KS0464 Smart Turtle Robot Car V3.0

1. Introduction

Nowadays, technological education such as VR, kids programming, and artificial intelligence, has become mainstream in educational industry. Thereby, people attach importance to STEAM education.

The turtle multi-purpose robot car, newly upgraded by the Keyes team, is one of the most favored programming robots.

It is not only beautiful in appearance, but also powerful in function. In addition to the common function like line tracking, obstacle avoidance and remote control, etc.

15 learning projects, from simple to complex, will guide you how to make a smart turtle robot on you own and introduce the detailed knowledge about sensors and modules.

Simultaneously, it is the best choice if you intend to obtain a DIY robot for learning programming, entertainment and competition requirement.

2. Features

1.Multi-purpose function: Obstacle avoidance, follow, IR remote control, Bluetooth control, ultrasonic follow and displayed face emoticons.

2.Simple assembly: No soldering circuit required, complete assembly easily.

3.High Tenacity: Aluminum alloy bracket, metal motors, high quality wheels and tracks.

4.High extension: expand other sensors and modules through motor driver shield and sensor shield.

5.Multiple controls: IR remote control, App control(IOS and Android system)

6.Basic programming：Mixly programming.

3. Specification

  • Working voltage: 5v

  • Input voltage: 7-12V

  • Maximum output current: 2A

  • Maximum power dissipation: 25W (T=75℃)

  • Motor speed: 5V 200 rpm/min

  • Motor drive mode: dual H bridge drive

  • Ultrasonic induction angle: <15 degrees

  • Ultrasonic detection distance: 2cm-400cm

  • Infrared remote control distance: 10 M (at the open environment without interference)

  • Bluetooth remote control distance: 35-50 M at the open environment without interference)

  • Bluetooth control: support Android and iOS system

4. Product List

NO

NAME

QTY

PIC

1

V4.0 Board (UNO compatible)

1

2

Quick Connectors Motor Driver Shield

1

3

Quick Connectors IR Receiver

1

4

Quick Connectors Line Tracking Sensor

1

5

Quick Motor Connector A & B

2

6

8*8 Dot Matrix Module

1

7

Quick Connectors Ultrasonic Module

1

image-20230418095636007

8

Bluetooth Module(HC-06)

1

image-20230418095653565

9

JMFP-4 17 Remote Control（without batteries）

1

image-20230418095726087

10

15CM 5P 24AWG Wire

1

image-20230418095841454

11

8CM 4P 24AWG Wire

1

image-20230418095846872

12

8CM 3P 24AWG Wire

1

image-20230418095851368

13

160mm 2P 24AW Wire

2

image-20230418095856952image-20230418095857130

14

Battery Holder with JST-PH2.0MM-2P Lead

1

image-20230418095903945

15

4 Slot AA Battery Holder

1

image-20230418095908041

16

M2*12MM Round Head Screws

4

image-20230418095922089

17

M2 Nickel Plated Nuts

4

image-20230418095938634image-20230418095938634image-20230418095938634image-20230418095938634

18

M3*6MM Round Head Screws

27

image-20230418095959001image-20230418095959217image-20230418095959407image-20230418095959614image-20230418095959801image-20230418095959998image-20230418100000203image-20230418100000430image-20230418100000635

19

M3*6MM Flat Head Screws

2

image-20230418100010602

20

M3 Nickel Plated Nuts

5

image-20230418100016858image-20230418100016858image-20230418100016858image-20230418100016858image-20230418100016858

21

M3*10MM Hexagon Copper Bush

8

image-20230418100038441

22

M3*40MM Hexagon Copper Bush

4

image-20230418100048393

23

9G Servo

1

image-20230418100058521image-20230418100103593

24

N20 Motor Wheel

2

image-20230418100126201image-20230418100126201

25

N20 Motor U Type Mount

2

image-20230418100141146

26

Black Plastic Platform

1

image-20230418100149147

27

3PI MiniQ Universal Caster

2

image-20230418100202362

28

3*40MM Black-yellow Screwdriver

1

image-20230418100207866

29

1m Transparent Blue USB Cable

1

image-20230418100214747

30

3*100MM Black Ties

5

image-20230418100226219image-20230418100226219image-20230418100226219image-20230418100226219image-20230418100226219

31

Turtle Robot Baseboard

1

image-20230418100321440

32

Turtle Robot Top Board

1

image-20230418100328443

33

F-F 20CM/40PDupont Cable

1

image-20230418100338651

34

20cm 3pin F-F Dupont Cable

1

image-20230418100342683

35

Red LED Module

1

image-20230418100348043

36

Decorative Board

4

image-20230418100358252

5. Assembly Guide

Note: Peel the plastic film off the board first when installing the smart car. To be honest, we never intend to send wood to you.

Step 1: Mount Motor Wheel

  • M3*6MM Round Head Screw *2

  • M3*6MM Flat Head Screw *2

  • M3 Nickel Plated Nut *2

  • Bottom PCB*1

  • Tracking Sensor *1

  • Universal Caster *2

Step 2: Assemble Parts

Prepare the parts as follows:

  • M3*6MM Round Head Screw *2

  • M2 Nut *4

  • 12FN20 Motor *2

  • U-type Holder* 2

  • N20 Motor Wheel *2

  • 2P Wire *2

  • 5P Wire *1

  • M2*12MM Round Head Screw *4

  • 2-cell AA Battery Holder *1

  • M3*6M Flat Head Screw *2

  • M3 Nut *2

Step 3: Install Top PCB

Prepare the parts as follows:

  • Top PCB *1

  • M3 Nut *1

  • M3*6MM Round Head Screw *9

  • M3*10MM Hexagon Copper Bush *8

  • IR Receiver Sensor *1

Step 4: Mount Control Board

Prepare the parts as follows:

  • V4.0 board*1

  • Motor Drive Shield V2*1

  • M3*6MM Round Head Screw *4

M3*6MM round-head screw *4

Step 5: Servo Plastic Platform

Prepare the parts as follows:

  • Servo *1

  • M2*4 Screw *1

  • Black Tie*2

  • Ultrasonic Sensor*1

  • Black Plastic Platform *1

  • M1.2*4 Tapping Screw *4

  • M2*8 Tapping Screw *2

Step 6: Final Assembly

Prepare the parts as follows:

  • M3*6MM Round Head Screw *12

  • M3*40MM Hexagon Copper Bush*4

  • 8x8 Dot Matrix *1

  • Jumper Wire *4

Step 7: Hook-up Guide

6.Install Mixly Software and Driver

1. Download and Install Mixly

①Description

Mixly is a free open-source graphical Arduino programming software, based on Google’s Blockly graphical programming framework, and developed by Mixly Team@ BNU.

It is a complete support ecosystem for creative e-education, a stage for maker educators to realize their dreams.

② Download Mixly1.0

Windows System：https://fs.keyestudio.com/Mixly1-Windows

MACOS System：https://fs.keyestudio.com/Mixly1-MACOS

We will take Mixly1.0 (Windows version) as example, and the installation method of MAC version is similar with it.

You will get installation package after downloading. As shown below:

Unzip the package, you will see “Mixly 1.0 for keyestudio.exe”

Double-click ”Mixly 1.0 for keyestudio.exe”, the following interface pops up.

We have to choose correct Arduino development board and name, as shown below:

Select correct COM port(the corresponding port will be shown after installing driver successfully)

You have to know the function of every area and interface on Mixly software before uploading program on Arduino development board.

2. Keyestudio V4.0 Development Board

We need to know keyestudio V4.0 development board, as a core of this smart car.

Keyestudio V4.0 development board is an Arduino uno -compatible board, which is based on ATmega328P MCU, and with a CP2102 Chip as a UART-to-USB converter.

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, 2 ICSP headers and a reset button.

It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it via an external DC power jack (DC 7-12V) or via female headers Vin/ GND(DC 7-12V) to get started.

