Rept

INSTITUTE VISION
• To establish a leading Global Center of excellence in multidisciplinary education, training

and research in the area of Engineering, Technology and Management.
• To produce technologically competent, morally and emotionally strong and ethically sound
professionals who excel in their chosen field, practice commitment to their profession and
dedicate themselves to the service of mankind.
INSTITUTE’S MISSION
1. To develop world class laboratories and other Infrastructure conducive in acquiring latest
knowledge and expertise.
2. To bridge the knowledge and competency gaps of institute's fresh pass-outs vis-à-vis field
requirements.
3. To strengthen Industry-Institute Interaction and partnership for imbibing corporate culture

amongst our faculty and students.
4. To promote research culture among faculty and students enhancing their academic and
professional confidence needed to face global challenges.
5. To honor commitment towards social and moral values.
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT I

Department of Electronics & Communication Engineering
VISION:
To emerge as a center of excellence producing globally competent and morally sound

professionals in the field of Electronics & Communication Engineering who will practice
commitment to their profession and dedicate themselves to the service of mankind.
MISSION:
To develop state-of-the-art laboratories providing relevant practical inputs to students. To

provide strong knowledge base to students in the area of Electronics & Communication
Engineering, and to train them as per requirement of industries and research organizations. To
facilitate institute industry interaction to the benefit of stake holders and to motivate teachers
for continuous improvement of their academic standards.
Program Educational Objectives (PEOs):
PEO1:
Graduate will have the fundamental and advance knowledge in Mathematics, Science,
Electronics & Communication Engineering and design methodologies to successfully
accomplish their professional career in industry as an Engineer, theoretically practically, in the
field of Electronics & Communication Engineering, or become an entrepreneur.
PEO 2:
Graduate will have strong fundamental knowledge in specialized areas of Electronics &
Communication Engineering to contribute towards research and developments through paper
publications, projects and pursue higher studies in their specialized fields.
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT II

PEO 3:
Graduate shall learn all interpersonal skills and inculcate sense of social responsibilities and
environmental concerns so as to make them good leaders and citizens.
Program Specific Outcomes (PSOs):
PSO1:
Students will have proficiency in grasping fundamental principles of Electronics &

Communication Engineering and effectively applying them across diverse domains, including
Semiconductors, Communications, Signal processing, Antennas, Networking, VLSI,
Embedded systems, and becoming adept in the latest tools and methodologies employed in
both research and industry.
PSO2:
Student will foster critical thinking to evaluate engineering issues pertinent to Electronics &
Communication Engineering through the cultivation of profound expertise and skills in the
realms of fundamental sciences, engineering mathematics, and core engineering principles,
enabling the resolution of intricate engineering dilemmas.
PSO3:
Student will be able to acquire the skill to conduct independent research, seek innovative
solutions, and make contributions to the progress of knowledge in specialized areas of
electronics and communication engineering. Adhere to ethical principles in engineering
practice, research, and innovation, while exemplifying a steadfast dedication to integrity, social
responsibility, and sustainable development.
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT III

TABLE OF CONTENTS
1. LIST OF FIGURES V
2. List of Tables VI
3. ACKNOWLEDGEMENT VIII
4. ABSTRACT IX
5. Chapter 1 1
1.1 INTRODUCTION 1
1.1.1 What is Arduino? 1
1.1.2 Why Arduino? 2
1.1.3 Internet of Things. 4
6. Chapter 2 6
2.1 Literature review 6
2.2 Project Overview 7
2.3 Bluetooth Remote Control Car 7
7. Chapter 3 10
3.1 Methodology 10
3.2 Source Code : 16
8. Chapter 4 23
4.1 Summary 23
9. Chapter 5 24
5.1 Conclusion 24
10. References 25
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT IV

