arduino UNO, Bluetooth module and a motor driver IC.
The Bluetooth module is connected with the Arduino UNO board for the connection with the
user. Through the Bluetooth module for monitoring and controlling the particular motor
reaches the board and process accordingly and the output of the Arduino goes to the motor
driver IC and it controls the particular motor.
Hardware Used:
1. Arduino Uno Board
2. Bluetooth Module (HC-05)
3. Motor Driver Module (L298D)
4. Rechargeable Battery Pack
5. Car Chassis
6. Free Wheeler
7. Few Jumper wires as per required
8. Led lights ( white and Red)
Software Used:
1. Arduino Bluetooth Controller Application (Can be download from Google Play
Store)
2. Arduino Software Code
Hand tools and fabrication machines

1. Soldering Iron
2. Nose Pliers
3. Flux (soldering purpose)
4. Glue gun with glue sticks
12
BIBLIOGRAPHY
 Design of a Bluetooth Enabled Android Application for a Microcontroller Driven Robot
By Vito M. Guardi, (May 2014).
 Introduction to Arduino A piece of cake! by Alan G. Smith September 30, 2011
 30 Arduino Projects for the Evil Genius™ Simon Monk, McGraw-Hill Companies Inc
 A. Sharma, J. Mondal, C. Pandey, R. Kumar and A. Bhattacharya, “IoT Based Home
Automation System”; Advances in Applied Science; Volume 2017; Article ID 100005,
pp. 01-06; Feb. 2017
 Arpit Sharma, ReeteshVerma, Saurabh Gupta and Sukhdeep Kaur Bhatia, “Android
Phone Controlled Robot Using Bluetooth”, International Journal of Electronic and
Electrical Engineering. Volume 7, Number 5 (2014), pp. 443-448.
 P. D. Minns, Atmega32 for Arduino Microcontroller System. Author House, 2013
 https://www.arduino.cc/en/Tutorial/Foundations/AnalogInputPins
13
5. PROJECT LOG REPORTS WITH IMPLEMENTATION4
5.1 PROJECT LOG REPORT-1

Weekly - Project Log Report
Project Title
Bluetooth Car Using Arduino.
Meeting Number 1 Meeting Date

UID Status of the Work
Name of Students Absent Not done Not Need Satisfactory
anything Satisfactory Improvement
Arkin Markan 19BCS2195
Rainy 19BCS2189
Sajal Srivastava 19BCS2187
Girish Gour 19BCS2215
Project Completion status (Filled by Students)

We have gathered the components such as Arduino Uno, Motor Driver Module, Bluetooth Module,
Car chasis, jumper wires and some other instruments that were required for the project
implementation. We have also designed the Block Diagram and Circuit Diagram for the Project.
Name of Supervisor Saurabh Signature

S.No. Signature of the Contact No. Signature
Students
1. Arkin Markan 9914603141
Rainy
2. 8894181097
Sajal Srivastava
3. 9794805656
Girish Gour
4. 7051356769
Project Lab-Teacher Name
sa
Punit Soni
14
5.2 PROJECT LOG REPORT-2
6. University Institute of Engineering, Chandigarh University

7. Department of Computer Science & Engineering
8. Weekly - Project Log Report
9. (Submit to your Project Teacher on every Project Lecture)
Project Title
Meeting
2 Meeting Date 02-04-21
Number
UID Status of the Work (Filled by Supervisor)
Name of Students Not done Not Need
Absent Satisfactory
Rainy 19BCS2189
Using the block diagram and circuit diagram,we have assembled the car according to the project we
have removed unwanted things in chasis so as to fit the arduino and motor controller. After the chasis
work ,we have fitted the motor in car chassis and given connection to the motors.
Name of Supervisor Saurabh Signature

Signature of the
S.No. Contact No. Signature
Students
Rainy
2. 8894181097
Sajal Srivastava
3. 9794805656
Girish Gour
4. 7051356769
Project Lab-Teacher
Name Punit Soni Signature
15
5.3 PROJECT LOG REPORT – 3