Microcontroller

ATmega328P-PU

Operating Voltage

5V

Input Voltage (recommended)

DC7-12V

Digital I/O Pins

14 (D0-D13) (of which 6 provide PWM output)

PWM Digital I/O Pins

6 (D3, D5, D6, D9, D10, D11)

Analog Input Pins

6 (A0-A5)

DC Current per I/O Pin

20 mA

DC Current for 3.3V Pin

50 mA

Flash Memory

32 KB (ATmega328P-PU)

SRAM

2 KB (ATmega328P-PU)

EEPROM

1 KB (ATmega328P-PU)

Clock Speed

16 MHz

LED_BUILTIN

D13

3. Installing V4.0 board Driver

Let’s install the driver of keyestudio V4.0 board. The USB-TTL chip on V4.0 board adopts CP2102 serial chip. The driver program of this chip is included in Arduino 1.8 version and above, which is convenient. Plug on USB port of board, the computer can recognize the hardware and automatically install the driver of CP2102.

If install unsuccessfully, or you intend to install manually, open the device manager of computer. Right click Computer—– Properties—– Device Manager

There is a yellow exclamation mark on the page, which implies installing unsuccessfully. Then we double click the hardware and update the driver.

Click “OK” to enter the following page, click “browse my computer for updated driver software”, find out the installed or downloaded ARDUINO software. As shown below:

There is a DRIVERS folder in Arduino software installed package（）, open driver folder and you can see the driver of CP210X series chips.

We click “Browse”, then find out the driver folder, or you could enter “driver” to search in rectangular box, then click “next”, the driver will be installed successfully. (I place Arduino software folder on the desktop, you could follow my way)

Open device manager, we will find the yellow exclamation mark disappear. The driver of CP2102 is installed successfully.

4. Start the first program

Click “Open”→ sample → arduino→ Arduino → 01 IN-OUT→01-LED Blink.mix

The corresponding board and COM port will be shown after setting board and COM port.

Click Compile to start compiling the program, check errors.

Click Upload to upload the program, upload successfully.

After uploading the program successfully, the on-board LED blinks for 1s.

Congratulation, you finish the first program.

7. Projects:

The whole project begins with basic program. Starting from simple to complex, the lessons will guide you to assemble robot car and absorb the knowledge of electronic and machinery step by step. I reckon that you could hardly sit still and itch to have a go, let’s get started.

Note: (G), marked on each sensor and module, implies negative pole, which is connected to “G”, ”-”or “GND”on the sensor shield and control board ; (V) represents positive pole, which is linked with V , VCC, + or 5V on the sensor shield and control board.

Project 2: Adjust LED Brightness

1. Description

In previous lesson, we control LED on and off and make it blink.

In this project, we will control LED brightness through PWM to simulate breathing effect. Similarly, you can change the step length and delay time in the code so as to demonstrate different breathing effect.

PWM is a means of controlling the analog output via digital means. Digital control is used to generate square waves with different duty cycles (a signal that constantly switches between high and low levels) to control the analog output.In general, the input voltage of port are 0V and 5V. What if the 3V is required? Or what if switch among 1V, 3V and 3.5V? We can’t change resistor constantly. For this situation, we need to control by PWM.

For the Arduino digital port voltage output, there are only LOW and HIGH, which correspond to the voltage output of 0V and 5V. You can define LOW as 0 and HIGH as 1, and let the Arduino output five hundred 0 or 1 signals within 1 second.

If output five hundred 1, that is 5V; if all of which is 1, that is 0V. If output 010101010101 in this way then the output port is 2.5V, which is like showing movie. The movie we watch are not completely continuous. It actually outputs 25 pictures per second. In this case, the human can’t tell it, neither does PWM. If want different voltage, need to control the ratio of 0 and 1. The more 0,1 signals output per unit time, the more accurately control.

PWM is a technology to obtain analog quantity through digital method. Digital control forms a square wave, and the square wave signal only has two states of turning on and off (that is, high or low levels). By controlling the ratio of the duration of turning on and off, a voltage varying from 0 to 5V can be simulated. The time turning on(academically referred to as high level) is called pulse width, so PWM is also called pulse width modulation.

Through the following five square waves, let’s acknowledge more about PWM.

In the above figure, the green line represents a period, and value of analogWrite() corresponds to a percentage which is called Duty Cycle as well. Duty cycle implies that high-level duration is divided by low-level duration in a cycle. From top to bottom, the duty cycle of first square wave is 0% and its corresponding value is 0. The LED brightness is lowest, that is, turn off. The more time high level lasts, the brighter the LED. Therefore, the last duty cycle is 100%, which correspond to 255, LED is brightest. 25% means darker.

PWM mostly is used for adjusting the LED brightness or rotation speed of motor.

It plays vital role in controlling smart robot car. I believe that you can’t wait to enter next project.

2. Components

3. Wiring Diagram

4. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_2_Adjust LED Brightness

lesson_2.1_Adjust LED Brightness

You could edit code step by step as follows:

  1. Click“Control” to get block

  2. Go to“sensor”→“ControlOutput”→→，and set to LOW

  3. Red LED is connected to D3, so set to PIN 3 and LOW

  4. Enter“Control”to get block，set block:

  5. Enter “In/Out” to get block，

  6. Click “Variables” to move blockinto 0 box behind value.

  7. Click ”Control”to move blockinto block，delay in 5ms.

  8. Copy code stringonce，set code string as follows:

Complete Program：

5. Test Result

Upload test code successfully, LED gradually becomes brighter then darker, like human breath, rather than light on and off immediately.

6. Extension Practice

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/lesson_2_Adjust LED Brightness

File Name

lesson_2.2_Extension Practice

You could edit code step by step as follows:

Complete Program：

Upload the code to development board, LED flickers more slowly.

Project 3 : Line Tracking Sensor

1. Description

The tracking sensor is actually an infrared sensor. The component used here is the TCRT5000 infrared tube.

Its working principle is to use the different reflectivity of infrared light to the color, then convert the strength of the reflected signal into a current signal.

During the process of detection, black is active at HIGH level, but white is active at LOW level. The detection height is 0-3 cm.

Keyestudio 3-channel line tracking module has integrated 3 sets of TCRT5000 infrared tube on a single board, which is more convenient for wiring and control.

By rotating the adjustable potentiometer on the sensor, it can adjust the detection sensitivity of the sensor.

2. Specification

  • Operating Voltage: 3.3-5V (DC)

  • Interface: 5PIN

  • Output Signal: Digital signal

  • Detection Height: 0-3 cm

Special note: before testing, turn the potentiometer on the sensor to adjust the detection sensitivity. When adjust the LED at the threshold between ON and OFF, the sensitivity is the best.

3. Components

4. Connection Diagram

5. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_3_Line Tracking Sensor

lesson_3.1_Line Tracking Sensor

You could edit code step by step as follows:

  1. Click “Control” to get block

  2. Enter “Serial port” to move blockinto block.

  1. Go to “Variables” to moveinto blockfor three times；then enter “Math” to drag block and copy it for 3 times.

  1. Combine with block, and separately set to val_L, val_M and val_R.

  1. Enter “Variables” to move out block，

  2. Go to “Sensor” → “DigitalRead” →

  3. Integrate blockwith block.

  4. The line tracking sensor is linked with D6, so set to PIN 11.

  5. Replicate blocktwice，and separately change val_L into val_M and val_R;

  6. The tracking sensor is also connected to D7 and D8, therefore, set to PIN 7 and PIN 8

  7. Click “Serial Port”to drag out block，and go to “Text” to move blockinto block，

  8. Change hello into left：+=

  9. Copy blockagain，and enter“Variables”to move blockinto

  10. Replicate code once and delete left：， as shown below:

  11. Duplicate code stringonce，and change left：into middle : , val_L into val_M.

  12. Copy block，and alter left：into right：

  13. Go to“Serial Port”to drag outblock ，and enter “Variables” to drag into block.

  14. Enter “Control” to get block, and delay in 500ms.

Complete Program

6. Test Result

Upload the code on development board, open serial monitor to check line tracking sensors. And the displayed value is 1(high level) when no signals are received.