LIST OF FIGURES
Figure 1 : IOT 5
Figure 2 : ARDUINO UNO 6
Figure 3 : Bluetooth RC Car 8
Figure 4 : Chassis 10
Figure 5 : Jumper Wires 11
Figure 6 : L298 Motor Driver Shield 11
Figure 7 : Battery 13
Figure 8 : Switch 13
Figure 9 : HC-05 14
Figure 10 : Pin Diagram 15
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT V

List of Tables
Table 1 : Pin Description L298....................................................................................................12
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VI

ACKNOWLEDGEMENT
This project was completed for the Project, directed by the Department of Electronics and
Communication , Bhagwan Parshuram Institute of Technology. Our sincere efforts have made
us accomplish the task of completing the project. Most importantly, we would like to express
our gratitude to our honorable teacher, Dr. Sandeep Sharma and Mr. Risheek Kumar (Assistant
professor of ECE department) for their advice and valuable comments regarding our project,
which led us to the completion of the project. Our thanks and appreciation also goes to our
classmates, who encouraged us to complete our project.
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VII

ABSTRACT
A remote-controlled vehicle is any mobile machine controlled by means that are physically not
connected with the origin external to the machine. In this project, we make use of Bluetooth
technology to control our machine car.
We do not call this a robot as this device does not have any sensors. Thereby, senseless robots
are machines.
The project aims are to design a Bluetooth control Arduino car and write a program into the
Arduino microprocessor. Arduino car contains an Arduino microcontroller with basic mobility
features.
In this project, we make use of Bluetooth technology to control our machine car. 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. The major reason for using a Bluetooth-based
tech is that we can change the remote anytime – mobile phones, tablets, and laptops and
physical barriers like walls or doors do not affect the car controls.
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VIII

Chapter 1
1.1 INTRODUCTION
1.1.1 What is Arduino?
Arduino is an open-source electronics platform based on easy-to-use hardware and