Project Title
Meeting
3 Meeting Date 07-04-21
Number
Absent Satisfactory
Rainy 19BCS2189
We have completed with the fitting of arduino uno, Bluetooth module and motor controller and
connected motors to the motor controller and completed all the connections as it was in circuit
diagram. We have also placed rechargeable batteries in car and connected those batteries to power
the motors.
Name of
Saurabh Signature
Supervisor
Signature of the
Students
Rainy
2. 8894181097
Sajal Srivastava
3. 9794805656
Girish Gour
4. 7051356769
Project Lab-Teacher
16
5.4 PROJECT LOG REPORT – 4

Project Title
Meeting Meeting
4
Number Date
Absent Satisfactory
Rainy 19BCS2189
We have programmed the arduino uno and tested the car by running it using android phone
connected through Bluetooth. We have assembled full car with all things and the connections were
fixed properly so as to avoid any wire loosening in future
Name of
Saurabh Signature
Supervisor
Signature of the
Students
Rainy
2. 8894181097
Sajal Srivastava
3. 9794805656
Girish Gour
4. 7051356769
Project Lab-Teacher
17
PROGRESS REPORT-1

Submitted in partial fulfillment of the requirements for the award of degree of
IN

Puneet Soni Arkin Markan 19BCS2195
Rainy 19BCS2189
Sajal Srivatsava 19BCS2187
Mentor Signature
(Mr. Saurabh E8616)
January, 2021
18
1. Project Design
For this project we will use a toy car toy. Here we have selected an toy car. We have changed its
RF circuit and with Arduino circuit. This car will have two motor motors front and rear. A front-
wheel drive vehicle will be used to provide vehicle direction means a left turn or a right turn. The
rear-wheel drive vehicle will also be used to drive the car forward and forward.
The Bluetooth module will be used to receive commands from the Android phone and the
Arduino UNO will be used to control the entire system. The Motor driver of the car is connected
to arduino to run the car. The driver's input pins are connected to the arduino digital pins. Here
we have used two DC motors to driver car in which one motor is connected at output pin of
motor driver and another motor is connected with rest pins.
Battery is used to power a motor driver to drive motors. Bluetooth module’s rx and tx pins are
directly connected to tx and rx of the Arduino. And the vcc and ground pin of Bluetooth module
is connected to +5 volt and Arduino ground. And a 9 volt battery is used to power the circuit in
Arduino's Vin pin.
We have divided the project into different sections which will help in final product. In First step
we had gather the list of components required for this project
Hardware Used:
1. Arduino Uno Board

2. Bluetooth Module (HC-06)
3. Motor Driver Module (L298D)
4. Rechargeable Battery Pack
5. Car Chassis
6. Free Wheeler
7. Few Jumper wires as per required
8. Led lights ( white and Red)
19
Software Used:
1. Arduino Bluetooth Controller Application
2. Arduino Software Code
FLOW CHART FOR WORKING OF MODULE
Then in the next step we have implemented the block diagram for the model.
Dc
Motor
Bluetooth
UNO Motor
Module
Arduino
Driver
(HC-05) Dc
Motor
20
In this circuit we have used Arduino Uno board to control the robot car. This car have two dc
motors at its front and rear side. Front side motor is used for giving direction to car means turning
left or right side (like real car steering feature). And rear side motor is used for driving the car in
forward and backward direction. A Bluetooth module is used to receive command from android
phone and Arduino UNO is used for controlling the whole system. Bluetooth controlled car moves
according to button touched in the android Bluetooth mobile app. To run this project first we need
to download Bluetooth app form Google play store. We can use any Bluetooth app that supporting
or can send data.
The android application controlled robot communicates via Bluetooth to the Bluetooth module
present on the robot. While pressing each button on the application, corresponding commands are
sent via Bluetooth to the robot. The arduino on the robot then checks the command received with
its previously defined commands and controls the DC motors depending on the command received
to cause it to move forward, backward, left, right or to stop. Thus allowing us to create an android
controlled robot.
The major building blocks of the project are:
 Regulated Power Supply.

