LAFVIN 4WD Smart Robot Car Kit V2.2-compressed.pdf

for lafvin4wd smart robot kit

1. 4WDSmartRobotCarKitV2.2

3. Content
LAFVINSmartRobotCarKitV2Introduction.................................................................................................2
Lesson1GettingStartedwithArduinoIDE.......................................................................................................7
HowtoInstallArduinoIDE...........................................................................................................................7
HowtoInstallArduinoDriver.....................................................................................................................15
HowtoAddLibraries...................................................................................................................................22
BlinkTest(Testyourfirstprogram)..............................................................................................................26
Lesson2GettingStartedwithMixly................................................................................................................41
IntroductionofMixlySoftware...................................................................................................................41
HowtoInstallMixlySoftware.....................................................................................................................46
HowtoAddMixlyLibraries........................................................................................................................49
HowtoUploadtheReferenceProgram.......................................................................................................54
Lesson3MotorSpeedandDirectionControl.................................................................................................104
Lesson4LineTrackingSmartCar..................................................................................................................112
Lesson5UltrasonicInfraredObstacleAvoidanceRobotCar........................................................................133
Lesson6UltrasonicFollowRobotCar...........................................................................................................169
Lesson7InfraredRemoteControlRobotCar................................................................................................179
Lesson8LightSeekingRobotCar..................................................................................................................186
Lesson9BluetoothControlRobotCar...........................................................................................................196
6in1Multi-purposeBluetoothRobotCar......................................................................................................232

4. CompanyProfile
Establishedin2011,LAFVINisamanufacturerandtraderspecializedinresearch,developmentandproductionofMega2560,UNO,Nano
boards,andallkindsofaccessoriesorsensorsuseforArduino,raspberry.Wealsocompletestarterkitsdesignedforinterestedloversofanylevels
tolearnArduinoorRaspberry.WearelocatedinShenzhen,China.Allofourproductscomplywithinternationalqualitystandardsandaregreatly
appreciatedinavarietyofdifferentmarketsthroughouttheworld.
CustomerService
Wearecooperatingwithalotofcompaniesfromdifferentcountries.Alsohelpthemtopurchaseelectroniccomponentproductsinchina,and
becamethebiggestsupplierofthem.Welookforwardtobuildcooperatewithmorecompaniesinfuture.
Bytheway,Wealsolookforwardtohearingfromyouand[e-mail]
ifyouhaveanyquestionsorsuggestions.Asacontinuousandfastgrowingcompany.Wekeepstrivingourbesttoofferyouexcellentproducts
andqualityservice.
OurStore
Aliexpressstore:https://www.aliexpress.com/store/1942043BrandinAmazon:LAFVIN
ProductCatalog
https://drive.google.com/drive/folders/0BwvEeRN9dKllblZING00TkhYbGs?usp=sharing
Tutorial
Thistutorialincludecodes,libraries,lessonsandinstallationguidevideo.Itisdesignedforbeginners.Itwillteacheveryusershowtoassembly
therobotcaranduseArduinoUNOcontrollerboard,sensors,servoandBluetoothmodule.SimultaneouslysupportsMixlygraphical
programmingandArduinoIDEcodeprogramming,whichisconvenientforbeginnerstolearn.Provide3Ddynamicinstallationtutorialto
quicklybuildyourrobotcar.Thepowersupplyusestwo18650lithiumbatterieswithlong-lastingbatterylife.ThenewlycreatedAPPcontrol
software,the6majorfunctionsoftherobotcarkitarecomprehensivelycontrolledbytheAPP,andthefunctionmodecanbeswitchedfreely.

5. 1/252

6. 2/252
LAFVINSmartRobotCarKitV2Introduction
SmartRobotCarKitV2.0ismainlymanufacturedusingtheArduinoUNOR3maincontrolandtheMotordriveexpansion
board,tworeductionmotors,Acrylicframechassisandsomesensors.
LAFVINSmartRobotCarKitV2havethefollowingadvantages:
1)Arduinomotordriveshieldintegratesthedriverchip,eliminatingthetraditionalcomplexwiringandinstallation
space.Theshieldusesstandardinterfacewiring,simpleandeasytounderstand,fastinstallationwiring.

7. 3/252
2)ThenewlycreatedAPPcontrolsoftware,the6majorfunctionsoftherobotcarkitarecomprehensivelycontrolledbythe
APP,andthefunctionmodecanbeswitchedfreely.6in1Multi-purposeBluetoothRobotCar

8. 4/252
3)ThenewlydesignedBluetoothmoduleisconnectedtothecircuit,andtheuploadprogramdoesnotrequiremanual
disconnectionoftheBluetoothmodule.Helpbeginnerlearnerstosuccessfullyavoidthetrapofuploadingprogramfailure.

9. 5/252
4)SimultaneouslysupportsmixlygraphicalprogrammingandarduinoIDEcodeprogramming,whichisconvenientfor
beginnerstolearn.

10. 6/252
5)Provide3Ddynamicinstallationtutorialtoquicklybuildyourrobotcar.Thepowersupplyusestwo18650lithium
batterieswithlong-lastingbatterylife.

11. 7/252
Lesson1GettingStartedwithArduinoIDE
HowtoInstallArduinoIDE
Introduction
TheArduinoIntegratedDevelopmentEnvironment(IDE)isthesoftwaresideoftheArduinoplatform.InthisProject,you
willlearnhowtosetupyourcomputertouseArduinoandhowtosetabouttheProjectsthatfollow.TheArduinosoftware
thatyouwillusetoprogramyourArduinoisavailableforWindows,MacandLinux.Theinstallationprocessisdifferentfor
allthreeplatformsandunfortunatelythereisacertainamountofmanualworktoinstallthesoftware.
STEP1:Gotohttps://www.arduino.cc/en/Main/Softwareandfindbelowpage.
Theversionavailableatthiswebsiteisusuallythelatestversion,andtheactualversionmaybenewerthanthe
versioninthepicture.

12. 8/252
STEP2
：
Downloadthedevelopmentsoftwarethatiscompatiblewiththeoperatingsystemofyourcomputer.
TakeWindowsasanexamplehere.

13. 9/252
ClickWindowsInstaller.
ClickJUSTDOWNLOAD.
Alsoversion1.8.0isavailableinthematerialweprovided,andtheversionsofour
materialsarethelatestversionswhenthiscoursewasmade.

14. 10/252
InstallingArduino(Windows)
InstallArduinowiththeexe.Installationpackage.
ClickIAgreetoseethefollowinginterface

15. 11/252
ClickNext

16. 12/252
YoucanpressBrowse…tochooseaninstallationpathordirectlytypeinthedirectoryyouwant.
ClickInstalltoinitiateinstallation

17. 13/252
Waitfortheinstallingprocess,ifappeartheinterfaceofWindowSecurity,justcontinuetoclick
Installtofinishtheinstallation.
Next,thefollowingiconappearsonthedesktop

18. 14/252
Double-clicktoenterthedesireddevelopmentenvironment

19. 15/252
HowtoInstallArduinoDriver
Next,wewillintroducethedriverinstallationofUNOR3developmentboard.Thedriverinstallationmayhaveslight
differencesindifferentcomputersystems.Sointhefollowinglet’smoveontothedriverinstallationintheWindowsystem.
TheArduinofoldercontainsboththeArduinoprogramitselfandthedriversthatallowtheArduinotobeconnectedtoyour
computerbyaUSBcable.BeforewelaunchtheArduinosoftware,youaregoingtoinstalltheUSBdrivers.
WhenyouconnectUNOboardtoyourcomputeratthefirsttime,rightclicktheiconofyour
“Computer”—>for“Properties”—>clickthe“Devicemanager”,
under“OtherDevices”or“USB-Serial”,youshouldseeaniconfor“Unknowndevice”withalittleyellowwarningtriangle
nexttoit.ThisisyourArduino.Oryoucansearchfor"devi"inyourcomputer,oryoucanopenthedevicemanagerofyour
computer.

20. 16/252

21. 17/252
Thenright-clickonthedeviceandselectthetopmenuoption(UpdateDriverSoftware...)shownasthefigurebelow.

22. 18/252
Thenitwillbepromptedtoeither“SearchAutomaticallyforupdateddriversoftware”or“Browsemycomputerfordriver
software”.Shownasbelow.Inthispage,select“Browsemycomputerfordriversoftware”.
Right-clickonthedeviceandselectthetopmenuoption(UpdateDriverSoftware...).

23. 19/252
Youwillthenbepromptedtoeither‘SearchAutomaticallyforupdateddriversoftware’or‘Browsemycomputerfordriver
software’.Selecttheoptiontobrowseandnavigatetothe:C\ProgramFiles(x86)\Arduino\drivers.(Note:Hereisthepath
youchoosetoinstallarduinoIDE.Thepathchosenintheinstallationtutorialintheprevioussectionisthat,sothepathI
choseisC\ProgramFiles(x86)\Arduino\drivers)

24. 20/252
Click“Next”andyoumaygetasecuritywarning,ifso,allowthesoftwaretobeinstalled.
Oncethesoftwarehasbeeninstalled,youwillgetaconfirmationmessage.Installationcompleted,click“Close”.

25. 21/252
Uptonow,thedriverisinstalledwell.Thenyoucanrightclick“Computer”—>“Properties”—>“Devicemanager”,you
shouldseethedeviceasthefigureshownbelow.

26. 22/252
HowtoAddLibraries
InstallingAdditionalArduinoLibraries
OnceyouarecomfortablewiththeArduinosoftwareandusingthebuilt-infunctions,youmaywanttoextendtheabilityof
yourArduinowithadditionallibraries.
WhatareLibraries?
Librariesareacollectionofcodethatmakesiteasyforyoutoconnecttoasensor,display,module,etc.Forexample,the
built-inLiquidCrystallibrarymakesiteasytotalktocharacterLCDdisplays.Therearehundredsofadditionallibraries
availableontheInternetfordownload.Thebuilt-inlibrariesandsomeoftheseadditionallibrariesarelistedinthereference.
Tousetheadditionallibraries,youwillneedtoinstallthem.
HowtoInstallaLibrary

27. 23/252
Importinga.zipLibrary
LibrariesareoftendistributedasaZIPfileorfolder.Thenameofthefolderisthenameofthelibrary.Insidethefolderwill
bea.cppfile,a.hfileandoftenakeywords.txtfile,examplesfolder,andotherfilesrequiredbythelibrary.youcaninstall
3rdpartylibrariesintheIDE.Donotunzipthedownloadedlibrary,leaveitasis.
IntheArduinoIDE,navigatetoSketch>IncludeLibrary.Atthetopofthedropdownlist,selecttheoptionto"Add.ZIP
Library''.

28. 24/252
Youwillbepromptedtoselectthelibraryyouwouldliketoadd.Navigatetothe.zipfile'slocationandopenit.
(Note:Thisisjusttodemonstratehowtoaddaziplibraryfile,whetheryouneedtoaddalibraryfiledependsonyouractual
programneeds)

29. 25/252
ReturntotheSketch>ImportLibrarymenu.Youshouldnowseethelibraryatthebottomofthedrop-downmenu.Itis
readytobeusedinyoursketch.ThezipfilewillhavebeenexpandedinthelibrariesfolderinyourArduinosketches
directory.
NB:theLibrarywillbeavailabletouseinsketches,butexamplesforthelibrarywillnotbeexposedintheFile>Examples
untilaftertheIDEhasrestarted.
Thosetwoarethemostcommonapproaches.MACandLinuxsystemscanbehandledlikewise.Themanualinstallationto
beintroducedbelowasanalternativemaybeseldomusedanduserswithnoneedsmayskipit.