software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a
Twitter message - and turn it into an output - activating a motor, turning on an LED, publishing
something online. You can tell your board what to do by sending a set of instructions to the
microcontroller on the board. To do so you use the Arduino programming language (based
on Wiring), and the Arduino Software (IDE), based on Processing.
Over the years Arduino has been the brain of thousands of projects, from everyday objects to
complex scientific instruments. A worldwide community of makers - students, hobbyists,
artists, programmers, and professionals - has gathered around this open-source platform, their
contributions have added up to an incredible amount of accessible knowledge that can be of
great help to novices and experts alike.
Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast prototyping,
aimed at students without a background in electronics and programming. As soon as it reached
a wider community, the Arduino board started changing to adapt to new needs and challenges,
differentiating its offer from simple 8-bit boards to products for IoT applications, wearable, 3D
printing, and embedded environments.
1
ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT
1.1.2 Why Arduino?
Thanks to its simple and accessible user experience, Arduino has been used in thousands of
different projects and applications. The Arduino software is easy-to-use for beginners, yet
flexible enough for advanced users. It runs on Mac, Windows, and Linux. Teachers and
students use it to build low cost scientific instruments, to prove chemistry and physics
principles, or to get started with programming and robotics. Designers and architects build
interactive prototypes, musicians and artists use it for installations and to experiment with new
musical instruments. Makers, of course, use it to build many of the projects exhibited at the
Maker Faire, for example. Arduino is a key tool to learn new things. Anyone - children,
hobbyists, artists, programmers - can start tinkering just following the step by step instructions
of a kit, or sharing ideas online with other members of the Arduino community.
There are many other microcontrollers and microcontroller platforms available for physical
computing. Parallax Basic Stamp, Netmedia's BX-24, Phidgets, MIT's Handyboard, and many
others offer similar functionality. All of these tools take the messy details of microcontroller
programming and wrap it up in an easy-to-use package. Arduino also simplifies the process of
working with microcontrollers, but it offers some advantage for teachers, students, and
interested amateurs over other systems:
 Inexpensive
Arduino boards are relatively inexpensive compared to other microcontroller platforms. The
least expensive version of the Arduino module can be assembled by hand, and even the pre-
assembled Arduino modules cost less than \$50.
 Cross-platform
The Arduino Software (IDE) runs on Windows, Macintosh OSX, and Linux operating systems.
Most microcontroller systems are limited to Windows.
2
 Simple, clear programming environment
The Arduino Software (IDE) is easy-to-use for beginners, yet flexible enough for advanced
users to take advantage of as well. For teachers, it's conveniently based on the Processing
programming environment, so students learning to program in that environment will be familiar
with how the Arduino IDE works.
 Open source and extensible software
The Arduino software is published as open source tools, available for extension by experienced
programmers. The language can be expanded through C++ libraries, and people wanting to
understand the technical details can make the leap from Arduino to the AVR C programming
language on which it's based. Similarly, you can add AVR-C code directly into your Arduino
programs if you want to.
 Open source and extensible hardware
The plans of the Arduino boards are published under a Creative Commons license, so
experienced circuit designers can make their own version of the module, extending it and
improving it. Even relatively inexperienced users can build the breadboard version of the
module in order to understand how it works and save money.
3
1.1.3 Internet of Things.
Human beings are very lazy creatures, we want to do all of our work by just sitting at a one
place and not bothering to go out and socialize. Emerging technology has on the other hand is
trying its best to fulfil our demand by everyday introducing something new. One of the
emerging and interesting field is Internet of Things.
Need to automate the device can come to any of us but we do not have enough of the
knowledge of how to do the things. So the need to study the basic concepts of Internet of
Things are important. We can get various ideas related to the innovation by constantly
surveying the people by emails or sms etc.
Today Internet of Things is an important part of innovation where constant researches are going
on everyday something new is being generated. In our project we will be testing some of the
basic sensors and then try to control some of the devices using Bluetooth and Wi-Fi module.
Major issue now a days is the issue of privacy. With recent events like Facebook Cambridge
analytica case, privacy of users is becoming of great concern to the state authorities in position.
Data from several websites and the data stored on various clouds also has an issue of privacy
2 due to increasing number of cyber-attacks and increasing cases of data being stolen without
the consent of the user. Data from several servers is being stolen and sold to big corporate so
that they could easily target their audience and make money out of it.
Recently the Supreme Court of India in Justice K S Puttaswamy vs Union of India & Others
stated that privacy is one of the fundamental duties of the citizen of India thus protecting
privacy is also a major issue in Internet of Things and in the internet world.
Major economies of the world like Europe, United States Of America, China and many other
