Bluetooth Controlled

Mecanum Wheel Robot

. Ali Karaku
(201193798)
. smet elik
(201193776)
.Zeynal Abidin aba (201193824)
SUPERVISOR:
Y. DOC.DR. AHMET METE VURAL

THE
OVERVIEW
OF
THS
A mecanum wheel robot can move across
PROJECT:
without any difficulty.
It can maneuver easily in tight spaces
without the need to rotate in place.
Design and construct a mecanum wheel
robot which is controlled remotely by
Bluetooth.

Equipments:
Arduino Mega 2560 R3
Dual Motor Driver Carrier
Hc06 Arduino Bluetooth Module
2S 7.4V 500mAh 20C Lipo Battery
1S 3.7V 1250mAh 25C Lipo Batteries (x3)
25mm 12V 500 Rpm DC Motor (x4)
FM105-Jumper Cables
3D Filament Red 1.75mm/PLA (Using for Mechanum Wheels)
Plastic Spray

MECHANIC PART

ELECTRONIC PARTS
Motors and Drivers

25mm 12V 500 Rpm Gearbox DC Motor

Driver

Dual Motor

Batteries
Lipo battery is the battery which has lithium and polymer chemical
components.
It can be charge easily, that feature gives us continuity.,
We use;
2S 7.4V 500mAh 20C Lipo Pil Battery
Lipo Battery (x3)

1S 3.7V 1250mAh 25C

Bluetooth Module
To control our robot without remote control cables we will use
bluetooth module via Android.

Module

Hc06 Bluetooth

ANDROID SECTION
Android Studio Overview
To control our mechanum wheel robot via Android we
use Android Studio Program
Using this program, we will construct our compact
phone menu to control robot

Totally we have several buttons to control of the robots

direction.
These directions; forward, backward, right, left, right cross,
left cross,
We will use android studio for obtaining control program
after we load the program to any android devices.
sample

Android Studio codes;

MECANUM WHEELS
TheMecanum wheelis one design for a wheel which
can move a vehicle in any direction.

It is a conventional wheel with a series of rollers attached

to its circumference. These rollers typically each have an
axis of rotation at 45 to the plane of the wheel and at 45
to a line through the centre of the roller parallel to the axis
of rotation of the wheel

HOW TS MOVE

3D MANUFACTURING
The cost of wheels is very cheap and suitable for us

PROGRAMING
Arduino Mega 2560 R3

Hc06 Arduino Bluetooth Module

Dual Motor Driver Carrier

Wire Library
This library allows you to communicate withI2C/ TWI devices.
Functions
Wire.begin(address) ---- Initiate the Wire library and join
theI2Cbus as a slave.
Wire.available()----Returns the number of bytes available for
retrieval with read().
Wire.write(data, length)----Writes data from a slave device in
response to a request from a master, or queues bytes for
transmission from a master to slave device.
Wire.read()----Reads a byte that was transmitted from a slave
device to a master after a call torequestFrom() or was transmitted
from a master to a slave.

void processInput (){

byte c = Serial1.read ();
switch (c){
case 'f':
goForward(255);
break;
case 'b':
goBackwad(255);
break;
} }

void goForward(int mspeed){

motorControl("rf", 1, mspeed);
motorControl("lf", 1, mspeed);
motorControl("rr", 1, mspeed);
motorControl("lr", 1, mspeed);
}
void goBackwad(int mspeed){
motorControl("rf", -1, mspeed);
motorControl("lf", -1, mspeed);
motorControl("rr", -1, mspeed);
motorControl("lr", -1, mspeed);
}

void motorControl(String motorStr,int mdirection, int mspeed){

int IN1;
int IN2;
int motorPWM;
if (motorStr == "rf") {
IN1 = RightFrontMotor1;
IN2 = RightFrontMotor2;
motorPWM = RightFrontMotor;
}
else if (motorStr == "lf") {
IN1 = LeftFrontMotor1;
IN2 = LeftFrontMotor2;
motorPWM = LeftFrontMotor;
}

if (mdirection == 1){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
}
else if (mdirection == -1){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
}
analogWrite(motorPWM, mspeed);
}

THATS
ALL ....