 Microcontroller.
 Android smart phone.
 Bluetooth module.
 DC motors with driver.
 LED indicators.
Then after the block diagram the next step was to design the circuit diagram.
After the circuit diagram we had collected the components like Arduino Uno, Motor controller we
have started with the wiring of the hardware and base of the car using the concept of circuit diagram
and block diagram.
21
INNOVATION
We are living in the 21st century. Now, smart phone has become the most essential thing in our
daily lives. Android based smartphones are becoming each time more powerful and equipped with
several accessories that are useful for Robots.
This project describes how to control a robot using smartphone using Bluetooth communication,
some features about Bluetooth technology, components of the mobile and robot. We will present
a review of robots controlled by mobile phone via moving the robot upward, backward, left and
right side by the android application.
Bluetooth has changed how people use digital device at home or office, and has transferred
traditional wired and digital devices to wireless devices. Here we are using Bluetooth
communication, interface microcontroller and android application.
We are using Arduino software to interface the Bluetooth module with microcontroller. According
to commands received from android the robot motion will be controlled.
We will derive simple solutions to provide a framework for building robots with a low cost but
with high computation and sensing capabilities provided by the smartphone that will be used as a
control device.
.
connected to arduino to run the car. Motor driver’s input pins 1, 2, 3 and 4 are connected to
arduino's digital pin number 5, 6, 10 and 11 respectively. Here we have used two DC motors to
driver car in which one motor is connected at output pin of motor driver 3 and 6 and another
motor is connected at 11 and 14. A 6 volt Battery is also used to power the motor driver for
driving motors. Bluetooth module’s rx and tx pins are directly connected at tx and rx of
Arduino. And vcc and ground pin of Bluetooth module is connected at +5 volt and gnd of
Arduino. And a 9 volt battery is used for power the circuit at Arduino’s VIN pin
Our project will control the car not through sensors or transmitter but using Bluetooth which is
the easiest way to communicate today.
Remote control for this project is an Android tool with
22
Circuit Diagram for Bluetooth controlled car is shown figure. A Motor driver is connected to
arduino to run the car. Motor driver’s input pins 1, 2, 3 and 4 are connected to arduino's digital
pin number 5, 6, 10 and 11 respectively. Here we have used two DC motors to driver car in
which one motor is connected at output pin of motor driver 3 and 6 and another motor is
connected at 11 and 14. A 6 volt Battery is also used to power the motor driver for driving
motors. Bluetooth module’s rx and tx pins are directly connected at tx and rx of Arduino. And
vcc and ground pin of Bluetooth module is connected at +5 volt and gnd of Arduino. And a 11.1
volt rechargeable battery is used for power the circuit at Arduino’s VIN pin
Our project will control the car not through sensors or transmitter but using Bluetooth which is the
easiest way to communicate today.
Remote control for this project is an Android tool with a built-in Bluetooth module. Bluetooth is
a serial communication method that can connect two devices. Here we have included a Bluetooth
module that connects to the phone's Bluetooth, which allows us to communicate and allow us to
control it.
The Bluetooth module does not work alone in controlling the car. The main part of the car control
is played by Arduino UNO which comes with the micro-controller. Arduino played a major role
in the robotic category and made it easy to convert digital and analog signals into physical
movements.
This project is Bluetooth-based because it gives us a wide range of control and performance. It
also allows us to change the remote at any time, which means we can use any Android device
including phones, tablets, and computers. Physical barriers such as walls, doors, etc. They do not
work in car control.
Even this car will have a rechargeable battery instead of simple ones which will help in future use
as it will help us in avoiding to buy new batteries after a time.
23
IMPLEMENTATION
The Motor driver of the car is connected to arduino to run the car. The driver's input pins are
connected to the arduino digital pins. Here we have used two DC motors to driver car in which
one motor is connected at output pin of motor driver and another motor is connected with rest pins.
Battery is used to power a motor driver to drive motors. Bluetooth module’s rx and tx pins are
directly connected to tx and rx of the Arduino. And the vcc and ground pin of Bluetooth module
is connected to +5 volt and Arduino ground. And a 9 volt battery is used to power the circuit in
Arduino's Vin pin.
The Bluetooth-enabled car will move with the touch button on the Android Bluetooth mobile app.
To run this project first we will need to download the Bluetooth app from Google Play Store. We
may use any Bluetooth device that will support or send the data. Here are some application names
that might work well. - Bluetooth Spp pro / Bluetooth controller for arduino.
24
Arduino will be interfaced with Bluetooth module to establish the connectivity and it will also be
attached with motor driver to control the motor speed. The user will have access to control the
robot car using the Android programmed app. This robot car will move according to the instruction
given through the Android application by the user.
25
Second Progress Report
Submitted in partial fulfillment of the requirements for the award of degree of
IN

