STM32-based-Wheeled-Robot-with-Bluetooth-control

Robots are tools that can ease the burden on humans. Robots can be controlled by humans directly, but actually robots can also make their own decisions if given an intelligent algorithm. The type of robot that is often used in school activities is a wheeled robot. A wheeled robot is a robot that moves by using wheels. This project was made basically to provide education to the wider community on how to make a simple wheeled robot. This project has been implemented and took approximately 3 days. UART communication protocol is used as a medium for data exchange between Bluetooth and STM32 board. While the type of UART used is Hardware Serial. The benefit of making this project is none other than to add insight. The results of this study show that the robot can move according to user commands.

Project Requirements

Part	Description
Development Board	STM32F103C8T6
Code Editor	Arduino IDE
Programmer Tools	FTDI USB
Driver	CDM FTDI USB Driver
Communications Protocol	Universal Asynchronous Receiver-Transmitter (UART)
IoT Architecture	3 Layer
Application Support	• STM32CubeProgrammer • Bluetooth RC Controller
Programming Language	C/C++
Actuators	Gear Motor / Motor DC (x2)
Sensor	JDY-31 SPP-C: Bluetooth Module (x1)
Other Components	• Mini USB cable - USB type A (x1) • Micro USB cable - 2 pin JST (x1) • Jumper cable (1 set) • KCD11: Rocker Switch SPST (x1) • Li-ion battery 18650 (x2) • 2-Slot series battery holder (x1) • Robot wheels (x2) • Caster wheel (x1) • Motor driver L298N (x1) • Car robot frame (x1) • Spicer bolts (1 set) • Bolts plus (1 set) • Nuts (1 set)

Download & Install

1. Arduino IDE

   https://bit.ly/ArduinoIDE_Installer

   
   

2. CDM FTDI USB Driver

   https://bit.ly/CDM_FTDI_USB_Driver

   
   

3. STM32CubeProgrammer

   https://bit.ly/STM32_Cube_Programmer_Installer

Project Designs

Block Diagram	Pictorial Diagram

Wiring

Basic Knowledge

Basically, a device can be communicated with other devices either wirelessly or by cable. Communication between commonly used hardware is Serial Communication. It can be known that there are three types of Serial Communication, which include: UART (Universal Asynchronous Receiver-Transmitter), SPI (Serial Peripheral Interface), and I2C (Inter Integrated Circuit). There are two kinds of UART Serial Communication, namely Hardware Serial and Software Serial. Hardware serial communication can be done by connecting the TX and RX pins crosswise on each development board, for example: RX-TX, then TX-RX. The TX pin is for sending data, while the RX pin is for receiving data. Serial Software Communication is more or less the same as Serial Hardware Communication in terms of cabling, but there are differences in terms of coding. By using this Serial Software you can overcome the constraints of the limitations of RX and TX pins on the development board. To communicate with this Serial Software is quite easy, namely by using certain Digital Pins as a substitute for TX pins and RX pins.

Arduino IDE Setup

1. Open the Arduino IDE first, then open this project by clicking File -> Open :

   stm32_btrobot.ino

   
   

2. Fill in the Additional Board Manager URLs in Arduino IDE

   Click File -> Preferences -> enter the Boards Manager Url by copying the following link : https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json

   
   

3. Board Setup in Arduino IDE

   How to setup the STM32F103C8T6 board
   • Click Tools -> Board -> Boards Manager -> Install STM32 MCU based boards. • Then click Tools -> Board -> STM32 boards groups -> Generic STM32F1 series.

   
   

4. Change Board Part Number in Arduino IDE

   Click Tools -> Board part number -> BluePill F103C8

   
   

5. Change U(S)ART Support in Arduino IDE

   Click Tools -> U(S)ART Support -> Enabled (generic 'Serial')

   
   

6. Change Upload Method in Arduino IDE

   Click Tools -> Upload method -> STM32CubeProgrammer (Serial)

   
   

7. Port Setup in Arduino IDE

   Click Port -> Choose according to your device port (you can see in device manager)

   
   

8. Before uploading the program please click: Verify.
   
   

9. If there is no error in the program code, the next step is to use the STM32 programming tool according to the procedure. Then click: Upload.
   
   

10. If there is still a problem when uploading the program, then try checking the driver / port / programmer tool / others section.

FTDI USB Setup

1. Programming Mode :

   • Make sure you haven't uploaded the program.

   • Make sure the BOOT0 jumper position on the STM32F1 is at position 1.

   • Make sure the BOOT1 jumper position on the STM32F1 is at position 0.

   • Make sure the Vout jumper position on the FTDI is at position 3.3V.

   • Connect this STM32F103C8T6 board to FTDI.

   

   • Then connect the FTDI to your PC/Laptop with a Mini USB - USB type A cable.

   • Press the Reset button so that all programs embedded in this STM32 board become clean (ready to be reprogrammed).

   • Compile and upload your program through a code editor, in this case the Arduino IDE.
   
   
   

2. Operating Mode :

   • Make sure to upload the program.

   • Remove the FTDI from the device.

   • Make sure the BOOT0 & BOOT1 jumper position on the STM32F1 is at position 0.

   

   • The program code that has been embedded in this STM32 board is ready for operation (no more programming activities).

   • To power up this STM32F1 board, you can use an external power supply such as a battery or something else.
   
   
   

Notes :

• To upload programs, in addition to using the FTDI USB, you can also use other programmers such as: ST-Link/V2, CP2102 USB, CH340 USB, or with PL2303 USB. • Based on experience, I admit that using the ST-Link/V2 is much better than other programmers because it is known to be more stable in performance. ST-Link/V2 also has the disadvantage that it can only be used on STM32 and STM8 boards.

Bluetooth RC Controller Setup

1. Go to Assets/APK directory to get the app called Bluetooth RC Controller -> then install the app on your gadget.

2. Open Bluetooth RC Controller app.

3. Turn on bluetooth.

4. Click gear button -> select Connect to car.

5. Click Scan for devices button -> select JDY-31-SPP.

6. Then pairing device by entering the password: 0000 or 1234.

7. The user interface is ready to use. This is as seen in the following image.

   

Get Started

1. Download and extract this repository.
   
   

2. Make sure you have the necessary electronic components.
   
   

3. Make sure your components are designed according to the diagram.
   
   

4. Configure your device according to the settings above.
   
   

5. Please enjoy [Done].

Highlights

Appreciation

If this work is useful to you, then support this work as a form of appreciation to the author by clicking the ⭐Star button at the top of the repository.

LICENSE

MIT License - Copyright © 2023 - Devan C. M. Wijaya, S.Kom

Permission is hereby granted without charge to any person obtaining a copy of this software and the software-related documentation files to deal in them without restriction, including without limitation the right to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons receiving the Software to be furnished therewith on the following terms:

The above copyright notice and this permission notice must accompany all copies or substantial portions of the Software.

IN ANY EVENT, THE AUTHOR OR COPYRIGHT HOLDER HEREIN RETAINS FULL OWNERSHIP RIGHTS. THE SOFTWARE IS PROVIDED AS IS, WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, THEREFORE IF ANY DAMAGE, LOSS, OR OTHERWISE ARISES FROM THE USE OR OTHER DEALINGS IN THE SOFTWARE, THE AUTHOR OR COPYRIGHT HOLDER SHALL NOT BE LIABLE, AS THE USE OF THE SOFTWARE IS NOT COMPELLED AT ALL, SO THE RISK IS YOUR OWN.