countries have very strict data protection laws like Europe has General Data Protection
Regulation(GDPR) under which user has the choice with whom he/she wants to share its
information and also has the right to be forgotten.
4
There are several types of devices controlled through home automation which are:
Individual Control devices: In this method, each device is controlled individually thus it is very
user friendly and handy. It was used in early days of evolution of Internet of Things.
Distributed Control Systems: In this method, the best part is emergency shut down which
becomes very useful when it comes to fire detection or any other such danger event.
Centrally Controlled Systems: In these systems, the devices are programmed via computer so
that it could handle all kinds of functionality required by the user such as Air Conditioners,
heaters, doors, windows, security systems, car parking etc.
Figure 1 : IOT
5
Chapter 2
2.1 Literature review
The main processing unit consists of Arduino UNO to perform specified operations. Arduino
UNO board is used as the main microprocessor of the device. It will run and will control the
movement of the vehicle through the use of the motor driver who will control the wheels. The
Programs are compiled using Arduino IDE and then the sketch is uploaded to the board using
a pc and a USB cable.
Figure 2 : ARDUINO UNO
6
2.2 Project Overview
2.2.1 Bluetooth Remote Control Car
A Bluetooth control car is such a car that can be controlled wirelessly using a Bluetooth control
system and Arduino. With the combination of Arduino, and Bluetooth we can control many
other things, like home Lighting, air conditioners, and many more through our cell phones.
The Arduino can also contribute at large to the Smart Home system. Nowadays it has made us
easier to convert digital signals into physical movements with such microcontrollers.
Today people are using autonomation in every sector. There are many benefits, for example, it
reduces the risk of injury, it is fast, it can work day long, it is reliable, etc. This Bluetooth
control car is just an example of autonomation.
This type of car is used in law enforcement and military engagements for some the reasons like
Hazard exposure which is controlled from a location of relative safety.
Such vehicles are used by many police department bomb squads to defuse or detonate
explosives. These vehicles are also used in space exploration, by using such vehicle NASA.
ESA and ROSCOSMOS have explored and collected many data from space, the moon, and
mars. In recent days giant companies are using remote control vehicles to deliver their products.
And Many of the giant factories have their transportation which is remotely controlled. Here
we have connected this 4-wheeler with Arduino and Bluetooth Module.
There is an Android application that is already installed in the remote device. We send our
instruction to the vehicle with that application, that application is connected with the module
in the vehicle. Bluetooth module transfer that instruction as a signal to the Arduino, and
Arduino works with that signal.
7
In the Arduino, we have installed the code which can work with the signals and convert those
instructions to the pre-defined signals. Signals were transferred to the motors, and the car
started running.
This car does not have advanced features but we can attach any kind of features like line
detecting, or obstacle detecting, even though we can attach the camera to the vehicle and watch
it with the remote. This one is just a basic prototype of a remote-control car, we can add a lot
of advanced features and get an armed/especially capable RC Car.
Figure 3 : Bluetooth RC Car
This project aimed to design an automated vehicle prototype built with Arduino and controlled
with software developed on Android that can perform manual or automatic paths. Until now
research and analyzing the simulation of experiments shown, it is believed that it is feasible to
use the prototype designed for cognitive development, for future users can learn to insert
custom paths that can process logic issues and more complex mathematics allowing the
prototype to perform the desired movements.
8
Analyzing the financial costs of design, it is believed that it is feasible to construct this type of
prototype because it presents a low cost of the components used, particularly if they are chosen
in a largescale production. It is worth noting that both the Arduino programming language and
the language for Arduino in development are free, not burdening additional costs for the
development of the project, pointing out that this applies also to the tools used for development.
9
Chapter 3
3.1 Methodology
Tools :
 Chassis (Including motors and wheels):
The main body of the car consists of the chassis. Alongside there will be four motors for the
four wheels which will lead down the car.
Figure 4 : Chassis
 Arduino UNO
The Arduino Uno is an open-source microcontroller board based on the Microchip
ATmega328P microcontroller and developed by Arduino. cc. The board is equipped with sets
of digital and analog input/output pins that may be interfaced with various expansion boards
and other circuits.
10
 Jumper Wires
A jump wire (also known as jumper, jumper wire, DuPont wire) is an electrical wire, or group
of them in a cable, with a connector or pin at each end (or sometimes without them – simply
"tinned"), which is normally used to interconnect the components of a breadboard or other
prototype or test circuit, internally or with other equipment or components, without soldering.
Figure 5 : Jumper Wires
 L298 Motor Drive H-Shield:
This L298N Motor Driver Module is a high power motor driver module for driving DC and
Stepper Motors. This module consists of an L298 motor driver IC and a 78M05 5V
regulator. L298N Module can control up to 4 DC motors, or 2 DC motors with directional and
speed control.
Figure 6 : L298 Motor Driver Shield
11
PIN Name Description
IN1 & IN2 Motor A input pins. Used to control the spinning direction of Motor A
IN3 & IN4