The value becomes into 0 when covering sensor with paper.

7. Code explanation

Serial.begin(9600)-initialize and set baud rate to 9600

pinMode- decide if the pin mode of micron controller is input or output.

digitalRead- read the status of pin(HIGH, LOW)

8. Extension Practice

After knowing its working principle, connect an LED to D3. We could control LED by line tracking sensor.

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/ lesson_3_Line Tracking Sensor

File Name

lesson_3.2_Extension Practice

You could edit code step by step as follows:

  1. Click “Control” to get block

  2. Enter “Serial Port” to move blockinto

+ =

  1. Go to “Variables” to drag out blockand copy it twice

  2. Separately change item into val_L, val_M and val_R.

  3. Go to “Math” to move out blockand replicate it twice.

Edit code string as follows:

  1. Go to “Variables” to drag out block，

  2. Then click “Sensor” → “DigitalRead” →

  3. Move blockinto block，

  4. The line tracking sensor is linked with D6, so set to PIN 11.

  5. Replicate blocktwice，and separately change val_L into val_M and val_R;

  6. The tracking sensor is also connected to D7 and D8, therefore, set to PIN 7 and PIN 8.

  7. Click “Serial Port” to drag out block，and go to “Text” to move blockinto block，

  8. Change hello into left：+ =

  9. Copy blockagain，and enter“Variables”to move blockinto .

  10. Replicate code once and delete left：， as shown below:

  11. Duplicate code stringonce，and change left：into middle : , val_L into val_M.

  12. Copy block，and alter left：into right：

  13. Go to“Serial Port”to drag outblock ，and enter “Variables” to drag into block.

  14. Enter“Control”to move out block， clickto move block intoblock， thenblock turns into.

  15. Go to “Logic” to move blockinto if block.

  16. Enter “Variables” to drag blockinto the left box of block“=”，click “Math” to move blockinto right box of“=”，and change 0 into 1.

  17. Go to “sensor” → “ControlOutput” →

  18. Place it into do block，and set to LOW

  19. LED is linked with D3，therefore, set to PIN 9.

  20. Copy blockagain and keep it into else

  21. Then set to HIGH, click ”Control” to move out block，and delay in 2000ms.

  22. Replicate code stringtwice，and respectively set to val_M and val_R.

Complete Program：

Initialization Set baud rate to 9600 Set val_L to integer 0 Set val_M to integer 0 Set val_R to integer 0. Set the digital signals read by left TCRT5000 IR tube to val_L Set the digital signals read by middle TCRT5000 IR tube to val_M Set the digital signals read by right TCRT5000 IR tube to val_R

Serial port prints left： Serial port displays the digital signals read by left TCRT5000 IR tube.

Serial port prints blank space Serial port prints middle： Serial Port shows the digital signals read by middle TCRT5000 IR tube Serial port prints blank space Serial port prints right： Serial port displays the digital signals read by right TCRT5000 IR tube If the digital signal read by right TCRT5000 IR tube is 1, the program under do block will be executed.

Turn off red LED If the digital signal read by left TCRT5000 IR tube is not 1, the program under else block will be executed. Light up red LED Delay in 2000ms If the digital signal read by middle TCRT5000 IR tube is 1, the program under do block will be executed.

Turn off red LED If the condition of digital signal read by left TCRT5000 IR tube=1 is not met, the program under else block will be executed. Delay in 2000ms If the condition of digital signal read by right TCRT5000 IR tube=1 is met, the program under do block will be executed. LED Turn off red LED If the condition of digital signal read by middle TCRT5000 IR tube=1 is not met, the program under else block will be executed. Light up red LED Delay in 2000ms.

Upload the code to development board, we could see LED light up when covering the line tracking sensor by hand.

Project 4: Servo Control

1. Description

Servo motor is a position control rotary actuator. It mainly consists of housing, circuit board, core-less motor, gear and position sensor. Its working principle is that the servo receives the signal sent by MCU or receiver and produces a reference signal with a period of 20ms and width of 1.5ms, then compares the acquired DC bias voltage to the voltage of the potentiometer and obtain the voltage difference output.

When the motor speed is constant, the potentiometer is driven to rotate through the cascade reduction gear, which leads that the voltage difference is 0, and the motor stops rotating. Generally, the angle range of servo rotation is 0° –180 °

The rotation angle of servo motor is controlled by regulating the duty cycle of PWM (Pulse-Width Modulation) signal. The standard cycle of PWM signal is 20ms (50Hz). Theoretically, the width is distributed between 1ms-2ms, but in fact, it’s between 0.5ms-2.5ms. The width corresponds the rotation angle from 0° to 180°. But note that for different brand motor, the same signal may have different rotation angle.

In general, servo has three line in brown, red and orange. Brown wire is grounded, red one is positive pole line and orange one is signal line.

The corresponding servo angles are shown below:

2. Specification

Working voltage: DC 4.8V ~ 6V

Operating angle range: about 180 ° (at 500 → 2500 μsec)

Pulse width range: 500 → 2500 μsec

No-load speed: 0.12 ± 0.01 sec / 60 (DC 4.8V) 0.1 ± 0.01 sec / 60 (DC 6V)

No-load current: 200 ± 20mA (DC 4.8V) 220 ± 20mA (DC 6V)

Stopping torque: 1.3 ± 0.01kg · cm (DC 4.8V) 1.5 ± 0.1kg · cm (DC 6V)

Stop current: ≦ 850mA (DC 4.8V) ≦ 1000mA (DC 6V)

Standby current: 3 ± 1mA (DC 4.8V) 4 ± 1mA (DC 6V)

3. Components

4. Wiring Diagram

Wiring note: the brown line of servo is linked with Gnd(G), the red line is connected to 5v(V) and orange line is attached to digital 10.

The servo has to be connected to external power due to its high demand for driving servo current. Generally, the current of development board is not enough. If without connected power, the development board could be burnt.

5. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_4_Servo Control

lesson_4_Servo Control

You could edit code step by step as follows:

  1. Go to“Control”to get block

  2. Enter“Module”→“Drive_Module”to get blockand place it into block，

  3. The servo is linked with D10, so set to PIN 10.

  4. Set servo to 90°，and delay in 500ms.

  5. Replicate code string for three times，respectively change 90 into 0, 180 and 0.

Complete Program：

Upload code successfully and power on, servo swings in the range of 0° to 180°.

Project 5: Ultrasonic Sensor

1. Description

The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats do. It offers excellent non-contact range detection with high accuracy and stable readings in an easy-to-use package. It comes complete with ultrasonic transmitter and receiver modules.

The HC-SR04 or the ultrasonic sensor is being used in a wide range of electronics projects for creating obstacle detection and distance measuring application as well as various other applications. Here we have brought the simple method to measure the distance with Arduino and ultrasonic sensor and how to use ultrasonic sensor wit h Arduino.

2. Specification

  • Power Supply :+5V DC

  • Quiescent Current : <2mA

  • Working Current: 15mA

  • Effectual Angle: <15°

  • Ranging Distance : 2cm – 400 cm

  • Resolution : 0.3 cm

  • Measuring Angle: 30 degree

  • Trigger Input Pulse width: 10uS

3. Components

4. The principle of ultrasonic sensor

As the above picture shown, it is like two eyes. One is transmitting end, the other is receiving end.

The ultrasonic module will emit the ultrasonic waves after trigger signal. When the ultrasonic waves encounter the object and are reflected back, the module outputs an echo signal, so it can determine the distance of object from the time difference between trigger signal and echo signal.

The t is the time that emitting signal meets obstacle and returns, and the propagation speed of sound in the air is about 343m/s, therefore, distance = speed * time, because the ultrasonic wave emits and comes back, which is 2 times of distance, so it needs to be divided by 2, the distance measured by ultrasonic wave = (speed * time)/2

  1. Use method and timing chart of ultrasonic module:

  2. Setting the delay time of Trig pin of SR04 to 10μs at least, which can trigger it to detect distance.

  3. 2. After triggering, the module will automatically send eight 40KHz ultrasonic pulses and detect whether there is a signal return. This step will be completed automatically by the module.