Puneet Soni Arkin Markan 19BCS2195
Rainy 19BCS2189
Sajal Srivatsava 19BCS2187
Mentor Signature
(Mr. Saurabh E8616)
26
IMPLEMENTATION
RC module is the main working unit of this system. This unit consists of the Arduino chip, the
motor drivers, and a Bluetooth module connected to the circuit. L298N Motor driver are used to
control the dc motors. The Arduino Uno, which is a small android chip, resides at the center of the
unit. It is responsible for communicating with android smartphone, using the Bluetooth module
and controls the motors using the motor driver. The RC unit is powered using 6V battery connected
to this Arduino chip. It is used another Arduino chip, temperature sensor for sensing the
temperature and humidity of the atmosphere. The Paper on Android Controlled Arduino based
Robotic Car for controlling the module is received using Bluetooth module HC-06.
After simulating the circuit connections, we have programmed the arduino uno. Connections were
made as per the circuit diagram and the file of the code of arduino was attached to the Arduino
uno.
An appropriate program in the arduino microprocessor to interact with the android controller has
to be created. The program has been successfully complied through arduino IDE to the arduino
microprocessor & loaded in to it after proper checking of logic to decrease any loss/damage of
hardware.
27
In the course of developing this project we have achieved the following milestones. The android
guided arduino car has been created successfully and testing has been done for all the known cases
regarding the usage of project.
The project has completed its aim to designing an android interface, arduino bot and write program
in to the arduino microprocessor. Arduino car contains arduino microcontroller with basic mobility
features. Arduino programs contains instructions mediating between android controller and
Arduino car.
28
The project has been completed with success with the utmost satisfaction. The constraints square
measure met and overcome with success. The system styled /is meant/ is intended as find it
irresistible was set within the design section.
The system is extremely versatile and versatile. This code encompasses an easy screen that permits
the user to use with none inconvenience. Validation checks iatrogenic have greatly reduced errors.
Provisions are created to upgrade the code. The applying has been tested with live information and
has provided a prosperous result. Thence the code has proven to figure expeditiously. The system
created met its objectives, by being straightforward to use, implement and secure. This code is
developed with measurability in mind. Further modules may be simply other once necessary. The
code is developed with standard approach. All modules within the system are tested with valid
information and invalid information and everything work with success.
29
ARDUINO CODE
#define in1 5 //L298n Motor Driver pins.
#define in2 6
#define in3 10
#define in4 11
#define light_FR 14 //LED Front Right pin A0 for Arduino Uno

#define light_FL 15 //LED Front Left pin A1 for Arduino Uno
#define light_BR 16 //LED Back Right pin A2 for Arduino Uno
#define light_BL 17 //LED Back Left pin A3 for Arduino Uno
int command; //Int to store app command state.
int Speed = 204; // 0 - 255.
int Speedsec;
int buttonState = 0;
int lastButtonState = 0;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will malfunction if
this is higher than int Speed.
int brakeTime = 45;
int brkonoff = 1; //1 for the electronic braking system, 0 for normal.
boolean lightFront = false;
boolean lightBack = false;
boolean horn = false;
void setup() {
pinMode(in1, OUTPUT);
pinMode(light_FR, OUTPUT);
pinMode(light_FL, OUTPUT);
pinMode(light_BR, OUTPUT);
pinMode(light_BL, OUTPUT);
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
30
}
void loop() {
if (Serial.available() > 0) {
command = Serial.read();
Stop(); //Initialize with motors stoped.
if (lightFront) {digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);}