30. 26/252
BlinkTest(Testyourfirstprogram)
youwilllearnhowtoprogramyourUNOcontrollerboardtoblinktheArduino’sbuilt-inLED,andhowtodownload
programsbybasicsteps.
TheUNOboardhasrowsofconnectorsalongbothsidesthatareusedtoconnecttoseveralelectronicdevicesandplug-in
'shields'thatextendsitscapability.
ItalsohasasingleLEDthatyoucancontrolfromyoursketches.ThisLEDisbuiltontotheUNOboardandisoften
referredtoasthe'L'LEDasthisishowitislabeledontheboard.

31. 27/252
YoumayfindthatyourUNOboard's'L'LEDalreadyblinkswhenyouconnectittoaUSBplug.Thisisbecausetheboards
aregenerallyshippedwiththe'Blink'sketchpre-installed.
InthisProject,wewillreprogramtheUNOboardwithourownBlinksketchandthenchangetherateatwhichitblinks.
Inthepreviouschapter-HowtoinstallArduinoIDE,yousetupyourArduinoIDEandmadesurethatyoucouldfindthe
rightserialportforittoconnecttoyourUNOboard.Thetimehasnowcometoputthatconnectiontothetestandprogram
yourUNOboard.
TheArduinoIDEincludesalargecollectionofexamplesketchesthatyoucanloadupanduse.Thisincludesanexample
sketchformakingthe'L'LEDblink.
Loadthe'Blink'sketchthatyouwillfindintheIDE'smenusystemunderFile>Examples>01.Basics

32. 28/252
Whenthesketchwindowopens,enlargeitsothatyoucanseetheentiresketchinthewindow.

33. 29/252
TheexamplesketchesincludedwiththeArduinoIDEare'read-only'.Thatis,youcanuploadthemtoanUNOR3board,but
ifyouchangethem,youcannotsavethemasthesamefile.
Sincewearegoingtochangethissketch,thefirstthingyouneedtodoissaveyourowncopy.
FromtheFilemenuontheArduinoIDE,select'SaveAs..'andthensavethesketchwiththename'MyBlink'.

34. 30/252
Youhavesavedyourcopyof'Blink'inyoursketchbook.Thismeansthatifyoueverwanttofinditagain,youcanjust
openitusingtheFile>Sketchbookmenuoption.

35. 31/252
AttachyourArduinoboardtoyourcomputerwiththeUSBcableandcheckthatthe
'BoardType'and'SerialPort'aresetcorrectly.

36. 32/252

37. 33/252

38. 34/252
Note:TheBoardTypeandSerialPortherearenotnecessarilythesameasshowninpicture.IfyouareusingUNO,
thenyouwillhavetochooseArduinoUNOastheBoardType,otherchoicescanbemadeinthesamemanner.And
theSerialPortdisplayedforeveryoneisdifferent,despiteCOM6chosenhere,itcouldbeCOM3orCOM4onyour
computer.ArightCOMportissupposedtobeCOMX(arduinoXXX),whichisbythecertificationcriteria.
TheArduinoIDEwillshowyouthecurrentsettingsforboardatthebottomofthewindow.
Clickonthe'Upload'button.Thesecondbuttonfromtheleftonthetoolbar.
IfyouwatchthestatusareaoftheIDE,youwillseeaprogressbarandaseriesofmessages.Atfirst,itwillsay'Compiling
Sketch...'.Thisconvertsthesketchintoaformatsuitableforuploadingtotheboard.

39. 35/252
]
Next,thestatuswillchangeto'Uploading'.Atthispoint,theLEDsontheArduinoshouldstarttoflickerasthesketchis
transferred.

40. 36/252
Finally,thestatuswillchangeto'Doneuploading'.
Afteruploadingthecode,youwillseethatthe"L"LEDontheArduinoUNOmotherboardwilllightupfor1second,and
thenturnofffor1second,andtheprocesswillcontinuetoloop.

41. 37/252

42. 38/252
Ifyouaremissingsomesteps,ArduinoIDEmayreportsomeerrors.Youcanrefertothefollowingsolutions.
(1)Itmeansthatyourboardisnotconnectedatall,orthedrivershavenotbeeninstalled(ifnecessary)orthatthewrong
serialportisselected.HowtoInstallArduinoDriver

43. 39/252
(2)Itmeansthatthecommunicationserialportforuploadingcodeisoccupied.IfyouconnecttheBluetoothmodulewhen
uploadingthecode,youneedtodisconnecttheBluetoothmodulefromtheArduinoUNOexpansionboard,andthen
reinstalltheBluetoothmoduleafteruploading.
AnotherpossibilityisthattheUSBinterfaceoftheArduinoUNOisinsufficientlypowered,andyouneedtoturnonthe
externalpowerswitchoftheexpansionboard.

44. 40/252
(3)Ifyouneedtouselibraryfilesinsomeprojectprograms,youmayencounterthiserror.
Itmeansthatsomelibraryfilesareusedinthecode,butyoudidnotaddthecorrespondinglibraryfilestothearduinoIDE
beforeuploadingthecode.HowtoAddLibraries

45. 41/252
Lesson2GettingStartedwithMixly
IntroductionofMixlySoftware
Mixlyisafreeopen-sourcegraphicalArduinoprogrammingsoftware,basedonGoogle’sBlocklygraphicalprogramming
framework,[e-mail]-sourcegraphicalprogrammingtoolforcreative
electronicdevelopment;acompletesupportecosystemforcreativee-education;astageformakereducatorstorealize
theirdreams.AlthoughthereisanArdublockgraphicalprogrammingsoftwarelaunchedbyArduinoofficial,Ardublockis
notperfectenough,andmanycommonfunctionscannotberealized.
DesignConcept:
(1)Usability
Mixlyisdesignedtobecompletelygreen.Currently.ItcanrunonWindowsxpandabove.
(2)Simplicity
MixlyusestheBlocklygraphicalprogrammingenginetoreplacecomplextextmanipulationwithgraphicalbuilding
blocks,providingagoodfoundationforbeginnerstogetstartedquickly.

46. 42/252
1Usethedifferentcoloriconstorepresentdifferenttypesoffunctionalblocks,veryconvenientforuserstoclassify.
2Providedefaultoptionsinthecompositefunctionblocktoeffectivelyreducethenumberofuserdrags.
3Integrateallthefeaturesofthesoftwareinthesameinterface.
4Providethereferencetutorialandcodeexamples.
(3)Functionality
Ithasversatilefunctions.MixlycanalmostimplementallthefunctionsthatArduinoIDEhas.Supportallofficial
developmentboardsofarduino.
(4)Continuity
Thegoalofthegraphicalprogrammingsystemisdefinitelynottoreplacetheoriginaltextprogrammingmethod,butto
betterunderstandtheprogrammingprinciplesandprogramthinkingthroughgraphicalprogramming,andlaythe
foundationforfuturetextprogramming.ItisalsothedesignphilosophyforMixly.Morecontinuouscontenthasbeen
addedtothedesignofthesoftwaretoprotecttheuser'slearningoutcomes.Tobespecific,itincludestheintroductionof
variabletypes,theconsistencyoftextprogrammingasmuchaspossibleinthedesignofthemodule,andthesupportof

47. 43/252
bothgraphicalandtextprogramming.
(5)Ecological
ThemostimportantdesignconceptofMixlyisitsecologicalfeature,whichcandistinguishitfromotherArduino
graphicalprogramming.Inordertoachievesustainabledevelopment,Mixlyisdesignedtoallowmanufacturersto
developtheirownuniquemodules.ButusersrequireJavaScriptprogrammingfoundationtomakethispartofthe
module).ItalsoallowsusersdirectlyuseMixly'sgraphicalprogrammingfunctiontogeneratecommonmodules(suchas
LEDdigitaldisplay,buzzerbroadcast,etc.UsersareabletomakethispartofthemoduleonlyusingMixly).Bothofthe
twokindsofmodulesmentionedabovecanbeimportedintotheMixlysystemthroughthe"Import"function,thereby
realizingtheuser'sownvalueinthepopularityofMixlysoftware.
UserGroups:
Fromtheabovedesignconcept,itcanbeseenthatMixlyissuitableforprimaryandsecondaryschoolstudentsto
cultivateprogrammingthinking.Itisalsoavailableforquickprogrammingwhencreatingawork.itisgoodforthose
lovelyfriendswhodon'twanttolearntextprogramming,butwanttodosomesmallworkswithintelligentcontrol.

48. 44/252
MixlyBlocksFunctions:
SystemFunctions
LookatthemaininterfaceofMixly,itincludesfiveparts,thatis,Blocksselection,codeedit,textcode(hidden),
systemfunctionandmessagepromptarea.Shownbelow.

49. 45/252
Somecommonfunctions:
Throughthisinterface,youcancompletethecodecompile、upload、saveandmanage.Itsupportfourremove
methods:dragitleftoutcodewindow,ordragtoRecycleBin,deletekey,orright-clicktodeleteblock.Itsupports
fourlanguages:English、Español(Spanish)、中文简体(ChineseSimplified)、中文繁体(ChineseTraditional).

50. 46/252
HowtoInstallMixlySoftware
Firstdecompressthemixlyprogrammingsoftwarefile
Afterunzippingyouwillgetthefollowingfiles(Note:DonotincludespecialcharacterssuchasChinese,spaces,
brackets,etc.intheunzippeddirectory.Thenameoftheuncompressedpathcannothaveadoublespacebar.Ifthenamed
nameneedsaseparator,youcanuseanunderscoretoreplacethedoublespacebar,forexample,youshouldnamethefolder
Mixly_SofewaveinsteadofMixlySofewave)

51. 47/252

52. 48/252
Double-clickthemixlyapplicationfiletoopenthesoftware.AndselectthemaincontrolboardasArduino/GenuinoUno

53. 49/252
HowtoAddMixlyLibraries
Themixlylibraryfileisanintegratedgraphicalcodecustomizedforacertaincontrolboard.Forexample,wehavewrittena
mixlylibraryfileforsmarthomelearningkit.Youcandirectlyloaditintomixlysoftwareanduseitdirectly,whichbrings
conveniencetoyourprogrammingprocess.Thegenerallibraryfilecontainsthefollowingfiles,thelast.xmlfileisthe
readablelibraryfileofthemixlysoftware
(Note:Aftercompletingtheinstallationofthemixlysoftware,thelibraryfile<LAFVINSmartRobotCarKit>already
containstheautomaticadditiontotheprogrammingsoftware,youcanuseitdirectlywithoutaddingandaddingrepeatedly.)

54. 50/252
Ifyouneedtoaccidentallydeletethelibraryfile,oryouwanttoaddotherfunctionallibraryfiles,youcanrefertothe
followingstepstoaddlibraryfiles.
Afteropeningthemixlysoftware,select"import"andclicklocalimport.thenselectthepathwherethe"SmartRobot
CarKit"folderislocated,selectthefile--”SmartRobotCarKit.xml”,andclick"open"

55. 51/252

56. 52/252
Thefigurebelowshowsthatthe”Smart_Robot_Tank”libraryfilehasbeensuccessfullyimportedintothemixlysoftware.

57. 53/252
Nextwewriteaprogramonthesoftwareanduploadittosmartrobotcar.
Dragtheprogramblocknamed"Moveforward"totheprogrammingarea,andmodifythePWMvariableto200.

58. 54/252
HowtoUploadtheReferenceProgram
Click"Open"onthemixlysoftwareandselectthereferenceprogram.TakethereferenceprogramfromLesson3asan
example,OpenthissourceprograminMixly_Code>Lesson_3>”Test_1_Motor_Speed_and_Direction_Control.mix”.