  4. 3. If the signal returns, the Echo pin will output a high level, and the duration of the high level is the time from the transmission of the ultrasonic wave to the return.

Img

Circuit diagram of ultrasonic sensor:

5. Connection Diagram

Wiring guide:

Ultrasonic sensor keyestudio V5 sensor shield

VCC → 5v(V)

Trig → 12(S)

Echo → 13(S)

Gnd → Gnd(G)

6. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_5_Ultrasonic Sensor

lesson_5.1_Ultrasonic Sensor

You could edit code step by step as follows:

  1. Click“Control”module to get block.

  2. Enter“Serial Port”to move blockinto block.

  1. Go to“Variables” to get blockand copy it twice. Respectively change item into distance 1 and distance 2.

  2. Click“Math” to move out blockand replicate it twice.

  3. Click “Variables” to drag out block，and enter “sensor” → “OtherSensor” →.

  4. Combine block with block ，

  5. Trig pin of ultrasonic sensor is connected to D12(S) of shield，Echo is attached to D13(S)，so set Trig 12 and Echo 13.

  1. Click“Variables”to get block，and drag out from“Math” and keep it behind block.

  2. Go to“Variables” to move out blockleft 1 box“.

  3. Then change another 1 into 0.3937，and set to“×”.

  1. Go to“Serial Port ” to drag out block，and click “Variables” to get block.

  2. Combine with

  1. Go to “Serial Port” to get block，then click “Text” module to drag blockinto ，and change hello into in.

  1. Copy code stringonce，change distance2 into distance1，in into cm

  1. Click“Control”to get block，delay in 50ms.

  2. Click“Control”to get block，delay in 50ms.

Complete Program：

7. Extension Practice

We have measured the distance displayed by ultrasonic sensor. How about controlling the LED with the measured distance? Let’s try it, connect an LED light module to the D3 pin.

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/lesson_5_Ultrasonic Sensor

File Name

lesson_5.2_Extension Practice

You could edit code step by step as follows:

  1. Enter“Control” to get block

  2. Click“Serial Port” to drag out blockinto

  1. Go to“Variables” to move out blockand copy it twice.

  2. Enter“Math” to drag out blockand replicate twice, and change item into distance 1 and distance 2.

  3. Edit the code string as follows:

  1. Go to “Variables” to move outblock，then click“sensor”→“OtherSensor” →

  2. Combine it with block，the pin Trig of ultrasonic sensor is linked with D12(S) of expansion board, pin Echo is attached to D13(S); therefore, click the triangle button to select 12 and 13.

  1. Click“Variables” to get block，and drag out from “Math” and keep it behind block.

  2. Go to“Variables” to move out blockleft 1 box“. Then change another 1 into 0.3937，and set to “×”.

  1. Go to “Serial Port ” to drag out block，and click “Variables” to get block.

  2. Combine with

  1. Go to “Serial Port” to get block，then click “Text” moduleto drag blockinto，and change hello into in.

  1. Replicate code stringonce，and change distance2 into distance1，and in into cm.

  2. Go to“Control”to move out blockand delay in 50ms

  1. Click“Control” and drag it into block， clickand moveinto then we get block.

  2. Go to “Logic” to get and .

  3. Place into if block，and leave in the left box of block.

  4. Enter“Variables” to get block and keep it at left box of block “=”.

  5. Go to “Math” to move outinto right box of block “=”，and change 0 into 2, “=” into “≥”.

  6. Replicate blockonce and set

  1. Go to“Control”to move out blockand delay in 50ms

  1. Click“Control”and drag it into block，clickand moveintothen we get block.

  2. Go to “Logic” to get and .

  3. Place into if block，and leave in the left box of block.

  4. Enter “Variables” to get block and keep it at left box of block“=”.

  5. Go to“Math” to move outinto right box of block “=”，and change 0 into 2, “=”into“≥”.

  6. Replicate blockonce and set

  7. Click “sensor” →“ControlOutput”→and place it into do block，

  8. The S end of LED Module is connected to D3 of expansion board，therefore,click the triangle button to select 3.

  9. Replicate blockonce and leave it into “else” and set to LOW.

Complete Program：

Upload test code to development board and block ultrasonic sensor by hand, then check if LED is on

8. Test Result

Upload test code on the development board, open serial monitor and set baud rate to 9600. The detected distance will be displayed, the unit is cm and inch. Hinder the ultrasonic sensor by hand, the displayed distance value gets smaller.

Project 6: IR Reception

1. Description

There is no doubt that infrared remote control is ubiquitous in daily life. It is used to control various household appliances, such as TVs, stereos, video recorders and satellite signal receivers. Infrared remote control is composed of infrared transmitting and infrared receiving systems, that is, an infrared remote control and infrared receiving module and a single-chip microcomputer capable of decoding.​

The 38K infrared carrier signal emitted by remote controller is encoded by the encoding chip in the remote controller. It is composed of a section of pilot code, user code, user inverse code, data code, and data inverse code. The time interval of the pulse is used to distinguish whether it is a 0 or 1 signal and the encoding is made up of these 0, 1 signals.

The user code of the same remote control is unchanged. The data code can distinguish the key.

When the remote control button is pressed, the remote control sends out an infrared carrier signal. When the IR receiver receives the signal, the program will decode the carrier signal and determines which key is pressed. The MCU decodes the received 01 signal, thereby judging what key is pressed by the remote control.

Infrared receiver we use is an infrared receiver module. Mainly composed of an infrared receiver head, it is a device that integrates reception, amplification, and demodulation. Its internal IC has completed demodulation, and can achieve from infrared reception to output and be compatible with TTL signals. Additionally, it is suitable for infrared remote control and infrared data transmission. The infrared receiving module made by the receiver has only three pins, signal line, VCC and GND. It is very convenient to communicate with arduino and other microcontrollers.

2. Specification

  • Operating Voltage: 3.3-5V（DC）

  • Interface: 3PIN

  • Output Signal: Digital signal

  • Receiving Angle: 90 degrees

  • Frequency: 38khz

  • Receiving Distance: 10m

3. Components

4. Connection Diagram

Respectively link “-”, “+” and S of IR receiver module with G(GND）, V（VCC）and A0 of keyestudio development board.

Attention: On the condition that digital ports are not available, analog ports can be regarded as digital ports. A0 equals to D14, A1 is equivalent to digital 15.

5. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_6_IR Reception

lesson_6.1_IR Reception

You could edit code step by step as follows:

(1) Enter “Control” Module to get block.

(2) Click “Serial Port”Module to drag blockinto block.

(3) Go to “Module”→”Communicate_Module”→，

(4) Signal end of IR receiver module is connected to A1 of shield, therefore, click triangle button to select A0.

(5) Click “Control” Module，to moveout, delay in 100ms

Complete Program：

6. Test Result

Upload test code, open serial monitor and set baud rate to 9600, point remote control to IR receiver and the corresponding value will be shown, if pressing so long, the error codes will appear.

Below we have listed out each button value of keyestudio remote control. So you can keep it for reference.

7. Extension Practice:

We decoded the key value of IR remote control. How about controlling LED by the measured value? We could operate an experiment to affirm. Attach an LED to D3, then press the keys of remote control to make LED light up and off.

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/ lesson_6_IR Reception

File Name

lesson_6.2_Extension Practice

You could edit code step by step as follows:

  1. Enter“Control”module to get block.

  2. Go to“Serial Port”to move out blockinto block.

  4. Go to ”Module”→”Communicate_Module”→

  5. S end of IR receiver module is linked with A0. therefore, click triangle button to set A0.

  1. Go to “Variables” to move blockinto block，

  2. Go to“Math”to drag out blockand integrate with , then change item into a.

  1. Click “Control”module to get block，click，moveinto block，thenturns intoblock.

  2. Go to “Logic”，and find out block. Leave it behind if block

  3. Go to“Logic” to placein the left box.

  4. Click“Variables” to move in the left box of“=” block，go to“Math” to drag outinto right box of “=”，then change 0 into 0xFF02FD.