if (!lightFront) {digitalWrite(light_FR, LOW); digitalWrite(light_FL, LOW);}
if (lightBack) {digitalWrite(light_BR, HIGH); digitalWrite(light_BL, HIGH);}
if (!lightBack) {digitalWrite(light_BR, LOW); digitalWrite(light_BL, LOW);}
switch (command) {
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
case 'G':
forwardleft();
break;
case 'I':
forwardright();
break;
case 'H':
backleft();
break;
31
case 'J':
backright();
break;
case '0':
Speed = 100;
break;
case '1':
Speed = 140;
break;
case '2':
Speed = 153;
break;
case '3':
Speed = 165;
break;
case '4':
Speed = 178;
break;
case '5':
Speed = 191;
break;
case '6':
Speed = 204;
break;
case '7':
Speed = 216;
break;
case '8':
Speed = 229;
break;
case '9':
Speed = 242;
break;
32
case 'q':
Speed = 255;
break;
case 'W':lightFront = true;break;
case 'w':lightFront = false;break;
case 'U':lightBack = true;break;
case 'u':lightBack = false;break;
case 'V':horn = true;break;
case 'v':horn = false;break;
}
Speedsec = Turnradius;
if (brkonoff == 1) {
brakeOn();
} else {
brakeOff();
}
}
}
void forward() {
analogWrite(in1, Speed);
void back() {
}
void left() {
}
33
void right() {
}
void forwardleft() {
}
void forwardright() {
}
void backright() {
}
void backleft() {
}
void Stop() {
analogWrite(in1, 0);
}
void brakeOn() {
//Here's the future use: an electronic braking system!
// read the pushbutton input pin:
buttonState = command;
// compare the buttonState to its previous state
if (buttonState != lastButtonState) {
34
// if the state has changed, increment the counter
if (buttonState == 'S') {
if (lastButtonState != buttonState) {
digitalWrite(in1, HIGH);
delay(brakeTime);
Stop();
}
}
lastButtonState = buttonState;
}
}
void brakeOff() {
35
Output validation and comparison
In this project we have controlled the robot using Android Phone by using a Bluetooth Controller
application which we got from Android Play store. By installing the application we were able to
move the robot in four directions.
Upon clicking the "FORWARD ARROW", the data "Forward" is sent to car moves FORWARD.
Upon clicking the "BACKWARD ARROW", the data "Backward" is sent to the connected
Bluetooth Module and the car moves BACKWARD. Upon clicking the "LEFT ARROW", the data
"Left" is sent to the connected Bluetooth Module and the car turns LEFT. Upon clicking the
"RIGHT ARROW", the data "Right" is sent to the connected Bluetooth Module and the car moves
RIGHT.
When we touched forward button in Bluetooth controller app then car started moving in forward
direction and moving continues forward until next command comes.
When we touched backward button in Bluetooth controller app then car started moving in reverse
direction and moving continues reverse until next command comes.
When we touched left button in Bluetooth controller app then car started moving in left direction
and moving continues left until next command comes.
When we touched right button in Bluetooth controller app then car started moving in right direction
and moving continues right until next command comes.
The project has been completed with success with the utmost satisfaction. The constraints square
irresistible was set within the design section.
The project has completed its aim to designing an android interface, arduino bot and write program
in to the arduino microprocessor. Arduino car contains arduino microcontroller with basic mobility
Arduino car.
36
APPLICATIONS
This is indeed a cost-effective and efficient project. The novelty lies in the fact that it is a cost-
effective project with a simple and easy to use interface compared to existing ones. Also the
Bluetooth RC Controller application is more user friendly. The robot is small in size so it can be
used in spying purpose. With few additions and modifications, this robot can be used in army for
detecting and disposing hidden land mines. The robot can be used for surveillance.
In future we can interface sensors to this robot so that it can monitor some parameters and we can
improve the efficiency using Internet of Things (IOT) technology. We can also add wireless
camera, in order to incorporate other security features It is feasible to implement Bluetooth
communication between Smartphone and microcontroller. It can be used in various industries for
picking various objects where human intervention is not desired. On a large scale, it can be used
to develop robots with military applications. It can be used to target enemy without any human
being crossing the territory. It provides for more development of applications based on android
operating system. With tremendous smart phone in markets, it is bound to have many more
applications in near future.
In this project hardware setup is constructed using Arduino Uno and the programming is compiled
in the Arduino IDE software and finally Robot car is controlled by the Arduino using Bluetooth
module.
The project is limited to designing an android interface, Arduino bot and write program in to the
arduino microprocessor. Arduino car contains Arduino microcontroller with basic mobility
Arduino car. Android mobile controller uses different mobile sensors to supervise motion.
37
It can be used in various industries for picking various objects where human intervention is not
desired. On a large scale, it can be used to develop robots with military applications. It can be used
to target enemy without any human being crossing the territory. It provides for more development
of applications based on android operating system. Such as, Application based on sensors
(accelerometer, gyroscope) etc. With tremendous smart phone in markets, it is bound to have many
more applications in near future. It is robust, sensitive and fast moving, hence can be applied in
rescue operations.
 This module can be used in -