59. 55/252

60. 56/252

61. 57/252
ConnecttheArduinoUNOdevelopmentboardtothecomputerwithaUSBdatacable,andturnonthepowerswitch.Select
thedevelopmentboardtypeas"Arduino/GenuinoUno"onthesoftwareandyouwillseeanewconnectionserialport
"COM17"appears.
Tip:TheserialnumberofyourarduinounoonyourPCisother.Everycomputerisdifferent,checkthecorrectserial
numberinthedevicemanagerofyourcomputer.IfnoavailableCOMinterfaceisfound,youneedtoinstallthearduino
driver.HowtoInstallArduinoDriver

62. 58/252

63. 59/252

64. 60/252
ClickUploadandwaitfortheuploadtocomplete.Aftertheprogramuploadiscompleted,smartcargoesforwardandback
for2s,turnsleftandrightfor2s,andstopsfor2salternately.

65. 61/252
Intheprocessofuploadingthecode,ifyoureportanerror,theremaybethefollowingreasons:
(1)TheUSBdatacableinterfaceisnotfirmlyconnected,orthedrivershavenotbeeninstalled(ifnecessary)orthatthe
wrongserialportisselected.HowtoInstallArduinoDriver
(2)Itmeansthatthecommunicationserialportforuploadingcodeisoccupied.IfyouconnecttheBluetoothmodulewhen
uploadingthecode,youneedtodisconnecttheBluetoothmodulefromtheArduinoUNOexpansionboard,andthen
reinstalltheBluetoothmoduleafteruploading.
(3)AnotherpossibilityisthattheUSBinterfaceoftheArduinoUNOisinsufficientlypowered,andyouneedtoturnonthe
externalpowerswitchoftheexpansionboard.

66. 62/252
Theuseofeachstatementblockisdescribedbelow
In/OutBlock:

67. 63/252
NO. BLOCKICON DEFINITION
1 ReturnsHIGHorLOWvoltage
2
WritedigitalvaluetoaspecificPort.Digital
Output:settheHIGHorLOWoutputforIOpins
3
ReturnsadigitalvalueofaspecificPort.Digital
IOReadPin,generallyusedtoreadtheHIGHor
LOWleveldetectedbyDigitalsensor

68. 64/252
4
Writeanalogvaluebetween2and255toa
specificPort.AnalogOutput:settheAnalog
valueoutputbyAnalogIOpins(0~255).
5
Returnsvaluebetween0and1023ofaspecific
Port.AnalogIOReadPin,generallyusedtoread
theAnalogvaluedetectedbyAnalogsensor.
6
ExternalInterruptsfunction,withthreetrigger
interruptmodesRISING,FALLING,CHANGE.
7
DetachsinterrupttoaspecificPort.Turnoffthe
giveninterruptfunction.

69. 65/252
8 SettheIOpinsasOutputorInputstate
9
ReadthecontinuoustimeofHIGHorLOWpulse
fromIOpins(generallyusedforultrasonic
ranging)

70. 66/252
ControlBlock:

71. 67/252
NO
.
BLOCKICON DEFINITION
1 Initialization(runonlyonce)
2
Endtheprogram,meanstheprogramwillstop
runningwhenusethisblock.
3
Delayfunction,clicktoselectmsorus(pausethe
programfortheamountoftime(inmilliseconds)

72. 68/252
specifiedasparameter.Thereare1000millisecondsin
asecond.)
4
if_dofunction(firstevaluateavaluebetrueorfalse,if
avalueistrue,thendosomestatement.Youcanclick
thebluegearicontoselecttheelseifblockorelse
block.)

73. 69/252
5
switchfunction.Youcanclickthebluegeariconto
selectthecaseblockordefaultblock.(usedto
evaluateseveralprogramsthenexecutethe
correspondingfunctionmatchedwithprogram.)
6 Equaltoforstatement.

74. 70/252
7 Awhileloopstatement.
8 breakfunction,usedtoexitfromthecontainingloop.

75. 71/252
9
millis()function,returnsthesystemrunningtimesince
theprogramstarted.(Theunitcanbems
(milliseconds)orμs（microsecond)).
10
Timerinterruptfunction,thatis,setatriggerinterrupt
fortheamountoftime(inmilliseconds)specifiedas
parameter.

76. 72/252
11 Timerinterruptstartblock
12 Timerinterruptstopblock

77. 73/252
MathBlock:

78. 74/252
NO. BLOCKICON DEFINITION
1 Anumber
2
ClicktoselecttheArithmeticOperators:＋
(addition);－(subtraction);x(Multiplication);÷
(division);%(remainder);^(bitwisexor)
3
Clicktoselectthe&(bitwiseend);l(bitwiseor);<<
(bitshiftleft);>>(bitshiftright)

79. 75/252
4
Clicktoselectthesin;cos;tan;asin;acos;atan;ln;
log10;e^;10^;++(increment);--(decrement)
5
ClicktoselecttheRound;Ceil;Floor;abs;sq;sqrt
Round:Returnstheintegerpartanumberusing
around.Ceil:Returnstheintegerpartanumberusing
ceil.Floor:Returnstheintegerpartanumberusing
floor.abs:Returntheabsolutevalueofanumber.sq:

80. 76/252
Returnthesquareofanumber.sqrt:Returnthe
squarerootofanumber.
6
Ifselectthemax,returnsthelargernumber;
ifselectthemin,returnsthesmallernumber.

81. 77/252
TextBlock:

82. 78/252
NO. BLOCKICON DEFINITION
1 characterstring:aletter,word,orlineoftext.
2 Acharacter
3
Createsapieceoftextbyjoiningtogethertwopieceof
text.(HereHellojoinMixlyequalsHelloMixly)
4 Convertsastringintoanintegeroranfloat.

83. 79/252
5
ReturnsthecharcorrespondingtoanASCIIcode
(Decimalnumber97correspondingtoa)
6 ReturnstheASCIIcodecorrespondingtoachar.
7 Convertsanumberintoastring.
8 Calculatesthelengthofastring
9 Outputthecharofastring(thecharat0ofhelloish)

84. 80/252
10
ThefirststringequalsorstartsWithorendsWiththe
secondstring,returns1,otherwisereturns0.(ifequals,
bothstringsareabc,returns1.)
11
Returnsadecimalvalueofthefirststringsubtractsthe
secondstring.

85. 81/252
ListBlock:

86. 82/252
NO. BLOCKICON DEFINITION
1
Createalistwithanynumberofitems
2
Creatsalistfromatext.(intmylist[]={0,0,0};)
3
Returnsthelengthofalist
4
Returnsthevalueofatthespecifiedpositioninalist.
5
Setsthevalueofatthespecifiedpositioninalist.
Setthefirstiteminmylisttoanotheritem.

87. 83/252
LogicBlock:

88. 84/252
NO
.
BLOCKICON DEFINITION
1
logiccomparision=:Returntrueifbothinputsequaleach
other.≠:Returntrueifbothinputsarenotequaltoeach
other.<:Returntrueifthefirstinputissmallerthanthe
secondinput.≤:Returntrueifthefirstinputissmaller
thanorequaltothesecondinput.>:Returntrueifthe
firstinputisgreaterthanthesecondinput.≥:Returntrue
ifthefirstinputisgreaterthanorequaltothesecond
input.

89. 85/252
2
and:Returntrueifbothinputsaretrue;or:Returntrueif
atleastoneoftheinputsistrue
3
Returnstrueiftheinputisfalse.Returnsfalseiftheinput
istrue.
4 Returnseithertrueorfalse.
5 Returnsnull
6
Ifthefirstnumberistrue,thesecondnumberisreturned,
otherwisethethirdnumber.

90. 86/252
SerialPortBlock:

91. 87/252
NO. BLOCKICON DEFINITION
1 Settheserialbuadrateto9600
2 Writethespecifiednumber,textorothervalue.
3
Printthespecifiednumber,textorothervalue
onmonitor.
4
Printthespecifiednumber,textorothervalue
onnewlineofmonitor.

92. 88/252
5
Printthespecifiednumberinhexademical
formatonnewlineofmonitor.
6
Iftheserialportisavailable,itreturnstrue,
otherwisereturnsfalse.(generallyusedin
Bluetoothcommunication)
7 Returnsastringinserialport
8
Astringreadfromserialporttoastringvariable,
pauseuntilreadthespecifiedcharacter.

93. 89/252
9
Readtheserialdatabybyte(generallyusedto
readthevaluesentfromBluetooth)(deletethe
datahasbeenread)
10 Waitfortheoutputdatacompleted
11
Setthesoftwareserialport(callthisfunctionif
needtouseseveralserialports)
12
Eventfunctiontriggerbyserialportdata,thatis,
serialportisreadytocallthisfunction.(equalto
aninterruptfunction)

94. 90/252
MonitorBlock:

95. 91/252
NO. BLOCKICON DEFINITION
1 SettheIICLCD1602address
2
InputthevalueonLCDline1andline2fromleftto
right.
3 SettherowandcolumnofLCDtoprintthechar
4 CleartheLCDscreen

96. 92/252
VariablesBlock

97. 93/252
NO. BLOCKICON DEFINITION
1 Defineanintegervariable
whosenameisitem
2 Mandatorytypeconversionof
constantsorvariables

98. 94/252
FunctionsBlock:

99. 95/252
NO. BLOCKICON DEFINITION
1
Createsafunctionwithnooutput.Clicktheblueicontosetthe
procedureparameter.(noreturnvalue)
2
Createsafunctionwithanoutput.Clicktheblueicontosetthe
procedureparameter.(withreturnvalueandcansetthedata
types)
3 Ifavalueistrue,thenreturnasecondvalue.

100. 96/252
Smart_Robot_TankBlock:

101. 97/252

102. 98/252
NO. BLOCKICON DEFINITION
1 Controltherobotcartomoveforward,and
thedigitalPWMcanbefilledtocontrolthe
speed.TherangeofthePWMvalueis
0~255.WhenthePWMequals255,thetank
movesatthemaximumspeed,andthe
PWMequals0meansstop.
2 Controltherobotcartomovebackward,
andthedigitalPWMcanbefilledtocontrol
thespeed.TherangeofthePWMvalueis
0~255.WhenthePWMequals255,thetank
movesatthemaximumspeed,andthe
PWMequals0meansstop.