  5. Copyonce and keep it into right box of ”and” block，change ir_item into a，0xFF02FD into 0.

  1. Click “sensor”→ “ControlOutput”→

  2. Keep it into the first do block，S end of red LED module is linked with D3 of expansion board，and set to Pin 3.

  1. Go to“Variables”to move below“Red_LED…HIGH”block.

  2. Click“Math” to get block into，and change 0 into 1.

  1. Replicate once and move into “else if”, change 0 into 1.

  1. Replicate code stringonce and place it into second do block.

  2. Click“HIGH”into“LOW”，1 into 0.

Complete Program：

Upload code to development board, press “OK” key on remote control to make LED on and off.

Project 7: Bluetooth Remote Control

1. Description

Bluetooth, a simple wireless communication module most popular since the last few decades and easy to use are being used in most of the battery-powered devices.

Over the years, there have been many upgrades of Bluetooth standard to keep fulfil the demand of customers and technology according to the need of time and situation.

Over the few years, there are many things changed including data transmission rate, power consumption with wearable and IoT Devices and Security System.

Here we are going to learn about HM-10 BLE 4.0 with Arduino Board. The HM-10 is a readily available Bluetooth 4.0 module. This module is used for establishing wireless data communication. The module is designed by using the Texas Instruments CC2540 or CC2541 Bluetooth low energy (BLE) System on Chip (SoC).

2. Parameters

  • Bluetooth protocol: Bluetooth Specification V4.0 BLE

  • No byte limit in serial port Transceiving

  • In open environment, realize 100m ultra-distance communication with iphone4s

  • Working frequency: 2.4GHz ISM band

  • Modulation method: GFSK(Gaussian Frequency Shift Keying)

  • Transmission power: -23dbm, -6dbm, 0dbm, 6dbm, can be modified by AT command.

  • Sensitivity: ≤-84dBm at 0.1% BER

  • Transmission rate: Asynchronous: 6K bytes ; Synchronous: 6k Bytes

  • Security feature: Authentication and encryption

  • Supporting service: Central & Peripheral UUID FFE0, FFE1

  • Power consumption: Auto sleep mode, stand by current 400uA~800uA, 8.5mA during transmission.

  • Power supply: 5V DC

  • Working temperature: –5 to +65 Centigrade

3. Components

4. Wiring Diagram

5. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_7_Bluetooth Remote Control

lesson_7.1_Bluetooth Remote Control

You could edit code step by step as follows:

  1. Click “Control”to get block

  2. Enter “Serial Port”to move blockinto

+=

  1. Click “Variables” to drag out into， enter“Math” block to get block .

  2. Place it behind “value”，and change item into ble_val，click the drop-down triangle button to select char.

  1. Go to “Control” to get block，and click “Serial Port” to move out blockinto if block.

  1. Enter “Variables” to drag out blockinto do block，click “Serial Port” to move out block into block.

  1. Enter “Serial Port” to move block into do block，then click “Variables” to drag out into block.

Complete Program：

(There will be contradiction between serial communication of code and communication of Bluetooth when uploading code, therefore, don’t link with Bluetooth module before uploading code.)

After uploading code on development board, then insert Bluetooth module, wait for the command from cellphone.

6. Download the APP

The code is the received signal by serial monitor, in this project, we send signal to control robot car via cellphone.

Then we need to download the APP.

iOS system

Note: Allow APP to access “location” in settings of your cellphone when connecting to Bluetooth module, otherwise, Bluetooth may not be connected.

Enter APP STORE to search BLE Scanner 4.0, then download it.

Android system

Enter Google Play to find out BLE Scanner and download.

(Enable“location”in settings of your cellphone, otherwise, app may not be searched.)

After installation, open App and enable“Location and Bluetooth” permission. Open App, the name of Bluetooth module is HMSoft. Then click “connect” to link with Bluetooth

After connecting to HMSoft, click it to get multiple options, such as device information, access permission, general and custom service. Choose “CUSTOM SERVICE”

Then pop up the following page.

Click（Read,Notify,WriteWithoutResponse)to enter the following page

Click Write Value to enter HEX or Text.

Open the serial monitor on Arduino，enter a 0 or other character on Text interface.

Then click “Write”, open serial monitor to view if there is a “0” signal

7.Extension Practice

We could send a command via Bluetooth to turn on and off a LED. D3 is connected to a LED, as shown below:

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/lesson_7_Bluetooth Remote Control

File Name

lesson_7.2_Extension Practice

You could edit code step by step as follows:

  1. Click“Control” to get block

  2. Enter“Serial Port”to move blockinto

  3. Click“Variables” to move blockinto block，then go to “Math” to find out，

  4. Combine with and change item into i.

  1. Click “Control” to get block，and enter “Serial port”to moveinto if block.

  1. Go to“Variables”to drag blockinto do block，

  2. Enter “Serial port”to move outblock and edit code string as follows:

  1. Enter“Serial port” to drag out，

  2. Click“Text”to move outinto block，and change “hello”into DATA RECEIVED：.

  1. Click“Control”to move out blockinto do，click “Logic” to moveblock into if，

  2. Enter “Variables” to move into left box of “=”，then enter “Text” to get blockand leave it into right box“=”，change a into 1.

  1. Enter“Sensor”→“ControlOutput”→

  2. Drag it into the second do block，S end of red LED is connected to D3, therefore, set to Pin 3.

  3. Replicateonce and place it into the second do block. Change DATA RECEIVED：into led on.

  4. Copy code stringonce and change 1 into 0，click “HIGH” to select “LOW”，and change led on into led off.

Complete Program：

Click “Write” on APP, when you enter 1, LED will be on, when you input 0, LED will be off. (Remember to remove the Bluetooth module after finishing experiment, otherwise, burning code will be affected)

Hook-up diagram

1. STATE: state test pins, connected to internal LED, generally keep it unconnected.

2. RXD: serial interface, receiving terminal.

3. TXD: serial interface, transmitting terminal.

4. GND: Ground.

5. VCC: positive pole of the power source.

6. EN/BRK: break connect, it means breaking the Bluetooth connection, generally, keep it unconnected.

Pay attention to the pin direction when inserting Bluetooth module, and don’t insert it before uploading test code

Project 8: Motor Driving and Speed Control

1. Description

There are many ways to drive the motor. Our robot car uses the most commonly used L298P solution. L298P is an excellent high-power motor driver IC produced by STMicroelectronics. It can directly drive DC motors, two-phase and four-phase stepping motors. The driving current up to 2A, and output terminal of motor adopts eight high-speed Schottky diodes as protection.

We designed a shield based on the circuit of L298p.

The stacked design reduces the technical difficulty of using and driving the motor.

2. Specification

  1. Logic part input voltage: DC5V

  2. Driving part input voltage: DC 7-12V

  3. Logic part working current: <36mA

  4. Driving part working current: <2A

  5. Maximum power dissipation: 25W (T=75℃)

  6. Working temperature: -25℃～＋130℃

  7. Control signal input level: high level 2.3V<Vin<5V, low level -0.3V<Vin<1.5V

3. Drive Robot to Move

Through the above diagram, the direction pin of B motor is D4, and speed pin is D5; D2 is the direction pin of A motor, D9 is speed pin.

PWM decides 2 motors to rotate so as to drive robot car. The PWM value is in the range of 0-255, the larger the number, the faster the motor rotates.