 Low range Mobile Surveillance Devices
 Military Applications (no human intervention)
 Assistive devices (like wheelchairs)
 Home automation
 The robot is small in size so can be used for spying.
 With few additions and modifications, this robot can be used in the borders for detecting
and disposing hidden land mines.
 The robot can be used for reconnaissance or surveillance.
38
Team Work
Work distribution and deadline table for Arkin Markan/19bcs2195
WORK DEADLINE
Circuit Designing 29-02-2021
Implementation 09-03-2021
Assembling 18-03-2021
Work distribution and deadline table for Rainy/19bcs2189

WORK DEADLINE
Circuit and Block Diagrams 25-02-2021
Chasis modification 05-03-2021
Testing module 04-04-2021
Work distribution and deadline table for Sajal Srivastava/19bcs2187
WORK DEADLINE
Requirement Analysis 25-02-2021
Arduino Programming 05-03-2021
Debugging 07-03-2021
Work distribution and deadline table for Girish Gour / 19bcs2215

WORK DEADLINE
Circuit Designing 29-02-2021
Implementation 09-03-2021
Inspection of errors 18-03-2021
39
SUMMARY
The Android controlled RoboCar. The working is based on Android OS, Arduino, Motor, DC
motor driver, and Bluetooth module. Arduino is an open source prototype platform. Remote
control car, with an Arduino, L298N motor driver and Bluetooth module. The Arduino code
simulated on software and be interface with the hardware. The device can be controlled by any
smart device with android. Bluetooth RC controller is an app exclusive to Android which enables
you to connect your device to PC through a Wi-Fi controller of wireless network. All the controls
of the vehicle are on the app on that device.
40
8. DISCUSSION
In the course of developing this project we have achieved the following milestones. The
android guided arduino car has been created successfully and testing has been done for all the
known cases regarding the usage of project. We had successfully connected an android
application that will provide user an interface to interact with the arduino powered car. The
interface is easy to use and provide feedback from the arduino microprocessor through the
bluetooth after giving instruction to arduino for various actions through interface via bluetooth
module. An appropriate program in the arduino microprocessor to interact with the android
controller has been created successfully. The program has been successfully complied through
arduino IDE to the arduino microprocessor & loaded in to it after proper checking of logic to
decrease any loss/damage of hardware. The project has completed its aim to designing an
arduino bot and write program in to the arduino microprocessor. Arduino car contains arduino
microcontroller with basic mobility features. Arduino programs contains instructions
mediating between android controller and Arduino car. Android mobile controller uses
different mobile sensors to supervise motion.
41
9. Conclusion
The project titled Bluetooth Car using Arduino is an application based on popular open source
technology - Android and Arduino The aim of the project was to create an arduino integrated car
that has to be controlled through an application that runs on the android operating system. The
project has been completed with success with the utmost satisfaction. The constraints square
irresistible was set within the design section. Validation checks iatrogenic have greatly reduced
errors. Provisions are created to upgrade the code. The applying has been tested with live
information and has provided a prosperous result. Thence the code has proven to figure
expeditiously. The system created met its objectives, by being straightforward to use, implement
and secure. This code is developed with measurability in mind. Further modules may be simply
other once necessary. The code is developed with standard approach. All modules within the
system are tested with valid information and invalid information and everything work with
success.
However there's still lots of scope for future improvement and add-ons in practicality
42
10. Bibliography
1. Design of a Bluetooth Enabled Android Application for a Microcontroller Driven Robot