103. 99/252
3 Controltherobotcartorotate
counterclockwise(rotatetotheleft),the
digitalPWMcanbefilledtocontrolthe
speed,therangeofPWMvalueis0~255,
whenthePWMisequalto255,thetank
movesatthemaximumspeed,andthe
PWMequals0meansstop
4 Theleftwheelandtherightwheelmove
forwardatthesametime,andthespeedof
eachwheelcanbesetseparately.Sincethe
forwardspeedofthetwowheelsisdifferent,
theturningcanberealized.
Controlthetanktorotateclockwise(rotate

104. 100/252
5
totheright),thedigitalPWMcanbefilledto
controlthespeed,therangeofPWMvalue
is0~255,whenthePWMisequalto255,the
tankmovesatthemaximumspeed,andthe
PWMequals0meansstop
6 Theleftwheelandtherightwheelmove
backwardatthesametime,andthespeed
ofeachwheelcanbesetseparately.Since
thetwowheelshavedifferentbackward
speeds,turningcanberealized.
7
Controltankstop

105. 101/252
8 Controltherotationangleoftheservo
motor,theanglerangeofrotationis0~180
degrees
9 Thisprogramblockisinitializedanddefines
theIOdatainterfaceconnectedtothe
infraredreceiver
Whenthekeycommandoftheremote
controlisreceivedandthevaluesetbythe
programblockisthesame,theprogram
blockoutputslogicture.
10 Usetheultrasonicmoduletomeasurethe
distance,theprogramblockreturnsthe
measureddistancevalue,theunitiscm

106. 102/252
11
Thefunctionofthisprogramblockisto
receivethedetectionresultoftheinfrared
obstacleavoidancesensorandsavethe
receivedresulttothevariable
left_infrared_avoidance_sensoror
right_infrared_avoidance_sensor
12
Thisprogramblockisusedtoreceivethe
informationsentbytheBluetoothmodule,
andstorethereceivedinformationinthe
variablebluetooth_val

107. 103/252
13
Thisprogramblockobtainstheoutput
resultoftheinfraredline-followingsensor.
Whentheinfraredsensordetectsblack,it
outputsahighlevel"1",andwhennoblack
isdetected,itoutputsalowlevel"0".
14
Thisprogramblockobtainstheoutput
resultofthephotosensitivesensor.The
photosensitivesensorcandetectthelight
intensityintheenvironmentandconvertit
intoarangeof0-1024.0representsthe
maximumlightintensity,and1024
representstheweakestlightintensity.

108. 104/252
Lesson3MotorSpeedandDirectionControl
Overview
Inthislessonwewilllearnhowtocontrolthedirectionandspeedcontroloftherobotcar.
MotorDriver
Theexpansionboardhasintegratedthemotordrivechip.Currentmotordrivedevice,whichhasalargecurrentMOSFET-H
bridgejunctionStructure,dual-channelcircuitoutput,candrive2motorsatthesametime.Itoutputscontinuousdrivepower
upto1AperchannelCurrent,startingpeakcurrentupto2A/3A(continuouspulse/singlepulse(Punch);4motorcontrol
modes:forward/reverse/brake/stopEnd;
Specifications:
Recommendedmotorvoltage(VMOT):7.4–13.5V
•Logicvoltage(VCC):2.7–5.5V
•Outputcurrentmaximum:3Aperchannel
•Outputcurrentcontinuous:1Aperchannel(canbeparalleledtodeliver2Acontinuous)

109. 105/252

110. 106/252
A1A2B1B2ofthemotorArduinoshieldistheinterfaceofthemotor.
ThemotorsconnectedtotheA1interfaceandtheA2interfacehavethesamespeedandthesamedirection.
ThemotorsconnectedtotheB1andB2portshavethesamespeedandthesamedirection.
TheD2digitalI/OportcontrolsthedirectionofthemotoroftheportA,andtheD5digitalI/OportoutputsthePWMsignal
tocontrolthespeedofthemotoroftheportA.
TheD4digitalI/OportcontrolsthedirectionofthemotoroftheinterfaceB,andtheD6digitalI/OportoutputsthePWM
signaltocontrolthespeedofthemotoroftheinterfaceB.

111. 107/252
ThePWMvalueisintherangeof0-255.Thegreaterthevalue,thefasterthemotorsturn.
4WDRobot D2 D5(PWM) D4 D6(PWM)
Forward HIGH 0-255 LOW 0-255
Backward LOW 0-255 HIGH 0-255
Rotatetoleft LOW 0-255 LOW 0-255
Rotatetoright HIGH 0-255 HIGH 0-255
Stop / 0 / 0

112. 108/252
Howtoconnectthecircuit
Let'sprogram
Test1--MotorSpeedandDirectionControl

113. 109/252
Inexperimentaltest1,wewillwritecodetocontroltherobotcartomoveforward,backward,rotatetoleft,rotatetoright,
stop.
MixlyCode
Wireitupwellastheabovediagram.Okay,let’smoveontowritethetestcode.Openmixlysoftware.Click“New”toadd
newproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Motor_Speed_and_Direction_Control.mix"inthereferencefilesweprovided.
ProgrammingThinking

114. 110/252
Thisblockcontrolsthedirectionoftherobotcartoforwardorbackward,255representsthemaximumspeed,andtherange
thatcanbemodifiedis0-255.Whenthespeedissetto0,itmeansstop.
The"RotateLeft"programblockcontrolstherobotcartomakeacircletotheleft.Speed90PWMmeansthatthecar
movesataspeedof90.Theminimumspeed0PWMmeansstop,andthemaximumspeedratiois255PWM.

115. 111/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.Openthereferencecodeforthislesson
"Test_1_Motor_Speed_and_Direction_Control.ino"inthereferencefileweprovided.
ProgrammingThinking
/*MoveForward*/
digitalWrite(2,HIGH);//D2digitalI/OportcontrolsthedirectionofthemotorofinterfaceA
analogWrite(5,50);//D5digitalI/OportoutputsPWMsignaltocontrolthespeedofthemotorofportA.
digitalWrite(4,LOW);//D4digitalI/OportcontrolsthedirectionofthemotorofinterfaceB
analogWrite(6,50);//D6digitalI/OportoutputsPWMsignaltocontrolthespeedofinterfaceBmotor.
delay(2000);//delay2s
Whatwillyousee
Hookupbyconnectiondiagram,uploadcodeandpoweron,smartcargoesforwardandbackfor2s,turnsleftandright
for2s,andstopsfor2salternately.

116. 112/252
Lesson4LineTrackingSmartCar
Overview
Inthislesson,wewillcompletethetestoftwoexperimentalcodes.Inexperimentaltest1,welearnedhowtousethe
infraredline-followingsensor,andobservedtheresultsreturnedbythesensortodistinguishblackandwhiteobjects.Inthe
experimentaltest2,welearnedtocombinetheinfraredline-followingsensorwiththemotortocontroltherobotcarto
completetheline-followingfunction.

117. 113/252
Whatislinetrackingsensor
Thetrackingsensorisactuallyaninfraredsensor.ThecomponentusedhereistheTCRT5000infraredtube.Itsworking
principleistousethedifferentreflectivityofinfraredlighttothecolor,thenconvertthestrengthofthereflectedsignalinto
acurrentsignal.Duringtheprocessofdetection,blackisactiveatHIGHlevel,butwhiteisactiveatLOWlevel.The
detectionheightis0-3cm.
Byrotatingtheadjustablepotentiometeronthesensor,itcanadjustthedetectionsensitivityofthesensor.
Howtousethelinetrackingsensor
OperatingVoltage:3.3-5V(DC)
Interface:G(GND)V+(VCC)S(Signal)
OutputSignal:Digitalsignal
DetectionHeight:0-3cm
Specialnote:beforetesting,turnthepotentiometeronthesensortoadjustthedetectionsensitivity.WhenadjusttheLEDat

118. 114/252
thethresholdbetweenONandOFF,thesensitivityisthebest.

119. 115/252
Howtoconnectthecircuit

120. 116/252
Let'sprogram
Test1--LineTrackingSensor
Themainpurposeofthetestexperimentistoreadthereturnsignalofthelinetrackingsensorandprintittotheserialport
monitor.Whendetectswhitepaper,sensor’ssignalpinoutputsLOW(display0),andstatusLEDison;Whendetectsblack,
sensor’ssignalpinoutputsHIGH(display1),andstatusLEDisoff.
MixlyCode
Wireitupwellastheabovediagram.Okay,let’smoveontowritethetestcode.OpenMixlysoftware.Click“New”toadd
newproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Line_Tracking_Sensor.mix"inthereferencefileweprovidedonCD.

121. 117/252
Afteruploadingtheprogram,opentheserialmonitortoviewthesignalreturnedbytheinfraredobstacle
avoidancesensor.

122. 118/252
Thenyoucanseethedataasblow:
Whendetectswhitepaper,sensor’ssignalpinoutputsLOW(display0),andstatusLEDison;Whendetectsblack,sensor’s
signalpinoutputsHIGH(display1),andstatusLEDisoff.
Importantnote:Beforeyouuploadtheprogram,youneedtoclosetheserialmonitor,otherwisetheserialmonitorwill

123. 119/252
occupythecommunicationinterfaceoftheuploadedprogram.
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Line_Tracking_Sensor.ino"inthereferencematerialsweprovided.
Afteruploadingthecode,clickthebuttonintheupperrightcornertoopentheserialmonitortoviewthemeasureddistance
Thenyoucanseethedataasblow:

124. 120/252
Whendetectswhitepaper,sensor’ssignalpinoutputsLOW(display0),andstatusLEDison;Whendetectsblack,sensor’s
signalpinoutputsHIGH(display1),andstatusLEDisoff.
Importantnote:Beforeyouuploadtheprogram,youneedtoclosetheserialmonitor,otherwisetheserialmonitorwill
occupythecommunicationinterfaceoftheuploadedprogram.

125. 121/252
Test2--LineTrackingSmartCar
Intheexperimentaltest2,welearnedtocombinetheinfraredline-followingsensorwiththemotortocontroltherobotcar
tocompletetheline-followingfunction.

126. 122/252
MixlyCode
Thinkaboutthecodelogic.OpenMixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.Openthereferencecodeforthislesson
"Test_2_Line_Tracking_Smart_Car.mix"inthereferencefileweprovidedonCD.
ProgrammingThinking
Thelineinspectionpartoftherobotcarincludesthreeinfraredlinetrackingsensors,namelytheleftlinetrackingsensor,the
middlelinetrackingsensor,andtherightlinetrackingsensor.Arollofblackelectricaltapeisincludedinthekitparts.The
widthofthetapeis15mm,youcanuseittoplanthetrajectoryofthecar.Whentherobotcompletestheline-following
function,thefollowingsituationsmayoccur.

127. 123/252

128. 124/252
WhenintheAstate,onlythemiddleline-followingsensordetectstheblackline,andtherobotcarmovesstraightataspeed
of120.
WhenintheBstate,theleftline-followingsensorandthecenterline-followingsensordetecttheblackline,andtherobot
carrotatestotheleftataspeedof80%.
WhenintheDstate,therightline-followingsensorandthecenterline-followingsensordetecttheblackline,andtherobot
carrotatestotherightataspeedof80%.

129. 125/252
WhenintheCstate,theleftline-followingsensordetectstheblackline,andtherobotcarrotatestotheleftataspeedof
120%.

130. 126/252
WhenintheEstate,therightline-followingsensordetectstheblackline,andtherobotcarrotatestotherightataspeedof
120%.
Whenthethreeline-followingsensorsdetecttheblacklineatthesametime,therobotcarstops.

131. 127/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_2_Line_Tracking_Smart_Car.ino"inthereferencematerialsweprovided.
ProgrammingThinking
WhenintheAstate,onlythemiddleline-followingsensordetectstheblackline,andtherobotcarmovesstraightataspeed
of120.
if(Left_Tra_Value!=Black&&(Center_Tra_Value==Black&&Right_Tra_Value!=Black))
{
digitalWrite(2,HIGH);
analogWrite(5,120);
digitalWrite(4,LOW);
analogWrite(6,120);

132. 128/252
}
WhenintheBstate,theleftline-followingsensorandthecenterline-followingsensordetecttheblackline,andtherobot
carrotatestotheleftataspeedof80%.
elseif(Left_Tra_Value==Black&&(Center_Tra_Value==Black&&Right_Tra_Value!=Black))
{
digitalWrite(2,LOW);
analogWrite(5,80);
digitalWrite(4,LOW);
analogWrite(6,80);
}
WhenintheDstate,therightline-followingsensorandthecenterline-followingsensordetecttheblackline,andtherobot
carrotatestotherightataspeedof80%.