D2

D6 (PWM）

Motor（A）

Go forward

LOW

200

Rotate clockwise

Go back

HIGH

200

Rotate anticlockwise

Rotate to left

HIGH

200

Rotate anticlockwise

Rotate to right

LOW

200

Rotate clockwise

Stop

/

0

Stop

Go forward

D4

D5 PWM

Motor（B）

Go back

LOW

200

Rotate clockwise

Rotate to left

HIGH

200

Rotate anticlockwise

Rotate to right

LOW

200

Rotate clockwise

Stop

HIGH

200

Rotate anticlockwise

Go forward

/

0

Stop

Go back

D4

D5 PWM

Motor（B）

4. Components

5. Connection Diagram

6. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_8_Motor Driving and Speed Control

lesson_8.1_Motor Driving and Speed Control

You could edit code step by step as follows:

(1)Click “Control” to get block.

(2) Go to ”Module”→”Drive_Module”→，

(3) Place it into block.

(4) The direction pin and speed control pin of B motor(left) are connected to D4 and D5. So set PIN 4 and PIN 5 as follows:

(5) Copyonce and place it into block.

(6) The direction pin and speed control pin of A motor (right) are connected to D2 and D9. So set PIN 2 and PIN 9 as follows:

(7) Duplicate code string once, set INA to HIGH and PWB to 200：

(8) Click “Control” to move out block，delay in 2000ms.

(9) Replicate for four times，then set the code string as follows:

Complete Program：

7. Test Result

Hook up by connection diagram, upload code and power on, smart car goes forward and back for 2s, turns left and right for 2s, stops for 2s and alternately.

8. Extension Practice

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/ lesson_8_Motor Driving and Speed Control

File Name

lesson_8.2_Extension Practice

You could edit code step by step as follows:

Complete Program：

Upload code successfully, the motors rotate slower.

Project 9: 8*8 LED Board

1. Description

A fun way to make a small display is to use an 8x8 matrix or a 4-digit 7-segment display. Matrices like these are ‘multiplexed’ - to control 64 LEDs you need 16 pins. That’s a lot of pins, and there are driver chips like the MAX7219 that can control a matrix for you, but there’s a lot of wiring to set up and they take up a ton of space. After all, wouldn’t it be awesome if you could control a matrix without tons of wiring?

We control and drive 8*8 LED Board by HT16K33 chip, which is convenient for wiring and greatly save the resources of microcontroller.

2. Components

8*8 Dot Matrix

Composed of LED emitting tube diodes, LED dot matrix are applied widely to public information display like advertisement screen and bulletin board, by controlling LED to show words, pictures and videos, etc.

Divided into single-color, double-color, and three-color lights according to emitting color , LED dot matrix could show red, yellow, green and even true color.

There are 4×4, 8×8 and 16×16 different types matrix.

8×8 dot matrix contains 64pcs LEDs.

The inner structure of 8×8 dot matrix is shown below.

Every LED is installed on the cross point of row line and column line. When the voltage on some line increases, and the voltage on some column line is reduced, the LED on the cross point will light up. 8×8 dot matrix has 16 pins. Put the silk-screened side down and the anticlockwise numbers are 1,8, 9 and 16.

The definition inner pins are shown below:

For instance, to light up the LED on row 1 and column 1, increase the voltage of pin 9 and reduce the voltage of pin 13.

3. HT16K33 8X8 Dot Matrix

The HT16K33 is a memory mapping and multi-purpose LED controller driver. The max. Display segment numbers in the device is 128 patterns (16 segments and 8 commons) with a 13*3 (MAX.) matrix key scan circuit. The software configuration features of the HT16K33 makes it suitable for multiple LED applications including LED modules and display subsystems. The HT16K33 is compatible with most microcontrollers and communicates via a two-line bidirectional I2C-bus.

The working schematic of HT16K33 chip

We design the drive module of 8*8 dot matrix based on the above principle. We could control the dot matrix by I2C communication and two pins of micro controller, according to the above diagram.

4. Specification of 8*8 dot matrix

  • Input voltage: 5V

  • Rated input frequency: 400KHZ

  • Input power: 2.5W

  • Input current: 500mA

5. Introduction for Modulus Tool

The online version of dot matrix modulus tool:

http://dotmatrixtool.com/#

Open links to enter the following page.

The dot matrix is 8*16 in this project, so set the height to 8, width to 8, as shown below.

Click Byte order to select “Row major”

Generate hexadecimal data from the pattern

As shown below, press the left mouse button to select, the right button to cancel, draw the pattern you want, click Generate, and the hexadecimal data we need will be produced.

The generated hexadecimal code(0x00, 0x66, 0x00, 0x00, 0x18, 0x42, 0x3c, 0x00) is what we display, and save it.

6. Connection Diagram

Note: The pin G, V, SDA and SCL of dot matrix module are separately connected to G, 5V, A4 and A5 of motor drive shield. Plug power to BAT interface.

7. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_9_8*8 LED Board

lesson_9.1_8*8 LED Board

You could edit code step by step as follows:

(1) Click “Control” to get block

(2) Enter“Module”→”Display_Module”→

(3) Go to “Display_Module” to get blockand leave it into block，and click drop-down triangle button to set“ON”.

(4) Move out blockfrom “Display_Module”，

Tick the white box to light up LED, “√”will appear and generate a smile face pattern. As shown below:

Complete Program：

8. Test Result

Upload code, plug in power and turn on switch of smart car, 8*8 dot matrix displays a smile face pattern.

9. Extension Practice

Let’s make dot matrix draw a heart, just enter the website and draw the following pattern.

http://dotmatrixtool.com/#

，

Then we get the code of heart pattern

Replace the above code of heart pattern, the complete code is shown below:

File type

Route

MIX File

../tutorial for Mixly/Mixly Code/ lesson_9_8*8 LED Board

File Name

lesson_9.2_Extension Practice

You could edit code step by step as follows:

Complete Program：

Upload code, plug in power and turn on switch of smart car, 8*8 dot matrix displays a heart pattern.

Project 10: Line Tracking Robot

1. Description

The previous projects are inclusive of the knowledge of multiple sensors and modules. Next, we will work on a little challenging task.

We could make a line tracking car on top of the working principle of line tracking sensor.

2. Program Process

Detection

Middle tracking sensor

detects black line: HIGH

detects white line: LOW

Left tracking sensor

detects black line: HIGH

detects white line: LOW

Right tracking sensor

detects black line: HIGH

detects white line: LOW

Condition 1

Status 2 detecting the left and the right tracking sensor

Status

Middle tracking sensor detects black line

left tracking sensor detects black line; right sensor detects white line

Rotate to left（Set PWM to 200）

left tracking sensor detects white line; right sensor detects black line

Rotate to right（Set PWM to 200）

left and right tracking sensor detect black line

Go front（Set PWM to 200）

left and right tracking sensor detect white line

Go front（Set PWM to 200）

Middle tracking sensor detects white line

Only left line tracking sensor detects black line

Rotate to left（Set PWM to 200）

Only right line tracking sensor detects black line

Rotate to right（Set PWM to 200）

Left and right line tracking sensors detect black line

stop

Left and right line tracking sensors detect white line

stop

3. Flow Chart

4. Connection Diagram

5. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_10_Line Tracking Robot

lesson_10_Line Tracking Robot

You could edit code step by step as follows:

(1) Go to“Control”Module to find out block.

(2) Click“Variables”to move out blockand duplicate it for two times.

(3) Separately change item into val_L, val_C and val_R.

(4) Go to“Math”to move out blockand copy it twice.

(5) Edit the following code string:

(6) Go to “Variables” to get block.

(7) Tap“robot”→“TurtleCar”to move out block

+=

(8) Duplicate blocktwice，then change val_L into val_C and val_R; left_tracking into center_tracking and right_tracking.

(9) Click“Control”to get block ，click，and moveinto ，thenblock turns intoblock.

(10) Click“Logic”to move out blockand place it behind if block. Go to“Variables”to drag out blockinto left box of “=” block，

(11) Copyagain and leave it into right box of“=”b lock，and change 0 into 1.

(12) Tap“Robot”→“TurtleCar”→

(13) Put it under block val_C=1, and change 0 into 200.

(14) Go to“Control”to move blockinto else block，click，drag blockinto block and move blockinto block，thenblock turns into block.