Motor B input pins. Used to control the spinning direction of Motor B
ENA Enables PWM signal for Motor A
ENB Enables PWM signal for Motor B
OUT1&OUT2 Output pins of Motor A
OUT3&OUT4 Output pins of Motor B
12V 12V input from DC power Source
5V Supplies power for the switching logic circuitry inside L298N IC
GND Ground pin
Table 1 : Pin Description L298
12
 Battery
A battery is an energy source consisting of one or more electrochemical cells and terminals on
both ends called an anode (-) and a cathode (+). Here for the project, a 9V battery has been
used.
Figure 7 : Battery
 Switch
A switch is used for turning on the power of the vehicle. It controls the battery connection of
the vehicle.
Figure 8 : Switch
13
 Bluetooth Module
HC-05 6 Pin Wireless Serial Bluetooth Module is a Bluetooth module for use with any
microcontroller. It uses the UART protocol to make it easy to send and receive data wirelessly.
The HC-06 module is a slave-only device. This means that it can connect to most phones and
computers using Bluetooth technology.
Figure 9 : HC-05
14
 Pin Diagram and Connection
Figure 10 : Pin Diagram
15
3.2 Source Code :
#include <AFMotor.h>
//initial motors pin
AF_DCMotor motor1(1, MOTOR12_1KHZ);
char command;
void setup()
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
void loop(){
if(Serial.available() > 0){
command = Serial.read();
16
Stop(); //initialize with motors stoped
//Change pin mode only if new command is different from previous.
//Serial.println(command);
switch(command){
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
17
}
void forward()
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255);//Define maximum velocity
motor4.setSpeed(255);//Define maximum velocity
void back()
motor1.run(BACKWARD); //rotate the motor anti-clockwise
18
void left()
19
}
void right()
void Stop()
motor1.setSpeed(0); //Define minimum velocity
motor1.run(RELEASE); //stop the motor when release the button
20
motor2.run(RELEASE); //rotate the motor clockwise
21
 Flow Chart & Implementation
22
Chapter 4
4.1 Summary
The prototype is created using 4 DC motors driven by an H-bridge with dual output, connecting
the two left wheels and the two right ones to its outputs. The car is remotely controlled either
by Bluetooth an app or by infrared. Some extra functionalities can be added to the software.
 Result & Discussion
First time I designed this model successfully without any struggles in this paper. I kept the
connections to the designed model according to the instructions which is given by me
successfully. Finally, this designed model can move the several directions and also it can move
the robot car from one place to another place. I have tested this designed model many times
and many places it performing tasks according to our requirements without any problems. I
have designed this model to control user in long distances with the help of Bluetooth.
 Future Suggestion
Better line tracking mode:
When the robot finds an object in front placed on the line, it will try to go around it until it
finds the line again, continuing afterward. This function can be added using an ultrasonic
sensor.
Custom mode:
The ability to program the prototype from the app has not been implemented, as it is relatively
easy to use the custom mode by modifying the code
23
Chapter 5
5.1 Conclusion
This project consists of a basic prototype of a Bluetooth control car above stated. The prototype
car can recognize commands from users and can turn the car left, right, and stop with great
accuracy. It can be further improved by using different sensors like ultrasonic or infrared and
with various levels of coding. Our Bluetooth control car has a range of 10-20 meter with the
mobile Bluetooth controlling system.
The range mostly depends on the receivers transmission level. In the future, we could use
rechargeable batteries like Ni-Cd Battery or Li-ion batteries that could avoid the present
disadvantage. Also, we could make use of this RC Motor Car as a surveillance system or rovers
by adding a few more sensors and updating the code.
This would make them into robots. These robots could self-monitor under any human
supervision, thereby reducing manpower. These are just the alternatives, on which this project
could be improvised and updated.
IoT or the internet of things is a very important part of both computers and our daily lives. The
above model describes how the Arduino programs the car motor module and by IoT, we rotate
the wheels and give direction to the car.
IoT allows us to work with different platforms and it helps us to create various interesting
modules to work on. 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.
24
References
1. Wang, B.Y. (2009) Summary of IoT Technology Research. Journal of