133. 129/252
elseif(Left_Tra_Value!=Black&&(Center_Tra_Value==Black&&Right_Tra_Value==Black))
{
digitalWrite(2,HIGH);
analogWrite(5,80);
digitalWrite(4,HIGH);
analogWrite(6,80);
}
WhenintheCstate,theleftline-followingsensordetectstheblackline,andtherobotcarrotatestotheleftataspeedof
120%.
elseif(Left_Tra_Value==Black&&(Center_Tra_Value!=Black&&Right_Tra_Value!=Black))
{
digitalWrite(2,LOW);

134. 130/252
analogWrite(5,120);
digitalWrite(4,LOW);
analogWrite(6,120);
}
WhenintheEstate,therightline-followingsensordetectstheblackline,andtherobotcarrotatestotherightataspeedof
120%.
elseif(Left_Tra_Value!=Black&&(Center_Tra_Value!=Black&&Right_Tra_Value==Black))
{
digitalWrite(2,HIGH);

135. 131/252
analogWrite(5,120);
digitalWrite(4,HIGH);
analogWrite(6,120);
}
Whenthethreeline-followingsensorsdetecttheblacklineatthesametime,therobotcarstops.
elseif(Left_Tra_Value==Black&&(Center_Tra_Value==Black&&Right_Tra_Value==Black))
{
digitalWrite(2,LOW);
analogWrite(5,0);
digitalWrite(4,HIGH);
analogWrite(6,0);
}

136. 132/252
Whatwillyousee
UploadthetestcodetoUNOR3controlboard,turnthePOWER
switchON.Thenthesmartcarwillmovealongtheblackline.
Note:Thefloorsofdifferentmaterialsinthehomehavedifferentdegreesoflightreflection.Youcanadjustthe
potentiometerontheline-followingsensortochangetheresponsesensitivity.Thiscanmakethecarfollowtheblackline
moresmoothly.

137. 133/252
Lesson5UltrasonicInfraredObstacleAvoidanceRobotCar
Overview
Inthislesson,wewillcompletethetestof4experimentalcodes.
Inexperimentaltest1,weseparatelylearnhowtouseinfraredobstacle-avoidancesensorstodetectobstacles,andobserve
theresultsreturnedbythesensorstodeterminewhetherobstaclesaredetected.
Inthesecondexperimentaltest2,wewilllearntousetheultrasonicmoduletomeasuredistance.
Intheexperimentaltest3,wewilllearnhowtocontroltheservomotortorotatetoanyangle.
Intheexperimentaltest4,theinfraredobstacleavoidancesensor,theultrasonicmoduleandtheservomotorwere
assembledontherobotcaratthesametime,andthedataofthesesensorswereusedatthesametimetoassisttherobotcar
tocompletetheobstacleavoidancefunctionmoreaccurately.

138. 134/252

139. 135/252
Whatisinfraredobstacleavoidancesensor
Theinfraredobstacledetectorsensorhasapairofinfraredtransmittingandreceivingtubes.Thetransmitteremitsan
infraredraysofacertainfrequency.Whenthedetectiondirectionencountersanobstacle(reflectingsurface),theinfrared
raysarereflectedback,andreceivingtubewillreceiveit.Atthistime,theindicator(greenLED)lightsup.Afterprocessed
bythecircuit,thesignaloutputterminalwilloutputDigitalsignal.Youcanrotatethepotentiometerontheshieldtoadjust
thedetectiondistance.ItisbettertoadjustthepotentiometertomakethegreenLEDinastatebetweenonandoff.The
detectiondistanceisthebest,almost10cm.
Howtousetheinfraredobstacleavoidancesensor
wereadthesignallevelofobstacledetectorsensortojudgewhetherdetectobstaclesornot.
Whendetectsanobstacle,sensor’ssignalpinoutputsLOW(display0);otherwise,outputHIGH(display1).
Showtheresultontheserialmonitor,andcontroltheexternalLEDmoduleturnON/OFF.

140. 136/252

141. 137/252
Whatisanultrasonicsensor
Reviewtheultrasonicsensorfromthepreviouslesson.Itworkslikeabat'seye.Determinethedistanceofobstaclesinfront
afterreceivingandreceivinghigh-frequencysoundwaves.
Asthefollowingpictureshown,itisourultrasonicmodule.Ithastwosomethinglikeeyes.
Oneistransmittingend,theotherisreceivingend.

142. 138/252
TheHC-SR04ultrasonicsensorusessonartodeterminedistancetoanobjectlikewhatbatsdo.Itoffersexcellent
non-contactrangedetectionwithhighaccuracyandstablereadingsinaneasy-to-usepackage.Itcomescompletewith
ultrasonictransmitterandreceivermodules.TheHC-SR04ortheultrasonicsensorisbeingusedinawiderangeof
electronicsprojectsforcreatingobstacledetectionanddistancemeasuringapplicationaswellasvariousotherapplications.
Herewehavebroughtthesimplemethodtomeasurethedistancewitharduinoandultrasonicsensor
andhowtouseultrasonicsensorwitharduino.

143. 139/252
Specification
PowerSupply:+5VDC
QuiescentCurrent:<2mA
WorkingCurrent:15mA
EffectualAngle:<15°92
RangingDistance:2cm–400cm
Resolution:0.3cm
MeasuringAngle:30degree
TriggerInputPulsewidth:10uS

144. 140/252
Whatisaservomotor
Description：
Servomotorisapositioncontrolrotaryactuator.Itmainlyconsistsofahousing,circuitboard,
core-lessmotor,gearandpositionsensor.Itsworkingprincipleisthattheservoreceivesthe
signalsentbyMCUsorreceiversandproducesareferencesignalwithaperiodof20msand
widthof1.5ms,thencomparestheacquiredDCbiasvoltagetothevoltageofthe
potentiometerandobtainthevoltagedifferenceoutput.Whenthemotorspeedisconstant,the
potentiometerisdriventorotatethroughthecascadereductiongear,whichleadsthatthevoltagedifferenceis0,andthe
motorstopsrotating.Generally,theanglerangeofservorotationis0°--180°.

145. 141/252
TherotationangleofservomotoriscontrolledbyregulatingthedutycycleofPWM(Pulse-WidthModulation)signal.The
standardcycleofPWMsignalis20ms(50Hz).Theoretically,thewidthisdistributedbetween1ms-2ms,butinfact,it's
between0.5ms-2.5ms.Thewidthcorrespondstherotationanglefrom0°to180°.Butnotethatformotorsofdifferent
brands,thesamesignalmayhavedifferentrotationangle.

146. 142/252
Ingeneral,servohasthreelinesinbrown,redandorange.Thebrownwireisgrounded,theredoneisapositivepoleline
andtheorangeoneisasignalline.Thecorrespondingservoanglesareshownbelow:
Specification
PowerSupply:+5VDC
QuiescentCurrent:<2mA
WorkingCurrent:15mA
EffectualAngle:<15°92
RangingDistance:2cm–400cm
Resolution:0.3cm
MeasuringAngle:30degree
TriggerInputPulsewidth:10uS

147. 143/252
Howtoconnectthecircuit

148. 144/252
Let'sprogram
Test1--infraredobstacleavoidancesensor
Themainpurposeofthetestexperimentistoreadthereturnsignaloftheinfraredobstacleavoidancesensorandprintitto
theserialportmonitor.Whendetectsanobstacle,sensor’ssignalpinoutputsLOW(display0);otherwise,outputHIGH
(display1).
MixlyCode
Wireitupwellastheabovediagram.Okay,let’smoveontowritethetestcode.OpenMixlysoftware.Click“New”toadd
newproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Infrared_Obstacle_Avoidance_Sensor.mix"inthereferencematerialsweprovided.

149. 145/252
Afteruploadingtheprogram,opentheserialmonitortoviewthesignalreturnedbytheinfraredobstacle
avoidancesensor.

150. 146/252
Thenyoucanseethedataasblow:
Whenthereisanobstacleinthefront,IR_value=0,andtheindicatorlightonthesensorlightsup.
Importantnote:Beforeyouuploadtheprogram,youneedtoclosetheserialmonitor,otherwisetheserialmonitorwill
occupythecommunicationinterfaceoftheuploadedprogram.

151. 147/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Infrared_Obstacle_Avoidance_Sensor.ino"inthereferencematerialsweprovided.
Afteruploadingthecode,clickthebuttonintheupperrightcornertoopentheserialmonitortoviewthemeasureddistance

152. 148/252
Thenyoucanseethedataasblow:
Whenthereisanobstacleinthefront,IR_value=0,andtheindicatorlightonthesensorlightsup.
Note:Beforeuploadingthecode,youneedtoturnofftheserialmonitoroftheArduinoIDEandthemonitoroftheMixly
software,otherwisethecodeuploadwillfailbecausetheserialportisusuallyoccupied.

153. 149/252
Test2--ServoControl
Inthisexperimentaltest,welearnhowtocontroltheservomotorandcontroltheservomotortorotateto
thespecifiedangle.
MixlyCode
Wireitupwellastheabovediagram.Okay,let’smoveontowritethetestcode.Openmixlysoftware.Click“New”toadd
newproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson"Test_2_Servo_Control.mix"inthe
referencefilesweprovidedCD.
ProgrammingThinking

154. 150/252
Thiscodeblockisusedtocontrolthemotorrotationangle,therangeis0-180.Thisprogramblockcanonlycontroltheservo
motorconnectedtotheD10digitalIOinterface
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openArduinoIDEsoftwareandopenthereferencecodeforthislesson
"Test_2_Servo_Control.ino"inthereferencefilesweprovidedonCD.
Beforeyoucanrunthis,makesurethatyouhaveinstalledthe<Servo>libraryorre-installit,ifnecessary.Otherwise,
yourcodewon'twork.Fordetailsaboutloadingthelibraryfile,seeLessonabouthowtoaddlibraries.
CodeExplanation
Arduinocomeswith#include<Servo.h>(servofunctionandstatement）
Thefollowingaresomecommonstatementsoftheservofunction:

155. 151/252
1.attach（interface）——Setservointerface,port9and10areavailable
2.write（angle）——Thestatementtosetrotationangleofservo,theangle
rangeisfrom0°to180°
3.read（）——usedtoreadangleofservo,readthecommandvalueof
“write()”
4.attached（）——Judgeiftheparameterofservoissenttoitsinterface
Note:Theabovewrittenformatis“servovariablename,specificstatement
（）”,forinstance:myservo.attach(10)
Afteruploadingthecode,Theservomotorrotatesto15°andwaitsfor2secondsandthenrotatesto165°,andafter2
seconds,itrotatesto90°,andrepeatstheaboveprocess.

156. 152/252
Test3--UltrasonicSensorModule
InExperimentalTest3,wewilllearnhowtocontroltheultrasonicsensor,anddisplaythedistancemeasured
bytheultrasonicsensorontheserialmonitor.
MixlyCode
Wireitupwellastheabovediagram.Okay,let’smoveontowritethetestcode.Openmixlysoftware.Click“New”toadd
newproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_3_Ultrasonic_Sensor_Module.mix"inthereferencefilesweprovidedCD.

157. 153/252
Afteruploadingtheprogram,opentheserialmonitortoviewthedistancemeasuredbytheultrasonicsensor.

158. 154/252
Thenyoucanseethedataasblow:
Note:thatyouneedtocloseboththeArduinoIDEserialmonitorandtheserialmonitoroftheMixlysoftwarebefore
uploadingthecode,otherwisethecodewillfailtouploadbecausethecommunicationserialportisoccupied.