By Vito M. Guardi, (May 2014).
2. Introduction to Arduino A piece of cake! by Alan G. Smith September 30, 2011
3. 30 Arduino Projects for the Evil Genius™ Simon Monk, McGraw-Hill Companies Inc
4. A. Sharma, J. Mondal, C. Pandey, R. Kumar and A. Bhattacharya, “IoT Based Home
Automation System”; Advances in Applied Science; Volume 2017; Article ID 100005,
pp. 01-06; Feb. 2017
5. Arpit Sharma, ReeteshVerma, Saurabh Gupta and Sukhdeep Kaur Bhatia, “Android
Phone Controlled Robot Using Bluetooth”, International Journal of Electronic and
Electrical Engineering. Volume 7, Number 5 (2014), pp. 443-448.
6. P. D. Minns, Atmega32 for Arduino Microcontroller System. Author House, 2013
7. https://www.arduino.cc/en/Tutorial/Foundations/AnalogInputPins
43

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Project Report

Bluetooth Car Using Arduino

Submitted to: Submitted By:

DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING

CHANDIGARH UNIVERSITY, GHARUAN

APPROVED & GUIDED BY:

Project Supervisor: Saurabh, E-8616

Project Teacher: Punit Soni, E-9880

Student details and Signature

S.No Name of the Student Contact No. Signature

1. Arkin Markan +919914603141

3. Sajal Srivastava +919794805656

4. Girish Gour +917051356769

APPROVED & GUIDED BY:

Project Supervisor: Saurabh, E-8616

S. No. Topic Page No.

4. Project Synopsis..................................................... 5-13

Synopsis 24/02/2021 Searched

University Institute of Engineering,

Project Teacher Signature

University Institute of Engineering, Chandigarh University

Leader ARKIN MARKAN 19BCS2195 A

Name of Supervisor Signature

Signature (Project Teacher)

BLUETOOTH CAR USING ARDUINO

Submitted to: Submitted By:

DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING

Group Members Name Work Date to accomplish

Hand tools and fabrication machines

5.1 PROJECT LOG REPORT-1

Meeting Number 1 Meeting Date

Sajal Srivastava 19BCS2187

Girish Gour 19BCS2215

Project Completion status (Filled by Students)

Name of Supervisor Saurabh Signature

6. University Institute of Engineering, Chandigarh University

Name of Supervisor Saurabh Signature

University Institute of Engineering, Chandigarh University

University Institute of Engineering, Chandigarh University

BLUETOOTH CAR USING ARDUINO

Submitted to: Submitted By:

(Mr. Saurabh E8616)

DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING

Chandigarh University, Gharuan

1. Arduino Uno Board

FLOW CHART FOR WORKING OF MODULE

The major building blocks of the project are:

 Regulated Power Supply.

Remote control for this project is an Android tool with

BLUETOOTH CAR USING ARDUINO

Submitted in partial fulfillment of the requirements for the award of degree of

COMPUTER SCIENCE & ENGINEERING

Submitted to: Submitted By:

DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING

Chandigarh University, Gharuan

#define light_FR 14 //LED Front Right pin A0 for Arduino Uno

Serial.begin(9600); //Set the baud rate to your Bluetooth module.

if (lightFront) {digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);}

 This module can be used in -

Work distribution and deadline table for Arkin Markan/19bcs2195

Work distribution and deadline table for Rainy/19bcs2189

Work distribution and deadline table for Sajal Srivastava/19bcs2187

Work distribution and deadline table for Girish Gour / 19bcs2215