Electronic Measurement and Instrument, 12, 1-7.
2. https://youtu.be/Q36NbjPMV5k?si=G40bcAem_HSTKMlc
3. A. Ibrahim, D. Ibrahim, Real-time GPS-based outdoor WiFi localization system

with map display, Adv. Eng. Softw. 41 (2010) 1080–1086.
4. https://www.arduino.cc/en/Guide/Introduction.
5. https://www.washingtonpost.com/local/trafficandcommuting/driverless-cars-
promise-far-greater-mobility-for-the-elderly-and-people-with-
disabilities/2017/11/23/6994469c-c4a3-11e7-84bc-5e285c7f4512_story.html
6. https://www.academia.edu/37091561/Bluetooth_Remote_Controlled_Car_usin
g_Arduino
7. https://www.academia.edu/37091561/Bluetooth_Remote_Controlled_Car_usin
g_Arduino
8. https://create.arduino.cc/projecthub/samanfern/bluetooth-controlled-car-
d5d9ca?ref=similar&ref_id=382865&offset=0
9. https://www.engineersgarage.com/arduino-l293d-motor-driver-shield-tutorial/
10. https://components101.com/wireless/hc-05-bluetooth-module
11. https://create.arduino.cc/projecthub/theSTEMpedia/4-wheel-robot-made-with-
arduino-controlled-using-dabble-4650f7
12. https://www.researchgate.net/publication/355085611_Bluetooth_Car_Controll
e
25
26

Rept

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Rept

Uploaded by

Copyright:

Available Formats

INSTITUTE VISION

• To establish a leading Global Center of excellence in multidisciplinary education, training

3. To strengthen Industry-Institute Interaction and partnership for imbibing corporate culture

5. To honor commitment towards social and moral values.

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT I

To emerge as a center of excellence producing globally competent and morally sound

To develop state-of-the-art laboratories providing relevant practical inputs to students. To

Program Educational Objectives (PEOs):

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT II

Program Specific Outcomes (PSOs):

Students will have proficiency in grasping fundamental principles of Electronics &

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT III

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT IV

Figure 2 : ARDUINO UNO 6

Figure 3 : Bluetooth RC Car 8

Figure 5 : Jumper Wires 11

Figure 6 : L298 Motor Driver Shield 11

Figure 10 : Pin Diagram 15

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT V

Table 1 : Pin Description L298....................................................................................................12

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VI

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VII

ELECTRONICS & COMMUNICATION ENGINEERING DEPARTMENT, BPIT VIII

1.1.1 What is Arduino?

Arduino is an open-source electronics platform based on easy-to-use hardware and

 Open source and extensible software

 Open source and extensible hardware

2.1 Literature review

Figure 2 : ARDUINO UNO

Figure 3 : Bluetooth RC Car

 Chassis (Including motors and wheels):

Figure 5 : Jumper Wires

 L298 Motor Drive H-Shield:

Figure 6 : L298 Motor Driver Shield

IN3 & IN4

ENA Enables PWM signal for Motor A

ENB Enables PWM signal for Motor B

OUT1&OUT2 Output pins of Motor A

OUT3&OUT4 Output pins of Motor B

12V 12V input from DC power Source

5V Supplies power for the switching logic circuitry inside L298N IC

GND Ground pin

Table 1 : Pin Description L298

Figure 10 : Pin Diagram

//initial motors pin

AF_DCMotor motor1(1, MOTOR12_1KHZ);

AF_DCMotor motor2(2, MOTOR12_1KHZ);

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

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

if(Serial.available() > 0){

//Change pin mode only if new command is different from previous.

motor1.setSpeed(255); //Define maximum velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(255); //Define maximum velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(255);//Define maximum velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(255);//Define maximum velocity

motor4.run(FORWARD); //rotate the motor clockwise

motor1.setSpeed(255); //Define maximum velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.run(BACKWARD); //rotate the motor anti-clockwise