# How to make a three-wheeled omnidirectional Bluetooth controller car with Arduino

Hello and welcome back. In this project, we will learn how to make a three-wheeled omnidirectional Bluetooth controller car with Arduino. To build it, I mainly used an Arduino UNO board, an L293D motor driver shield, and an HC-05 Bluetooth module. Also, I used the SriTu Hobby Bluetooth controller app to control this car. You can get the app by clicking on this link.

That’s the most famous mechanical structure. Therefore, I have chosen to work on this project and I used three mecanum wheels for this, but I recommend using Omni wheels or poly wheels instead. You can see a picture below for reference. Also, I used a piece of foam board for this car chassis. You can change it as you like.

• If you want to learn what’s the Omnidirectional mecanum wheels, please read this tutorial.

OK, let’s do this project step by step. The required components are given below.

Disclosure: These Amazon links are Affiliate links. As an Amazon Associate, I earn from qualifying purchases.

### Step 1

Firstly, identify these components.

### Step 2

Secondly, let’s create a hexagonal shape using a foam board. For that, I used a simple mathematical method.

• First, draw a line using 7cm. Then, take this measurement to the compass. Now, place the compass needle on the first point and end point of the line, and draw two curves.
• Next, place the compass needle on the center of the curves and draw a circle.
• And then, divide this circle using this measurement(7cm).
• Finally, draw lines for each divider point. Now you can see the hexagonal shape.

### Step 3

Thirdly, cut out this shape and mark the center points of three sides.

### Step 4

Now, paste the gear motors on three sides. You have marked earlier. For that, use the pictures below.

### Step 5

Next, connect the couplings to the wheels and connect these wheels to the motors. For that, follow the diagram below.

### Step 6

And then, drill holes and put the wires through these holes. Next, connect the L293D motor driver shield to the Arduino UNO board.

### Step 7

Now, paste the Arduino board on top of the car chassis. Then, connect the motors to it. For that, use the circuit diagram below.

### Step 8

Now, paste the battery holder and connect it to the motor driver shield. Then, connect this car to the computer.

### Step 9

Now, copy and paste the following code into the Arduino IDE.

``````#include <AFMotor.h>

AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);

int Speed = 200;
char value;

void setup() {
Serial.begin(9600);
motor1.setSpeed(Speed);
motor2.setSpeed(Speed);
motor3.setSpeed(Speed);
}

void loop() {
if (Serial.available() > 0) {
Serial.println(value);
}
if (value == 'U') {
forward();
} else if (value == 'D') {
backward();
} else if (value == 'L') {
turnLeft();
} else if (value == 'R') {
turnRight();
} else if (value == 'T') {
one();
} else if (value == 'F') {
two();
} else if (value == 'H') {
three();
} else if (value == 'G') {
four();
} else {
Stop();
}
}

void turnLeft() {
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
}

void turnRight() {
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
}

void forward() {
motor1.run(RELEASE);
motor2.run(FORWARD);
motor3.run(BACKWARD);
}

void backward() {
motor1.run(RELEASE);
motor2.run(BACKWARD);
motor3.run(FORWARD);
}

void one() {
motor1.run(BACKWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
}

void two() {
motor1.run(FORWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
}

void three() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(FORWARD);
}

void four() {
motor1.run(BACKWARD);
motor2.run(RELEASE);
motor3.run(FORWARD);
}

void Stop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
}``````

• Then, select the board and port. Next, upload this code to the Arduino board.

### Step 10

OK, now remove the USB cable and connect the Bluetooth module to the motor driver shield. Then, install the Bluetooth module as you like.

### Step 11

Next, put the batteries into the battery holder. Now, you can connect this car to the Bluetooth controller.

• First, download and install the SriTu Hobby app from the Play Store.
• SriTu Hobby App — Click on me
• And then, click the controller tab and select the remote.
• Finally, find your device and connect it to the controller. In this case, you have to enable Bluetooth, location, and location permission.

Also, you can switch this remote to the gesture mode and voice control mode. OK, enjoy this project. The full video guide is below. We hope to see you in the next tutorial or project.

How to make a three-wheeled omnidirectional Bluetooth controller car with Arduino