(15) Click“Logic”to move out block and

(16) Place behind if block, and leavein the left box of “and”block.

(17) Go to“Variables”to drag out blockinto left box of“=”block，

(18) Copyagain and leave it into right box of“=”b lock，and change 0 into 1.

(19) Copy block once and keep it in the right box of “and”block, change val_L into val_R, 1 into 0

(20) Click “robot” → “TurtleCar” →

Place it behind the second do block and set to 200 PWM

(21) Replicate blockonce and leave it behind else if.

(22) Set to“val_L=0 and val_R=0

(23) Click “robot” → “TurtleCar” → Place it behind the third do block, and set to 200 PWM

(24) Drag out block and keep it behind the second else block

Complete Program：

6. Test Result

Upload code on the development board, plug in power and turn on the switch of smart car. The smart turtle car will walk along the black line.

Project 11: Ultrasonic Follow Robot

1. Description

In this project, we detect the distance value of the obstacle to drive two motors so as to make robot car move and 8*8 dot matrix show smile face pattern

Control the motor rotating by measured data, thus control the motion of robot car.

The specific logic of ultrasonic follow robot car is as shown below:

Detection

Measured distance of front obstacles (distance（unit: cm）)

Setting

Set the angle of servo to 90° / Make dot matrix show smile face pattern

Condition

Distance＜8

Status

Go back（set PWM to 200）

Condition

distance≥8 and distance＜13

Status

Stop

Condition

distance≥13 and distance＜35

Status

Go front（set PWM to 200）

Condition

distance≥35

Status

stop

2. Flow Chart

3. Program Process

Below is app of turtle robot car interface and we have listed out what function of each key does.

image-20230418111816469

Pair Bluetooth module

image-20230418111825759

Enter control page

image-20230418111831374

Disconnect Bluetooth

image-20230418111847567

Press: F Release: S

robot goes front; release to stop

image-20230418111901151

Press: L Release: S

robot turns left; release to stop

image-20230418111904943

Click to send “S”

Stop

image-20230418111908287

Press: R Release: S

robot turns right; release to stop

image-20230418111912495

Press: B Release: S

robot goes back; release to stop

image-20230418111918543

Click to send “Y”

Start Ultrasonic follow function

image-20230418111930993

—

Click to start the mobile gravity sensing; click again to exit

image-20230418111943023

Click to send “U”

Start ultrasonic avoiding function

image-20230418111947439

Click to send “X”

Start line tracking function

4. Flow Chart

5. Connection Diagram

6. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_11_Ultrasonic Follow Robot

lesson_11_Ultrasonic Follow Robot

You could edit code step by step as follows:

  1. Enter“Serial Port”to move blockinto

+ =

  1. Go to“Variables”to move blockinto block，enter“Math”to drag blockinto block，and change item into distance.

  2. Click“robot”→“TurtleCar”→

  3. Leave it under block “Declare distance as…0”and change 0 into 90

  1. Go to “Variables” to move out block. Enter “robot” → “TurtleCar” →

  2. +=

  3. Go to “serial”to moveblock out, and combinewith

  1. Click “Control” to move out block，tap，appears, drag into blockfor 2 times and move into if block, then the blockis produced.

  2. Enter “Logic” to move block into if block

  3. Go to “Variables” to drag blockinto left box of “=”

  4. Click “Math” to move out block into right box of “=”, change 0 into 8, and “=” into “<”.

  1. Click “robot” → “TurtleCar”→

  2. Put it behind “do” block and set to 200 PWM.

  1. Go to“Logic”to move out blockand combine with else if block.

  2. Replicate blocktwice and place them at both side of “and” block and edit the code string as follows：

  1. Click “robot” → “TurtleCar” →

  2. Combine it with the second do block.

Copy blockonce.

Place it behind the second else if block，and edit the code string as below:

Drag outand from “TurtleCar”，and finish the code string as follows:

Complete Program：

7. Test Result

Upload the code to the development board, plug in power and turn on the switch of smart car. Adjust the servo on turtle robot car to 90°, robot car will follow the obstacle to move(robot car only moves forward and backward).

Project 12: Ultrasonic Avoiding Robot

1. Description

We’ve learned LED matrix, motor drive, ultrasonic sensor and servo in previous lessons. Next, we could make an ultrasonic avoiding robot!

The measured distance between ultrasonic sensor and obstacle can be used to control servo to rotate so as to make robot car move.

The specific logic of ultrasonic avoiding smart car is as shown below:

Detection

a（unit: cm）

measured distance of front obstacle set servo to90°

a1（unit: cm）

measured distance of left obstacle（set servo to 180°）

a2（unit: cm）

measured distance of right obstacle（set servo to 0°）

Setting

set the initial angle of servo to 90°

Dot matrix shows smile face pattern

Condition 1

Status

a＜10

Stop for 1000ms；

set the angle of servo to 180°，read a1，delay in 500ms；set the angle of servo to 0°，read a2，delay in 500ms

Condition 2

Status

a1＞a2

Set the angle of servo to 90°，rotate to left for 400ms (set PWM to 200），and go font（set PWM to 200）

a1≤a2

Set the angle of servo to 90°，rotate to right for 400ms,（set PWM to 200，and go front（set PWM to 200）

Condition 1

Status

a≥10

Go front（set PWM to 200）

2. Flow Chart

3. Connection Diagram

image-20230418114618873

4. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_12_Ultrasonic Avoiding Robot

lesson_12_Ultrasonic Avoiding Robot

You could edit code step by step as follows:

  1. Go to “Control” to find out block.

  2. Separately change item into distance1, distance2 and distance3.

  3. Go to “Math” to move out blockand copy it for three times

  4. Edit the following code string:

  1. Enter “robot” → “TurtleCar” →, change 0 into 90 .

  2. Drag out from“Control”and delay in 300ms.

  3. Edit the code string as follows:

  1. Then move out blockand and place them into block.

  1. Go to “Variables” to drag out block，and move out from “TurtleCar”.

+=

  1. Click “Control” and drag it into block，click and moveinto then we get block.

  2. Go to “Logic” to get and .

  3. Place into if block，and leave in the left box of block.

  4. Enter “Variables” to get block and keep it at left box of block “=”.

  5. Go to “Math” to move outinto right box of block “=”, change “=” into“≠”. Replicate blockonce and set code string as follows:

  1. Go to “robot” → “TurtleCar”→, and

  2. Place them behind the block，

  3. Click to select“STOP”，and move out and set to 100ms. As shown below:

  1. Click “robot” → “TurtleCar” →, change 0 into 180.

  2. Copy once and set to 500ms.

  3. Edit the code string as follows:

  1. Duplicate blockand

  2. Change distance1 into distance2, and 1000 into 100.

  3. Finish the following code string as follows:

  1. Duplicate code stringonce and change 180 into 0, distance2 into adistance3.

  2. Place it under block “Delay ms 100”

  1. Click “Control” and drag it into block，click and move into then we get block.

  2. Go to “Logic” to move out blockinto if block，then click“Variables”to drag blockinto left box of“=”block，and move blockinto right box of“=”，and change“=”into“＞”.

  1. Find out block, and from”TurtleCar”

  2. Place them behind do block of code string.

  3. Set to 200 PWM and click to select“←”

  1. Move out blockand leave it under blockand change 0 into 90.

  2. Copy blockand set to 400ms, as shown below:

  1. Then drag out blockand

  2. Place them below block “delay ms 400” and tap to choose“↑”.

  1. Go to “TurtleCar” to move blockbehind else block，

  2. Copy code stringonce and place it into else block.

  3. Set to 200 PWM and delay in 500ms. Click“←”to choose“→”.

  4. Move out block, and

  5. Change 0 into 200, click to select“↑”.

  6. Leave the above blocks into else block, as shown below:

2. Complete Program：

5. Test Result

After uploading the code on the keyestudio V4.0 board, wire according to connection diagram. Turn on the switch of robot car, the smart car can automatically avoid obstacles.

