Connections:
[Battery +12V] - L298N +12V
[Battery GND] ----| Arduino GND
| L298N GND
Arduino Pin 3 - L298N IN1
Arduino Pin 4 - L298N IN2
Arduino Pin 5 (PWM) - L298N ENA
Arduino Pin 6 - L298N IN3
Arduino Pin 7 - L298N IN4
Arduino Pin 9 (PWM) - L298N ENB
Left motors connected in parallel to L298N OUT1 & OUT2
Right motors connected in parallel to L298N OUT3 & OUT4
IR Sensor VCC - Arduino 5V
IR Sensor GND - Arduino GND
IR Sensor OUT - Arduino Pin 2
Bluetooth VCC - Arduino 5V
Bluetooth GND - Arduino GND
Bluetooth TX - Arduino Pin 11 (Arduino RX)
Bluetooth RX - Arduino Pin 10 (Arduino TX, with level shifter if needed)
Code:
#include <SoftwareSerial.h>
#define IR_SENSOR_PIN 2
// Motor driver pins
#define ENA 5 // PWM speed control left motors
#define IN1 3
#define IN2 4
#define ENB 9 // PWM speed control right motors
#define IN3 6
#define IN4 7
// Bluetooth pins
#define BT_RX 11 // Bluetooth TX pin connected to Arduino RX
#define BT_TX 10 // Bluetooth RX pin connected to Arduino TX
SoftwareSerial Bluetooth(BT_TX, BT_RX); // RX, TX
// Motor speed (0-255)
const int motorSpeed = 200;
void setup() {
// Initialize motor pins
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
// IR Sensor input pin
pinMode(IR_SENSOR_PIN, INPUT);
// Start serial for debugging and bluetooth communication
Serial.begin(9600);
Bluetooth.begin(9600);
stopCar();
Serial.println("Bluetooth Controlled RC Car Ready.");
void loop() {
if (Bluetooth.available()) {
char command = Bluetooth.read();
Serial.print("Received Command: ");
Serial.println(command);
// Check for obstacle
bool obstacleDetected = digitalRead(IR_SENSOR_PIN) == LOW; //
Assuming LOW means obstacle
if (obstacleDetected) {
Serial.println("Obstacle detected! Stopping car.");
stopCar();
return; // Skip processing movement commands
}
switch (command) {
case 'F': // Forward
moveForward();
break;
case 'B': // Backward
moveBackward();
break;
case 'L': // Left Turn
turnLeft();
break;
case 'R': // Right Turn
turnRight();
break;
case 'S': // Stop
stopCar();
break;
default:
stopCar();
break;
} else {
// Also constantly check obstacle while idle or moving
bool obstacleDetected = digitalRead(IR_SENSOR_PIN) == LOW;
if (obstacleDetected) {
Serial.println("Obstacle detected! Stopping car.");
stopCar();
}
void moveForward() {
// Left motors forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, motorSpeed);
// Right motors forward
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, motorSpeed);
Serial.println("Moving Forward");
void moveBackward() {
// Left motors backward
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, motorSpeed);
// Right motors backward
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, motorSpeed);
Serial.println("Moving Backward");
void turnLeft() {
// Left motors backward
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, motorSpeed / 2);
// Right motors forward
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, motorSpeed / 2);
Serial.println("Turning Left");
void turnRight() {
// Left motors forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, motorSpeed / 2);
// Right motors backward
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, motorSpeed / 2);
Serial.println("Turning Right");
void stopCar() {
analogWrite(ENA, 0);
analogWrite(ENB, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
Serial.println("Car Stopped");