159. 155/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openArduinoIDEsoftwareandopenthereferencecodeforthislesson
"Test_3_Ultrasonic_Sensor_Module.ino"inthereferencematerialsweprovided.
Afteruploadingthecode,clickthebuttonintheupperrightcornertoopentheserialmonitortoviewthemeasureddistance

160. 156/252
Thenyoucanseethedataasblow:
Note:Beforeuploadingthecode,youneedtoturnofftheserialmonitoroftheArduinoIDEandthe
monitoroftheMixlysoftware,otherwisethecodeuploadwillfailbecausetheserialportisusually
occupied.

161. 157/252
Test4--Ultrasonic_Infrared_Obstacle_Avoidance_Robot_Car
Intheexperimentaltest4,theinfraredobstacleavoidancesensor,theultrasonicmoduleandtheservomotorwere
assembledontherobotcaratthesametime,andthedataofthesesensorswereusedatthesametimetoassisttherobotcar
tocompletetheobstacleavoidancefunctionmoreaccurately.
MixlyCode
Thinkaboutthecodelogic.Openmixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_4_Ultrasonic_Infrared_Obstacle_Avoidance_Robot_Car.mix"inthereferencefilesweprovidedCD.
ProgrammingThinking
Thefollowingistheprogramexecutionflowchartoftherobotcartocompletetheobstacleavoidancefunction

162. 158/252

163. 159/252

164. 160/252

165. 161/252

166. 162/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_4_Ultrasonic_Infrared_Obstacle_Avoidance_Robot_Car.ino"inthereferencematerialsweprovided.
ProgrammingThinking
Thefollowingistheprogramexecutionflowchartoftherobotcartocompletetheobstacleavoidancefunction

167. 163/252

168. 164/252

169. 165/252

170. 166/252

171. 167/252

172. 168/252
Whatwillyousee
UploadthecodetoUNOR3controlboard,,andturnthePOWERswitchON.Note:Itisrecommendedthattheheightofthe
obstacleisgreaterthan15cm.whichmeansthattheheightoftheobstacleisgreaterthantheheightoftheultrasonicsensor.
Becauseofreceivingthedetectionsignalsofultrasonicandinfraredobstacleavoidancemodulesatthesametime,therobot
carcancompletetheobstacleavoidancefunctionmoreaccurately.Whenobstaclesareontheleftandrightsidesoftherobot
car,theycanbediscoveredbytheinfraredobstacleavoidancemoduleintimeandturntoavoid.Whentheobstacleis
directlyinfront,theultrasonicwillbeabletomeasurethedistancebetweentherobotcarandtheobstacle.

173. 169/252
Lesson6UltrasonicFollowRobotCar
Overview
Inthelastcourse,Ilearnedhowtousetheultrasonicmoduleandinfraredobstacleavoidancemodule.Similarly,combining
thesetwomodulescancontroltherobotcartocompletethefollowingfunction.
Whentheguidingobjectisontheleftandrightsidesoftherobotcar,theinfraredobstacleavoidancemodulecandetectand
judgethedirectionoftheguidingobject,andcontroltherobotcartoturntotheguideobject.
Whentheguidedobjectisdirectlyinfrontoftherobotcar,theultrasonicsensorcandetectthedistancebetweentherobot
carandtheguideobject.Whenthedistanceisgreaterthan10mm,controltherobotcartoapproachtheguide;
Whenthedistanceislessthan5mm,controltherobotcartomovebackwardandkeepaproperdistance,5mm<D<10mm.

174. 170/252
Whatisinfraredobstacleavoidancesensor
Theinfraredobstacledetectorsensorhasapairofinfraredtransmittingandreceivingtubes.Thetransmitteremitsan
infraredraysofacertainfrequency.Whenthedetectiondirectionencountersanobstacle(reflectingsurface),theinfrared
raysarereflectedback,andreceivingtubewillreceiveit.Atthistime,theindicator(greenLED)lightsup.Afterprocessed
bythecircuit,thesignaloutputterminalwilloutputDigitalsignal.Youcanrotatethepotentiometerontheshieldtoadjust
thedetectiondistance.ItisbettertoadjustthepotentiometertomakethegreenLEDinastatebetweenonandoff.The
detectiondistanceisthebest,almost10cm.
Howtousetheinfraredobstacleavoidancesensor
wereadthesignallevelofobstacledetectorsensortojudgewhetherdetectobstaclesornot.
Whendetectsanobstacle,sensor’ssignalpinoutputsLOW(display0);otherwise,outputHIGH(display1).
Showtheresultontheserialmonitor,andcontroltheexternalLEDmoduleturnON/OFF.

175. 171/252

176. 172/252
Whatisanultrasonicsensor
Reviewtheultrasonicsensorfromthepreviouslesson.Itworkslikeabat'seye.Determinethedistanceofobstaclesinfront
afterreceivingandreceivinghigh-frequencysoundwaves.
Asthefollowingpictureshown,itisourultrasonicmodule.Ithastwosomethinglikeeyes.
Oneistransmittingend,theotherisreceivingend.

177. 173/252
TheHC-SR04ultrasonicsensorusessonartodeterminedistancetoanobjectlikewhatbatsdo.Itoffersexcellent
non-contactrangedetectionwithhighaccuracyandstablereadingsinaneasy-to-usepackage.Itcomescompletewith
ultrasonictransmitterandreceivermodules.TheHC-SR04ortheultrasonicsensorisbeingusedinawiderangeof
electronicsprojectsforcreatingobstacledetectionanddistancemeasuringapplicationaswellasvariousotherapplications.
Herewehavebroughtthesimplemethodtomeasurethedistancewitharduinoandultrasonicsensor
andhowtouseultrasonicsensorwitharduino.

178. 174/252
Howtoconnectthecircuit

179. 175/252
Let'sprogram
Test1--UltrasonicFollowRobotCar
Whentheguidingobjectisontheleftandrightsidesoftherobotcar,theinfraredobstacleavoidancemodulecandetectand
judgethedirectionoftheguidingobject,andcontroltherobotcartoturntotheguideobject.
Whentheguidedobjectisdirectlyinfrontoftherobotcar,theultrasonicsensorcandetectthedistancebetweentherobot
carandtheguideobject.Whenthedistanceisgreaterthan10mm,controltherobotcartoapproachtheguide;
Whenthedistanceislessthan5mm,controltherobotcartomovebackwardandkeepaproperdistance,5mm<d<10mm.
MixlyCode
Thinkaboutthecodelogic.Openmixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Ultrasonic_Follow_Robot_Car.mix"inthereferencematerialsweprovided.

180. 176/252
ProgrammingThinking
Thefollowingistheprogramexecutionflowchartoftherobotcartocompletetheultrasonicfollowfunction

181. 177/252

182. 178/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Ultrasonic_Follow_Robot_Car.ino"inthereferencematerialsweprovided.
Whatwillyousee
UploadthecodetoUNOR3controlboard,,andturnthePOWERswitchON.Note:Itisrecommendedtousearectangular
objectboxtoguidetherobotcar.Length>10cm.Width>15cm.
Therobotcardetectsthedistanceoftheobjectinfrontthroughtheultrasonicsensor.Whenthefrontobjectmoves,therobot
carwillfollowthemovement,keepingthedistancebetweenthetankandtheobjectinfrontbetween5cm~8cm.

183. 179/252
Lesson7InfraredRemoteControlRobotCar
Overview
Inthislesson,wewilllearntheinfraredremotecontrol,andusetheinfraredremotecontroltocontroltherobotcargo
forward,backward,turnleft,turnright,rotateleftrotateright.Note:Duetoairtransportation,theremotecontroldoesnot
containbatteries,youneedtoprepareabuttonbatteryCR2025beforeuse.

184. 180/252
Whatisaninfraredremotecontrol
Thereisnodoubtthatinfraredremotecontroliscommonlyseeninourdailylife.It'shardtoimagineourworldwithout
it.Aninfraredremotecontrolcanbeusedtocontrolawiderangeofhomeappliancessuchastelevision,audio,video
recordersandsatellitesignalreceivers.Well,inthefollowinglet’sgetabetterunderstandingoftheinfraredremote
control.Infraredremotecontroliscomposedofinfraredtransmittingandinfraredreceivingsystems.Thatis,consistofan
infraredremotecontrol,aninfraredreceivermoduleandamicrocontrollerthatcandecode.Youcanrefertothefigurebelow.
Remotecontrolkeyvalue

185. 181/252
The38Kinfraredcarriersignaltransmittedbyaninfraredremotecontrollerisencodedbyanencodingchipinsidethe
remotecontroller.Itiscomposedofapilotcode,usercode,datacode,anddatainversioncode.Thetimeintervalbetween
pulsesisusedtodistinguishwhetheritisasignal0or1.(whentheratioofhighleveltolowlevelisabout1:1,considered
assignal0.)
Andtheencodingisjustwellcomposedofsignal0and1.Theusercodeofthesamebuttononremotecontrolleris
unchanged.Usingdifferencedatadistinguishthekeypressedontheremotecontrol.Whenpressdownabuttononthe
remotecontrol,itwillsendoutaninfraredcarriersignal.Andwheninfraredreceiverreceivesthatsignal,itsprogramwill
decodethecarriersignal,andthroughdifferentdatacodes,thuscanjudgewhichkeyispressed.Themicrocontrolleris
decodedbyanreceivedsignal0or1todeterminewhichkeyispressedbytheremotecontrol.

186. 182/252
Whatisaninfraredreceiver
Therobotshieldcomeswithinfraredreceivermodule.Itismainlycomposedofaninfraredreceivinghead.Thisdevice
integrateswithreception,amplificationanddemodulation.ItsinterIChasbeendemodulated,outputtingDigitalsignal.
SuitableforIRremotecontrolandinfrareddatatransmission.Thedatainterfaceoftheinfraredreceiverisconnectedtothe
D3digitalIOport.

187. 183/252
Let'sprogram
Test1--InfraredRemoteControlRobotCar
Inexperimentaltest1,learntoreceiveinfraredremotecontrolsignals,anddistinguishthecorresponding
remotecontrolkeyvalue,andfinallyrealizeinfraredremotecontrolrobotcar.
MixlyCode
Thinkaboutthecodelogic.Well,figureoutthelogic,youcanhaveatrytowriteoutthecodelogicofinfraredobstacle
avoidance.Openmixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Infrared_Remote_Control_Robot_Car.mix"inthereferencematerialsweprovided.

188. 184/252
ProgrammingThinking
Thisprogramblockistoinitializetheinfraredreceiver,andtheportnumberisfilledwith"3".
ThedatainterfaceoftheinfraredreceiverisconnectedtotheD3digitalIOport.
Selectthebuttonyouneedtoset.Whenthespecifiedbuttonispressed,theblockoutputstruelogic.

189. 185/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Infrared_Remote_Control_Robot_Car.ino"inthereferencematerialsweprovided.
Whatwillyousee
UploadthecodetoUNOR3controlboard,andturnthePOWERswitchON.Usetheinfraredremotecontroltocontrolthe
tank'sdirectionofadvance.Note:Duetoairtransportation,theremotecontroldoesnotcontainbatteries,youneedto
prepareabuttonbatteryCR2025beforeuse.
KeyonIR
remotecontrol
RobotstatusGoforwardGobackwardTurnleftTurnrightRotatetoleftRotatetoright Stop

190. 186/252
Lesson8LightSeekingRobotCar
Overview
Inthislesson,wemainlystudytwoexperimentaltests.Inthefirsttestexperiment,welearnthephotoelectricsensoranduse
ittoobtainthelightintensityintheenvironment;inthesecondtestexperiment,thephotoelectricsensorandmotorcontrol
needtobecombined,sothatwhenthecarsensesstronglight,Willmoveinthedirectionofthelight.

