https://github.com/bocaletto-luca/rover4wd

Rover4WD Arduino - Author: Bocaletto Luca A versatile 4-wheel drive rover with Bluetooth manual control, line-following, obstacle avoidance and tilt safety. Packed with multiple sensors to navigate complex environments.
https://github.com/bocaletto-luca/rover4wd

4wd arduino bocaletto-luca openhardware opensource rover4wd

Last synced: about 2 months ago
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Rover4WD Arduino - Author: Bocaletto Luca A versatile 4-wheel drive rover with Bluetooth manual control, line-following, obstacle avoidance and tilt safety. Packed with multiple sensors to navigate complex environments.

• Host: GitHub
• URL: https://github.com/bocaletto-luca/rover4wd
• Owner: bocaletto-luca
• License: gpl-3.0
• Created: 2025-06-13T00:10:35.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2025-06-13T00:16:47.000Z (about 1 year ago)
• Last Synced: 2025-06-13T01:26:45.897Z (about 1 year ago)
• Topics: 4wd, arduino, bocaletto-luca, openhardware, opensource, rover4wd
• Language: C++
• Homepage: https://bocaletto-luca.github.io/
• Size: 22.5 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# 4WD Rover for Arduino

#### Author: Bocaletto Luca

A versatile 4-wheel drive rover with Bluetooth manual control, line-following, obstacle avoidance and tilt safety. Packed with multiple sensors to navigate complex environments.

## 1. Key Features

- 4×WD chassis with four independent DC motors  

- **Modes of Operation**:  

  - Manual via Bluetooth (HC-05)  

  - Line following with QTR-8A sensor array  

  - Obstacle avoidance using front and side HC-SR04 ultrasonic units  

- **Tilt Safety** using MPU-6050: motors shut off if tilt > 30°  

- Additional sensors: BH1750 (lux), DS18B20 (temperature)  

- Status indicators: RGB LED for mode & alerts, buzzer for alarms  

- LiPo 2S battery pack with protection & 5 V step-down regulator  

## 2. Bill of Materials

- Arduino Mega 2560  

- 2× TB6612FNG dual H-bridge drivers  

- 4× DC gear motors + wheels  

- 1× 4×4 aluminium chassis  

- HC-05 Bluetooth module  

- QTR-8A reflectance sensor array  

- 3× HC-SR04 ultrasonic sensors  

- MPU-6050 6-axis IMU  

- BH1750 ambient light sensor (I²C)  

- DS18B20 temperature probe + 4.7 kΩ pull-up resistor  

- Common-anode RGB LED + 3× 220 Ω resistors  

- Active buzzer  

- LiPo 2S battery + 5 V regulator  

- Jumpers, breadboard, cable ties, mounting hardware  

## 3. Wiring Diagram

    Arduino Mega       TB6612FNG #1        Motors A & B

    ────────────       ─────────────────    ─────────────

    5 V                VCC                 

    GND                GND                 

    D22                AIN1                M1A  

    D23                AIN2                M1B  

    D24                PWMA                

    D30                STBY                

    Arduino Mega       TB6612FNG #2        Motors C & D

    ────────────       ─────────────────    ─────────────

    D25                BIN1                M2A  

    D26                BIN2                M2B  

    D27                PWMB                

    D30                STBY                

    HC-05 Bluetooth    Arduino Mega

    ───────────────    ────────────

    VCC                5 V

    GND                GND

    TXD                D19 (RX1)

    RXD                D18 (TX1)

    QTR-8A Array       Arduino Mega

    ────────────       ────────────

    OUT0…OUT7          A0…A7

    VCC                5 V

    GND                GND

    EN                 D30 (LOW to enable)

    Ultrasonic Sensors

    ─────────────────

    Front TRIG         D2

    Front ECHO         D3

    Left TRIG          D4

    Left ECHO          D5

    Right TRIG         D6

    Right ECHO         D7

    I²C Bus (MPU-6050 & BH1750)

    ──────────────────────────

    SDA                20

    SCL                21

    VCC                5 V

    GND                GND

    DS18B20 & RGB LED & Buzzer

    ──────────────────────────

    DS18B20 DATA        D8 (4.7 kΩ pull-up to 5 V)

    RGB LED R           D9 (220 Ω)

    RGB LED G           D10 (220 Ω)

    RGB LED B           D11 (220 Ω)

    Buzzer              D12

    GND                 GND

**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.

## 4. Operating Modes

- **Mode 0 – Standby**: white LED, motors off  

- **Mode 1 – Manual**: receive commands “F/B/L/R/S” via Bluetooth for forward/back/left/right/stop  

- **Mode 2 – Line Following**: follow black line on light background  

- **Mode 3 – Avoidance**: autonomously avoid obstacles using ultrasonic sensors  

- **Tilt Safety**: motors disabled if tilt > 30°

## 5. Software Setup

1. Install libraries in Arduino IDE:  

   - Wire, SoftwareSerial  

   - NewPing (HC-SR04)  

   - QTRSensorsRC (Pololu QTR-8A)  

   - I2Cdev, MPU6050  

   - BH1750  

   - OneWire, DallasTemperature  

2. Create project folder `Rover4WD/` containing:  

   - `README.md` (this file)  

   - `Rover4WD.ino` (the Arduino sketch)  

3. Open `Rover4WD.ino` in the IDE, select **Arduino Mega 2560**, set the right COM port, then upload.

## 6. Next Steps

- Calibrate sensor thresholds (ultrasonic, line-sensor, tilt)  

- Tune PID controller for smooth line following  

- Design a custom PCB for power distribution and sensor headers  

- Add GPS, FPV camera or LoRa communications for remote operation  

Enjoy your professional 4WD rover build!