Project 13: IR Remote Control Robot

1. Description

In this project, we will make IR remote control robot car!

Press the button on IR remote control to drive robot car to move, and the corresponding state pattern is displayed on the 8*16 LED matrix.

The specific logic of IR remote control robot car is shown below:

Initial setup

8X16 LED matrix Clear

Remote control

Key Value

Key state

image-20230418115107545

FF629D

Go front（PWM set to 100）

8*8 LED matrix shows front icon

image-20230418115113284

FFA857

Back（PWM set to 100）

8*8 LED matrix shows back icon

image-20230418115117411

FF22DD

Rotate to left（PWM set to 200）

8X16 LED matrix shows leftward icon

image-20230418115122099

FFC23D

Rotate to right（PWM set to 200）

8X16 LED matrix shows rightward icon

image-20230418115125523

FF02FD

Stop

8X16 LED matrix shows“STOP”

2. Flow Chart

3. Connection Diagram

Note: IR receiver is connected to P4 interface.

4. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/ lesson_13_IR Remote Control Robot

lesson_13_IR Remote Control Robot

You could edit code step by step as follows:

(1) Click“Control” to get block

(2) Enter“Serial Port”to move blockinto

+=

(3) Go to “robot” →”TurtleCar”→blockand, combine them with block

(4) Enter “robot” → “TurtleCar”→，then click “SerialPort” to drag blockinto block，

(5) Tap “Variables” to move blockinto blank box of block

(6) Click“Control”to move out block，click，tap，appears, drag into blockfor 5 times，the blockis produced.

(7) Click “Variables” to move blockbehind block“switch”.

(8) Go to“Math”to get blockand put it behind the first block case，change a into 0xFF629D；

(9) Enter “robot” → “TurtleCar”→, and

(10) Place the above blocks under the first block case, change 0 into 200，and click to select“↑”

(11) Go to“Math”to get blockand put it behind the second block case，change a into 0xFFA857；

(12) Enter “robot” → “TurtleCar”→, and

(13) Place the above blocks under the second block case, change 0 into 200，and click to select“↓”.

(14) Go to“Math”to get blockand put it behind the third block case，change a into 0xFF22DD；

(15) Enter “robot” → “TurtleCar”→, and

(16) Place the above blocks under the third block case, change 0 into 200，and click to select“←”.

(17) Go to“Math”to get blockand put it behind the fourth block case，change a into 0xFFC23D；

(18) Enter “robot” → “TurtleCar”→, and

(19) Place the above blocks under the fourth block case, change 0 into 200，and click to select“→”.

(20) Go to“Math”to get blockand put it behind the fifth block case，change a into0xFF02FD；

(21) Enter “robot” → “TurtleCar”→, and.

(22) Place the above blocks under the fourth block case, change 0 into 200，and click to select“STOP”.

Complete Program：

5. Test Result

Upload the code and press the buttons on IR remote control to make turtle car show different motion.

Project 14: Bluetooth Control Robot

1. Description

We’ve learned the basic knowledge of Bluetooth, in this lesson, we will make a Bluetooth remote smart car. In the experiment, we default the HM-10 Bluetooth module as a Slave and the cellphone as a Host.

keyes BT car is an APP rolled out by keyestudio team. You could control the robot car by it readily.

Special Note: you need to remove the Bluetooth module before uploading the test code, otherwise the test code will fail to upload.

Reconnect the Bluetooth module, after uploading code successful.

The program will be generated if you find the following file and drag it into Mixly software.

2. Test the key value of app

Special Note: Before uploading the test code, you need to remove the Bluetooth module, otherwise the test code will fail to upload. After the code is uploaded successful, then reconnect the Bluetooth module.

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX file

../tutorialforMixly/MixlyCode/ lesson_14_Bluetooth Remote Control

lesson_14.1_Bluetooth Reads Data

You could edit code step by step as follows:

(1) Go to“Control”Module to find out block.

(2) Enter“Serial Port”to move blockinto

+=

(3) Go to “robot” → “TurtleCar”→.

(4) Click “SerialPort” to move block into ；enter “Variables” to drag blockinto

Complete Program：

image-20230418115556985

Upload code to keyestudio V4.0 development board and connect Bluetooth module, as shown below:

After inserting a Bluetooth module, LED on Bluetooth module will flash. Next to download the App.

The pin RXD, TXD, GND and VCC of Bluetooth module are connected to TX, RX, -（GND）and +（VCC）on motor drive board. The pin STATE and BRK don’t need to be linked.

The pin G, V, SDA and SCL of dot matrix are linked with pin G, 5V, A4 and A5 of motor drive board. The power is plugged in BAT interface.

3. iOS system

Search keyes BT car in App store

After installation, enter its interface.

Click“Connect”to search and pair Bluetooth.

Clickto enter the main page of turtle smart car.

4. Android System

  1. Enter Google play store to search Turtle Car(allow APP to access“location”, you could enable “location”in settings of your cellphone.

  1. The app icon is shown below after installation.

  2. Click app to enter the following page.

  1. After connecting Bluetooth, plug in power and LED indicator of Bluetooth module will flash. Tap to search Bluetooth.

Click“connect”below HMSoft, then the Bluetooth will be connected and its LED indicator will stay on.

After connecting Bluetooth module and open serial monitor to set baud rate to 9600. Press icon on APP, and the corresponding characters are displayed as shown below:

5. Hook-up Diagram

6. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_14_Bluetooth Remote Control

lesson_14.1_Bluetooth Control Smart Car

You could edit code step by step as follows:

(1) Click “Control” to find out block.

(2) Enter “Serial Port” to move blockinto

+=

(3) Enter “robot” →”TurtleCar”→and ;

(4) Place them into block.

(5) Enter “robot” → “TurtleCar”→，go to “SerialPort” to move blockinto block; and click “Variables” to drag blockbehind block.

(6) Click“Control”to drag out block，clickand appear box，drag blockfor five times and place them into block，then we get block;

(7) Click “Variables” to place blockbehind the block“switch”

(8) Click “Text” to move blockout and keep it behind the first case block，change a into F；

(9) Click “robot” → “TurtleCar”→, and

(10) Place them under case block, change 0 into 200 and tapto select“↑”.

(11) Copy blockand place it behind the second case，alter a into B；Go to “robot” → “TurtleCar”→,and

(12) Put the above blocks under the second case block, change 0 into 200 and click to select“↓”.

(13) Replicate blockonce and leave it behind the third case block，modify a into L；

(14) Click “robot” → “TurtleCar”→, and

(15) Put the above blocks under the third case block, change 0 into 200 and tap to choose“←”.

(16) Replicate twice and place them behind the fourth and fifth case blocks respectively.

(17) Go to “robot” → “TurtleCar”→, , , , and .

(18) Change 0 into 200, click to select“→”and“STOP”, a into R and S.

Complete Program：

7. Test Result

Upload program to development board, insert Bluetooth module, open App to connect Bluetooth. Next, press icons on App to control turtle robot car to move.

Special Note: you need to remove the Bluetooth module before uploading the test code, otherwise the test code will fail to upload. Reconnect the Bluetooth module, after uploading code successful.

Project 15: Multi-purpose Bluetooth Robot

1. Description

In previous projects, the robot car only performs single function, however, in this lesson, we integrate all of function to control smart car via Bluetooth

Here is a simple flow chart of multi-purpose robot car as for your reference.

2. Connection Diagram

3. Test Code

The program will be generated if you find the following file and drag it into Mixly software.

File type

Route

File Name

MIX File

../tutorial for Mixly/Mixly Code/lesson_15_Multi-purpose Bluetooth Robot

lesson_15_Multi-purpose Bluetooth Robot

Complete Program：

4. Test Result

Upload the code on the keyestudio V4.0 board. Turn on the switch on robot car. After connecting to Bluetooth, we could control turtle robot car via App.

8. Resources

Wiki page: https://wiki.keyestudio.com/Main_Page

Official website: https://keyestudio.com/