191. 187/252
Whatisphotoelectricsensor
Thephotoelectricsensor(photoresistor)isaresistorsemiconductormadebythephotoelectriceffect.Itisverysensitiveto
ambientlight,soitsresistancevaluechangeswithdifferentlightintensities.Weuseitsfunctionstodesigncircuitsand
generatephotoresistorsensormodules.Thesignalendofthemoduleisconnectedtothemicrocontroller.Whenthelight
intensityincreases,theresistancedecreases,andthevoltageofthesignaloutputportofthemoduledecreases,thatis,the
voltagedetectedbytheanalogportofthemicrocontrollerwilldecrease.Otherwise,whenthelightintensitydecreases,the
resistanceincreases,andthevoltageofthesignaloutputportofthemoduleincreases,thatis,thevoltagedetectedbythe
analogportofthemicrocontrollerwillincrease.Therefore,wecanusethephotoresistorsensormoduletoreadthe
correspondinganalogvalueandsensethelightintensityintheenvironment.Itisusuallyusedinlightmeasurement,control
andconversion,andlightcontrolcircuits.

192. 188/252
Howtoconnectthecircuit

193. 189/252
Let'sprogram
Test1--LightSeekingSignal
Onthemodule,Whenthephotoresistorisilluminatedbystronglight,Itsresistancevaluedropsrapidly,
thecurrentpassedincreases,theresistanceofthephotoresistorrisesrapidlyinadarkenvironment,the
currentpassedthroughisreduced,Themaincontrolboarddetermineswhetherthereisalightsource.
MixlyCode
Thinkaboutthecodelogic.Well,figureoutthelogic,youcanhaveatrytowriteoutthecodelogicofinfraredobstacle
avoidance.Openmixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson"Test_1_Light_Seeking_Signal.mix"
inthereferencefilesweprovidedonCD.
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson"Test_1_Light_Seeking_Signal.ino"
inthereferencefilesweprovidedonCD.

194. 190/252
Afteruploadingtheprogram,Useacovertoblockthelightnearthephotoresistor,andthenobservethatthe
outputvalueofthelight-seekingsignalontheserialmonitorisrelativelylarge,andthenremovethe
obstruction.Itisfoundthattheoutputvalueofthelight-seekingsignalontheserialmonitorbecomes
smaller.Youcanalsousetheflashlightofthemobilephonetoilluminatethephotoresistortoobservethe
changeoftheoutputvalueofthelight-seekingsignalontheserialmonitor.

195. 191/252
Test2--LightSeekingRobotCar
thephotoelectricsensorandthemotorcontrolneedtobecombined,sothatwhenthecarsensesstronglight,
itwillmoveinthedirectionofthelight.
MixlyCode
Thinkaboutthecodelogic.Well,figureoutthelogic,youcanhaveatrytowriteoutthecodelogicofinfraredobstacle
avoidance.Openmixlysoftware.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_2_Light_Seeking_Robot_Car.mix"inthereferencefilesweprovidedonCD.

196. 192/252
ProgrammingThinking
ThespecificsoftwaredesignideaisasshowninFigure

197. 193/252

198. 194/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_2_Light_Seeking_Robot_Car.ino"inthereferencefilesweprovidedonCD.

199. 195/252
Whatwillyousee
UploadthecodetoUNOR3controlboard,andturnthePOWERswitchON.Testinadarkenvironmentandturnoffthe
lightsintheroom.Thelightoftheflashlightfacesthephotoelectricsensorontheright,andtherobotcarturnsright.The
lightoftheflashlightfacesthephotoelectricsensorontheleft,andtherobotcarturnsleft.

200. 196/252
Lesson9BluetoothControlRobotCar
Overview
Inthislesson,wemainlystudytwoexperimentaltests.
InTest1,welearnthecommunicationbetweentheBluetoothmoduleandthemobilephone.
InTest2,usetheappremotecontroltocontrolthedirectionoftherobotcar.

201. 197/252

202. 198/252
WhatisBLE
ThemeaningofBLEislowenergyBluetooth,whichhaslowworkingpowerconsumptionandlongstandbytime.However,
BLE4.0isanewbranchandisnotbackwardcompatible.
SupportedAndroiddevices:AndroidphonesequippedwithBluetooth4.0andupgradedtoAndroid4.3Orhighersystem.
YouneedtocompletethesearchandconnectionofBLEdevicesthroughtheApp.
BLEJDY-16
TheJDY-16transparenttransmissionmoduleisbasedontheBluetooth-compatible4.2protocolstandard,theworking
frequencybandis2.4GHZrange,themodulationmethodisGFSK,themaximumtransmissionpoweris0db,themaximum
transmissiondistanceis60meters,anditadoptsimportedoriginalchipdesignandsupportsuserstomodifythedevice
throughATcommandsName,serviceUUID,transmitpower,pairingpasswordandotherinstructionsareconvenientand
flexibletouse.TheJDY-16Bluetooth-compatiblemodulecanrealizethedatatransmissionbetweenthemoduleandthe
mobilephoneorbetweenthemoduleandthemodule.ThecommunicationmodeofUARTorIICcanbeselectedthrough
IO,andtheBluetooth-compatiblecanbequicklyusedforproductapplicationthroughsimpleconfiguration.MakeBLE's

203. 199/252
applicationinproductsfasterandmoreconvenient.
ProductParameters:
Model:JDY-16
Workingfrequency:2.4G
Transmittingpower:0db(maximum)
Communicationinterface:UARTorIIC
Workingvoltage:1.8V-3.6V

204. 200/252
Workingtemperature:-40℃-80℃
Antenna:Built-inPCBantenna
Receivingsensitivity:-97dbm
Transmissiondistance:60meters
Modulesize:19.6mm*14.94*2.6
Bluetooth-compatibleversion:BLE4.2(compatiblewithBLE4.0,BLE4.1)
Transparenttransmissionrate:115200bps/s
Wake-upstatecurrent:4mA(withbroadcast)
Lightsleepstatecurrent:<300uA(withbroadcast)
Deepsleepcurrent:1.8uA(nobroadcast)
Commandparametersaving:parameterconfigurationdataissavedafterpower-off
STMweldingtemperature:<300℃

205. 201/252
Howtoconnectthecircuit

206. 202/252

207. 203/252
HowtoconnectAPPwithbluetoothmodule
Firstly,copythe“LAFVIN_4WD_Smart_Robot_Car_BLE_V2_2.apk”filefromtheAPPfoldertoyourmobilephoneand
installitintoanapplicationsoftware.AndroidphonesequippedwithBluetooth4.0andupgradedtoAndroid4.3Orhigher
system.

208. 204/252
Opentheapp,youwillseethefollowinginterface,swipeleftandrighttoswitchpages.

209. 205/252
Important:Allowsaccesstolocationpermissionsandpermissiontoconnecttonearbydevices,otherwiseitmaynotbe
possibletosearchfornearbyBluetoothdevices.

210. 206/252
InstalltheBluetoothmoduletotheArduinoUNOMotorDriverShied,turnonthepowerswitch,andtheindicatorlightof
theBluetoothmodulestartstoflash,whichmeansitisinaconnectablestate.ClicktheBluetoothicon toenterthe
Bluetoothpairingfunctionpage.
andthenclickdevicescan,AftersuccessfullysearchingforthedeviceJDY-16,clickthedeviceaddressinthedevicelist

211. 207/252
toautomaticallyconnect.

212. 208/252
Report:Successfulconnected.Thismeansthatthecorrectdevicehasbeenconnected
Report:DeviceError.ThismeansthattheconnectedBluetoothdevicedoesnotbelongtotherobotcar,searchforJDY-16
andreconnect.
IfAppdoesnotfindthe"JDY-16"device,restarttheBluetoothmodule(unplugtheBluetoothmodulefromtheArduino
UNOMotorDriverShied,disconnectthepoweroftheBluetoothmodule;thenreinstallittotheArduinoUNOMotor
DriverShied,connecttothepowersupply).theredLEDflashes,whichmeansitisinaconnectablestate.Thensearchfor

213. 209/252
BluetoothdevicesagainintheAPP.
Let'sprogram
Test1--BluetoothModuleReceivesInformation
InExperimentalTest1,welearnedhowtoreceivetheinformationsentbythemobilephoneapptothe
Bluetoothmodule.
MixlyCode
Thinkaboutthecodelogic.Click“New”toaddnewproject,thenstartyourprogramming.
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Bluetooth_Module_Receives_Information.mix"inthereferencematerialsweprovided.

214. 210/252
ProgrammingThinking
Setthebaudrateforserialcommunicationto9600.ThecommunicationspeedbetweentheserialportoftheArduinoUNO
maincontrolboardandtheserialportofBluetoothneedstobethesame.ThecommunicationbaudrateoftheBluetooth
moduleis9600bydefault.

215. 211/252
Iftheserialporthasreceivednewinformation,itwillnotstopuntilthenewdataisreceived.
Combinetheendingcharactersintoastring.Needtodelaywaitingforthereceptiontocomplete.
Ifanewcharacterstringisreceived,printthereceivedcharacterstringtotheserialmonitor,andclearthelastdatawithout

216. 212/252
preparingforthenextreception.
Aftercompletingtheprogramupload,opentheserialmonitortoviewtheinformationreceivedbytheBluetoothmodule.

217. 213/252
AftertheBluetoothmoduleofthemobilephoneandtheBluetoothmoduleoftherobotcararesuccessfullyconnected，
Whenyoupresstheupbutton,thecharacterreceivedbyBluetoothis“%G#”,
Whenyoupressthedownbutton,thecharacterreceivedbyBluetoothis“%T#”.
Similarly,youcanusethismethodtotestthecommandsofotherbuttonsintheAPP.

218. 214/252
Setthebaudrateforserialcommunicationto9600.ThecommunicationspeedbetweentheserialportoftheArduinoUNO
maincontrolboardandtheserialportofBluetoothneedstobethesame.ThecommunicationbaudrateoftheBluetooth
moduleis9600bydefault.

219. 215/252
ArduinoCode
ifyouwanttorefertotheprogramweprovide.openthereferencecodeforthislesson
"Test_1_Bluetooth_Module_Receives_Information.ino"inthereferencematerialsweprovided.
ProgrammingThinking
StringBLE_value;
voidsetup(){
Serial.begin(9600);
BLE_value="";
}
Setthebaudrateforserialcommunicationto9600.ThecommunicationspeedbetweentheserialportoftheArduinoUNO
maincontrolboardandtheserialportofBluetoothneedstobethesame.ThecommunicationbaudrateoftheBluetooth
moduleis9600bydefault.

220. 216/252
voidloop(){
//Iftheserialporthasreceivednewinformation,itwillnotstopuntilthenewdataisreceived.
while(Serial.available()>0){
//Combinetheendingcharactersintoastring
BLE_value=BLE_value+((char)(Serial.read()));
//Needtodelaywaitingforthereceptiontocomplete
delay(2);
}
Iftheserialporthasreceivednewinformation,itwillnotstopuntilthenewdataisreceived.Combinethe
endingcharactersintoastring.Needtodelaywaitingforthereceptiontocomplete.
if(0<String(BLE_value).length()){//Ifanewcharacterstringisreceived
//Printthereceivedstringtotheserialmonitor
Serial.println(BLE_value);

221. 217/252
BLE_value="";//clearthelastdatawithoutpreparingforthenextreception.
}
}
Ifanewcharacterstringisreceived,printthereceivedcharacterstringtotheserialmonitor,andclearthelastdatawithout
preparingforthenextreception.

