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Packed with multiple sensors to navigate complex environments.\n\n## 1. Key Features\n- 4×WD chassis with four independent DC motors  \n- **Modes of Operation**:  \n  - Manual via Bluetooth (HC-05)  \n  - Line following with QTR-8A sensor array  \n  - Obstacle avoidance using front and side HC-SR04 ultrasonic units  \n- **Tilt Safety** using MPU-6050: motors shut off if tilt \u003e 30°  \n- Additional sensors: BH1750 (lux), DS18B20 (temperature)  \n- Status indicators: RGB LED for mode \u0026 alerts, buzzer for alarms  \n- LiPo 2S battery pack with protection \u0026 5 V step-down regulator  \n\n## 2. Bill of Materials\n- Arduino Mega 2560  \n- 2× TB6612FNG dual H-bridge drivers  \n- 4× DC gear motors + wheels  \n- 1× 4×4 aluminium chassis  \n- HC-05 Bluetooth module  \n- QTR-8A reflectance sensor array  \n- 3× HC-SR04 ultrasonic sensors  \n- MPU-6050 6-axis IMU  \n- BH1750 ambient light sensor (I²C)  \n- DS18B20 temperature probe + 4.7 kΩ pull-up resistor  \n- Common-anode RGB LED + 3× 220 Ω resistors  \n- Active buzzer  \n- LiPo 2S battery + 5 V regulator  \n- Jumpers, breadboard, cable ties, mounting hardware  \n\n## 3. Wiring Diagram\n    Arduino Mega       TB6612FNG #1        Motors A \u0026 B\n    ────────────       ─────────────────    ─────────────\n    5 V                VCC                 \n    GND                GND                 \n    D22                AIN1                M1A  \n    D23                AIN2                M1B  \n    D24                PWMA                \n    D30                STBY                \n\n    Arduino Mega       TB6612FNG #2        Motors C \u0026 D\n    ────────────       ─────────────────    ─────────────\n    D25                BIN1                M2A  \n    D26                BIN2                M2B  \n    D27                PWMB                \n    D30                STBY                \n\n    HC-05 Bluetooth    Arduino Mega\n    ───────────────    ────────────\n    VCC                5 V\n    GND                GND\n    TXD                D19 (RX1)\n    RXD                D18 (TX1)\n\n    QTR-8A Array       Arduino Mega\n    ────────────       ────────────\n    OUT0…OUT7          A0…A7\n    VCC                5 V\n    GND                GND\n    EN                 D30 (LOW to enable)\n\n    Ultrasonic Sensors\n    ─────────────────\n    Front TRIG         D2\n    Front ECHO         D3\n    Left TRIG          D4\n    Left ECHO          D5\n    Right TRIG         D6\n    Right ECHO         D7\n\n    I²C Bus (MPU-6050 \u0026 BH1750)\n    ──────────────────────────\n    SDA                20\n    SCL                21\n    VCC                5 V\n    GND                GND\n\n    DS18B20 \u0026 RGB LED \u0026 Buzzer\n    ──────────────────────────\n    DS18B20 DATA        D8 (4.7 kΩ pull-up to 5 V)\n    RGB LED R           D9 (220 Ω)\n    RGB LED G           D10 (220 Ω)\n    RGB LED B           D11 (220 Ω)\n    Buzzer              D12\n    GND                 GND\n\n\n**Note:** Use 4.7 kΩ pull-ups on I²C and DS18B20, 220 Ω resistors on LED pins. Tie EN low to enable the QTR-8A sensor array.\n\n## 4. Operating Modes\n- **Mode 0 – Standby**: white LED, motors off  \n- **Mode 1 – Manual**: receive commands “F/B/L/R/S” via Bluetooth for forward/back/left/right/stop  \n- **Mode 2 – Line Following**: follow black line on light background  \n- **Mode 3 – Avoidance**: autonomously avoid obstacles using ultrasonic sensors  \n- **Tilt Safety**: motors disabled if tilt \u003e 30°\n\n## 5. Software Setup\n1. Install libraries in Arduino IDE:  \n   - Wire, SoftwareSerial  \n   - NewPing (HC-SR04)  \n   - QTRSensorsRC (Pololu QTR-8A)  \n   - I2Cdev, MPU6050  \n   - BH1750  \n   - OneWire, DallasTemperature  \n2. Create project folder `Rover4WD/` containing:  \n   - `README.md` (this file)  \n   - `Rover4WD.ino` (the Arduino sketch)  \n3. Open `Rover4WD.ino` in the IDE, select **Arduino Mega 2560**, set the right COM port, then upload.\n\n## 6. Next Steps\n- Calibrate sensor thresholds (ultrasonic, line-sensor, tilt)  \n- Tune PID controller for smooth line following  \n- Design a custom PCB for power distribution and sensor headers  \n- Add GPS, FPV camera or LoRa communications for remote operation  \n\nEnjoy your professional 4WD rover build!  \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbocaletto-luca%2Frover4wd","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fbocaletto-luca%2Frover4wd","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbocaletto-luca%2Frover4wd/lists"}