ASSIGNMENT

Submitted TO:
Engr Moshin Bhatti
Roll Number:
2015-CPE-30
Submitted By:
Amanullah
Date:
20 June, 2018
Session:
2015-2019

Computer Engineering Department

BZU Multan
 Wifi Controlled Robot Using Arduino
We are going to make a Wi-Fi controlled Robot using Arduino and Blynk App. This Arduino
based Robot can be controlled wirelessly using any Wi-Fi enabled Android smart phone.
For demonstration of Wi-Fi Controlled Robot, we have used an Android Mobile App named
“Blynk”. Blynk is a very compatible app with Arduino, to make IoT based project.

Components Details
 Arduino UNO
 ESP8266 Wi-Fi Module
 USB Cable
 Connecting wires
 L293D
 DC Motors
 Batteries
 10K POT (optional)
 Robot chassis plus wheel
 Roller caster
 Android Mobile phone
 Blynk App

Circuit Explanation

Circuit Diagram of Wi-Fi controlled robot is given below. We mainly need a Arduino and ESP8266
Wi-Fi module. ESP8266’s Vcc and GND pins are directly connected to 3.3V and GND of Arduino
and CH_PD is also connected with 3.3V. Tx and Rx pins of ESP8266 are directly connected to pin 2
and 3 of Arduino. Software Serial Library is used to allow serial communication on pin 2 and 3 of
Arduino.

A L293D Motor Driver IC is used for driving DC motors. Input pins of motor driver IC is directly
connected to pin 8, 9, 10 and 11 of Arduino. And DC motors are connected at its output pins. Here
we have used 9 Volt battery for driving the Circuit and DC motors.
Circuit Diagram

Working and Coding explanation of Wifi control Robot

Block Diagram

Working of the Wi-Fi controlled Robot is very easy, we just need to Drag or Slide the Joystick in
the direction, where we want to move the Robot. Like if we want to move the Robot in Forward
direction then we need to Drag the Joystick ‘circle’ in Forward direction. Likewise we can move the
Robot in Left, Right and Backward direction by Dragging the joystick in respective direction. Now as
soon as we release the Joystick, it will come back to centre and Robot stops.
Blynk App sends values from Two Axis Joystick to Arduino, through Wi-Fi medium. Arduino receive
the values, compare them with predefined values and move the Robot accordingly in that direction.

Programming Explanation
We just need to download Blynk Library for Arduino. And after making some modifications, user can
make own Wi-Fi controlled robot.
First we have included all the needed libraries to run this code in Arduino IDE, and then entered
Auth Token, from the Blynk app, in the auth string. Here we are connecting Wi-Fi serial pin with
Software Serial of Arduino. Selected pin 2 as RX and 3 as TX.
Code
#define BLYNK_PRINT Serial // Comment this out to disable prints and save space
#include <ESP8266_SoftSer.h>
#include <BlynkSimpleShieldEsp8266_SoftSer.h>
// Set ESP8266 Serial object
#include <SoftwareSerial.h>
SoftwareSerial EspSerial(2, 3); // RX, TX
ESP8266 wifi(EspSerial);
// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "caa17a11c0124d4083d0eaa995f45917";
#define m11 8
#define m12 9
#define m21 10
#define m22 11
void forward()
{
digitalWrite(m11, HIGH);
digitalWrite(m12,LOW);
digitalWrite(m21,HIGH);
digitalWrite(m22,LOW);
}
void backward()
{
digitalWrite(m11, LOW);
digitalWrite(m12,HIGH);
digitalWrite(m21,LOW);
digitalWrite(m22,HIGH);
}
void right()
{
digitalWrite(m11, HIGH);
digitalWrite(m12,LOW);
digitalWrite(m21,LOW);
digitalWrite(m22,LOW);
}
void left()
{
digitalWrite(m11, LOW);
digitalWrite(m12,LOW);
digitalWrite(m21,HIGH);
digitalWrite(m22,LOW);
}
void Stop()
{
digitalWrite(m11, LOW);
digitalWrite(m12,LOW);
digitalWrite(m21,LOW);
digitalWrite(m22,LOW);
}
void setup()
{
// Set console baud rate
Serial.begin(9600);
delay(10);
// Set ESP8266 baud rate
// 9600 is recommended for Software Serial
EspSerial.begin(9600);
delay(10);
Blynk.begin(auth, wifi, "username", "password"); // wifi username and password
pinMode(m11, OUTPUT);
pinMode(m12, OUTPUT);
pinMode(m21, OUTPUT);
pinMode(m22, OUTPUT);
}
BLYNK_WRITE(V1)
{
int x = param[0].asInt();
int y = param[1].asInt();
// Do something with x and y
/* Serial.print("X = ");
Serial.print(x);
Serial.print("; Y = ");
Serial.println(y);*/
if(y>220)
forward();
else if(y<35)
backward();
else if(x>220)
right();
else if(x<35)
left();
else
Stop();
}
void loop()
{
Blynk.run();
}