222. 218/252
Aftercompletingtheprogramupload,opentheserialmonitortoviewtheinformationreceivedbytheBluetoothmodule.

223. 219/252
AftertheBluetoothmoduleofthemobilephoneandtheBluetoothmoduleoftherobotcararesuccessfullyconnected，
Whenyoupresstheupbutton,thecharacterreceivedbyBluetoothis“%A#”,
Whenyoupressthedownbutton,thecharacterreceivedbyBluetoothis“%I#”.
Similarly,youcanusethismethodtotestthecommandsofotherbuttonsintheAPP.

224. 220/252
Note:thatyouneedtocloseboththeArduinoIDEserialmonitorandtheserialmonitoroftheMixlysoftwarebefore
uploadingthecode,otherwisethecodewillfailtouploadbecausethecommunicationserialportisoccupied.

225. 221/252
Test2BluetoothControlRobotCar
Step1:Circuitwiring
Connectthewiringaccordingtothewiringdiagram,payingattentiontothepositiveandnegativepolesofthepowersupply.
Correctlydistinguishtheinstallationpositionofthesensormodule,suchasleft,center,rightlinetrackingmodule.A1:Left
frontmotorB1:Rightfrontmotor.

226. 222/252

227. 223/252
Step2:Uploadcode
MixlyCode
IfyouusethegraphicalprogrammingsoftwareMixlyasthedevelopmentenvironment.Openthissourceprogramin
Mixly_Code>Lesson_9>"Test_2_Bluetooth_Control_Robot_Car.mix".SelectthecorrectserialporttouploadtheMixly
code.
HowtoInstallMixlySoftware HowtoAddMixlyLibraries HowtoUploadtheReferenceProgram
ArduinoCode
IfyouusetheArduinoIDEasthedevelopmentenvironment.Openthissourceprogramin
Arduino_Code>Lesson_9>"Test_2_Bluetooth_Control_Robot_Car.ino".Selectthecorrectserialporttouploadthecode
underthe"Tools"menu.Ifyouaremissingsomesteps,ArduinoIDEmayreportsomeerrors.Youcanrefertothefollowing
solutions.
HowtoUnloadArduinoCode.

228. 224/252
Step3:Installtheapp
Firstly,copythe“LAFVIN_4WD_Smart_Robot_Car_BLE_V2_2.apk”filefromtheAPPfoldertoyourmobilephoneand
installitintoanapplicationsoftware.AndroidphonesequippedwithBluetooth4.0andupgradedtoAndroid4.3Orhigher
system.

229. 225/252
OpentheAPP,youwillseethefollowingcontrolinterface.

230. 226/252
Important:Allowsaccesstolocationpermissionsandpermissiontoconnecttonearbydevices,otherwiseitmaynotbe
possibletosearchfornearbyBluetoothdevices.

231. 227/252
Step4:Bluetoothconnection
InstalltheBluetoothmoduletotheArduinoUNOMotorDriverShied,turnonthepowerswitch,andtheindicatorlightof
theBluetoothmodulestartstoflash,whichmeansitisinaconnectablestate.ClicktheBluetoothicon toenterthe
Bluetoothpairingfunctionpage.

232. 228/252
andthenclickdevicescan,AftersuccessfullysearchingforthedeviceJDY-16,clickthedeviceaddressinthedevicelist
toautomaticallyconnect.

233. 229/252
Report:Successfulconnected.Thismeansthatthecorrectdevicehasbeenconnected
Report:DeviceError.ThismeansthattheconnectedBluetoothdevicedoesnotbelongtotherobotcar,searchforJDY-16
andreconnect.
IfAppdoesnotfindthe"JDY-16"device,restarttheBluetoothmodule(unplugtheBluetoothmodulefromtheArduino
UNOMotorDriverShied,disconnectthepoweroftheBluetoothmodule;thenreinstallittotheArduinoUNOMotor
DriverShied,connecttothepowersupply).theredLEDflashes,whichmeansitisinaconnectablestate.Thensearchfor
BluetoothdevicesagainintheAPP.

234. 230/252
Step5:Appcontrolinterface

235. 231/252
ThemainfunctionoftheRemoteControlinterfaceistocontrolthedirectionandspeedoftherobotcar.Whenthebattery
voltageislowerthan7.4V,replaceitintime.

236. 232/252
6in1Multi-purposeBluetoothRobotCar
Allfunctionsarecollectedintothesameprogram,includingLineTracking,UltrasonicInfraredAvoidObstacles,Infrared
Remote,LightSeeking,FollowMe,RemoteControl,GravitySensorRemoteControl,andanyfunctioncanbefreely
switchedthroughtheapp.

237. 233/252
Step1:AssembletheRobotCar
Refertotheassemblyvideotocompletetheinstallationoftherobotcar.Tip:Thelengthofthescrewismarkedinthevideo,
youshouldusethesamelength.Beforeinstallation,youneedtoidentifyM3*6mmM3*8mmM3*10mmM3*12mm.Ifyou
usethewrongscrewlengthinthefirsthalf,therewillbemissingscrewsinthelowerpartoftheinstallation.

238. 234/252
Step2:CircuitWiring
Connectthewiringaccordingtothewiringdiagram,payingattentiontothepositiveandnegativepolesofthepowersupply.
Correctlydistinguishtheinstallationpositionofthesensormodule,suchasleft,center,rightlinetrackingmodule.A1:Left
frontmotorB1:Rightfrontmotor.Ifyouconnectsomepartsbymistake,itwillaffectthenormalexecutionoftherobotcar.

239. 235/252

240. 236/252
Step3:UploadCode
MixlyCode
IfyouusethegraphicalprogrammingsoftwareMixlyasthedevelopmentenvironment.Openthissourceprogramin
Mixly_Code>"6_in_1_Multi_purpose_Bluetooth_Robot_Car_V2_2.mix".Selectthecorrectserialporttouploadthe
Mixlycode.
HowtoInstallMixlySoftware HowtoAddMixlyLibraries HowtoUploadtheReferenceProgram
ArduinoCode
IfyouusetheArduinoIDEasthedevelopmentenvironment.Openthissourceprogramin
Arduino_Code>"6_in_1_Multi_purpose_Bluetooth_Robot_Car_V2_2.ino".Selectthecorrectserialporttouploadthe
codeunderthe"Tools"menu.Ifyouaremissingsomesteps,ArduinoIDEmayreportsomeerrors.Youcanrefertothe
followingsolutions.
HowtoUploadArduinoCodeHowtoInstallArduinoIDE HowtoInstallArduinoDriver

241. 237/252
Step4:InstalltheApp
Firstly,copythe“LAFVIN_2WD_Smart_Robot_Car_BLE_V2_2.apk”filefromtheAPPfoldertoyourmobilephoneand
installitintoanapplicationsoftware.AndroidphonesequippedwithBluetooth4.0andupgradedtoAndroid4.3Orhigher
system.

242. 238/252
OpentheAPP,youwillseethefollowingcontrolinterface.

243. 239/252
Important:Allowsaccesstolocationpermissionsandpermissiontoconnecttonearbydevices,otherwiseitmaynotbe
possibletosearchfornearbyBluetoothdevices.

244. 240/252
Step5:BluetoothConnection
InstalltheBluetoothmoduletotheArduinoUNOMotorDriverShied,turnonthepowerswitch,andtheindicatorlightof
theBluetoothmodulestartstoflash,whichmeansitisinaconnectablestate.ClicktheBluetoothicon toenterthe
Bluetoothpairingfunctionpage.

245. 241/252
andthenclickdevicescan,AftersuccessfullysearchingforthedeviceJDY-16,clickthedeviceaddressinthedevicelist
toautomaticallyconnect.

246. 242/252
Report:Successfulconnected.Thismeansthatthecorrectdevicehasbeenconnected
Report:DeviceError.ThismeansthattheconnectedBluetoothdevicedoesnotbelongtotherobotcar,searchforJDY-16
andreconnect.
IfAppdoesnotfindthe"JDY-16"device,restarttheBluetoothmodule(unplugtheBluetoothmodulefromtheArduino
UNOMotorDriverShied,disconnectthepoweroftheBluetoothmodule;thenreinstallittotheArduinoUNOMotor
DriverShied,connecttothepowersupply).theredLEDflashes,whichmeansitisinaconnectablestate.Thensearchfor
BluetoothdevicesagainintheAPP.

247. 243/252
Step6:Appcontrolinterface
Swipethescreenfromlefttoright

248. 244/252

249. 245/252

250. 246/252
Youcanfreelyswitchthevariousfunctionalmodesthroughthemobilephoneapp,suchasultrasonicobstacleavoidance,
infraredobstacleavoidance,infraredremotecontrol,gravitysensorremotecontrol.Whenthebatteryvoltageislowerthan
7.4V,replaceitintime.

251. 247/252
Thereare6iconsonthehomepage,andeachiconrepresentsafunction.Therobotcarimmediatelyexecutesthefunction
afterclicking.
IfyouhavequestionsabouttheuseoftheRemoteControlfunction,oryouwanttoaddyourideastothisfunction,youcan
testthisfunctionseparately.Lesson9BluetoothControlRobotCar.Thereasonforthisistoavoidotherfactorsaffectingthe
executionofthisfunction.

252. 248/252
Note:Useblacktapetodrawthelineonthewhitefloor.Thewidthoftheblacklineis15cm.Adjustthesensitivitythrough
thepotentiometerontheline-followingsensor.
IfyouhavequestionsabouttheuseoftheLineTrackingfunction,oryouwanttoaddyourideastothisfunction,youcan
testthisfunctionseparately.Lesson4LineTrackingSmartCar.Thereasonforthisistoavoidotherfactorsaffectingthe
executionofthisfunction.

253. 249/252
Note:Itisrecommendedthattheheightoftheobstacleisgreaterthan15cm.whichmeansthattheheightoftheobstacleis
greaterthantheheightoftheultrasonicsensor.
IfyouhavequestionsabouttheuseoftheAvoidObstaclesfunction,oryouwanttoaddyourideastothisfunction,youcan
testthisfunctionseparately.Lesson5UltrasonicInfraredObstacleAvoidanceRobotCar.Thereasonforthisistoavoid
otherfactorsaffectingtheexecutionofthisfunction.

254. 250/252
Note:Duetoairtransportation,theremotecontroldoesnotcontainbatteries,youneedtoprepareabuttonbatteryCR2025
beforeuse.
IfyouhavequestionsabouttheuseoftheIRRemotefunction,oryouwanttoaddyourideastothisfunction,youcantest
thisfunctionseparately.Lesson7InfraredRemoteControlRobotCar.Thereasonforthisistoavoidotherfactorsaffecting
theexecutionofthisfunction.

255. 251/252
Note:Testinadarkenvironmentandturnoffthelightsintheroom.
IfyouhavequestionsabouttheuseoftheLightSeekingfunction,oryouwanttoaddyourideastothisfunction,youcan
testthisfunctionseparately.Lesson8LightSeekingRobotCar.Thereasonforthisistoavoidotherfactorsaffectingthe
executionofthisfunction.

256. 252/252
Note:Itisrecommendedtousearectangularobjectboxtoguidetherobotcar.Length>10cm.Width>15cm.
IfyouhavequestionsabouttheuseoftheFollowMefunction,oryouwanttoaddyourideastothisfunction,youcantest
thisfunctionseparately.Lesson6UltrasonicFollowRobotCar.Thereasonforthisistoavoidotherfactorsaffectingthe
executionofthisfunction.