Practical project progress
Subject: Digital Systems and Microcontrollers course.
Teacher's name: Ing. Alex Llerena
Name of Members: Jhon Armando Arreaga Aguilar
William André Vélez Vera
Marcos Abraham Ortiz Zambrano
Winston Xavier Morocho Pintag
Date of delivery
17/02/2025
I. Introduction
In recent years, mobile robotics has come a long way, allowing the creation of
autonomous vehicles capable of intelligently interacting with their environment. This project
focuses on the implementation of a master-slave system using two remote-controlled cars, with
the aim of exploring and demonstrating the communication and coordination between them.
The master-slave system is based on a hierarchical model in which a vehicle acts as the
“master”, controlling the actions and decisions of the “slave”. This project not only aims to
understand the fundamental principles of remote control and communication between devices,
but also to foster skills in programming, electronics and system design. The cars will be
equipped with sensors and communication modules that will facilitate interaction between
them, allowing the master to send commands to the slave to perform coordinated actions.
II. Development
The development of this project is divided into several key stages, ranging from
component selection to software implementation and final testing.
Component Selection
Arduino Uno/Nano (one per cart)
The Arduino will be the brain of each cart, controlling the motors, receiving commands
and managing communication. The Nano is more compact, ideal if space is limited.
Bluetooth module HC-05 or HC-06 (for controlling the first car)
The HC-06 is a Bluetooth slave module, while the HC-05 can act as master or slave. To
control the first cart from a mobile device (smartphone, tablet), the HC-06 is sufficient.
Consider that, with Bluetooth, you will send commands from a mobile app to the Arduino.
NRF24L01 or LoRa modules (for V2V communication)
2
These modules will allow communication between the two wagons, which is essential
for the master-slave system.
Proximity sensor (HC-SR04 or infrared sensor) on the first carriage
This sensor will help the master car to detect obstacles and make decisions, especially
if you want to implement semi-autonomous or autonomous functions.
Motors and motor driver (L298N or similar)
The motor driver is essential for controlling the speed and direction of the DC motors
of the trolleys.
Rechargeable batteries
The system is powered by 18650 batteries, which provide the necessary power for the
Arduino, motors and other components to operate. The batteries are connected in series to
generate adequate voltage to ensure sufficient power for the entire system, ensuring extended
run time.
Two remote control cars
Assembly of remote-controlled cars
Assembly of intelligent cars
We started by placing all the materials of the kit obtained in order to be able to continue
with its assembly thanks to the PDF provided by the kit.
Figure 1
Image of the materials to be used for assembly
The steps were carried out as in the PDF in order to avoid errors. Likewise, YouTube
tutorials were used to reinforce the assembly of these as an aid in their assembly.
3
Figure 2
Image of the assembly procedure
The assembly of the main components was completed in order to continue with the
simulation or programming of the boards and then assemble them in the final steps.
Figure 3
Image of the location of the tires
The connection of the motor to the main Arduino board was made. In general, the servo
has three lines: brown, red and orange. The brown wire is connected to ground, red is a positive
pole line and orange is a signal.
Figure 4
Image of the motor connection
The HC-SR04 ultrasonic sensor uses sonar to determine the distance to an object, just
like bats do. It offers excellent non-contact distance detection with high accuracy and stable
readings in an easy-to-use package. It comes complete with ultrasonic transmitter and receiver
modules. The HC-SR04 or ultrasonic sensor is used in a wide range of electronic projects to
4
create obstacle detection and distance measurement applications, as well as various other
applications.
Figure 5
Image of the ultrasonic sensor
Infrared Receiver Module
Using an IR remote control is an excellent way to have wireless control in the car.
Infrared remote controls are simple and easy to use.
Figure 6
Image of the infrared receiver module
L298N motor drive
The L298N contains two complete H-bridge circuits, making it capable of driving a pair
of DC motors. This makes it ideal for the project.
Figure 7
Image of the motor drive
Smart Vehicle
5
The assembly was completed, and then the proper tests were carried out to verify its
operation.
Figure 8
Image of the assembled car
Assembling the second car
First, the acrylic plates that form the chassis of the car must be aligned. These plates
will serve as the base for mounting the tires and motors. It is essential that the plates are well
aligned to ensure a correct and stable assembly.
Figure 9
Image of the plate alignment
Installation of Cables on Motors
Wires must be soldered to the motors to allow for proper electrical connection. This
process is key to ensure that each motor can receive the proper signals from the motor control
module, which will allow the car to move. Good soldering ensures proper current flow and
prevents system failures.
6
Figure 10
Image of Cable Installation on the Motors
The motors should be mounted on the base of the chassis. It is important to ensure that
the motors are securely fixed and correctly oriented so that the rims can rotate effectively and
in the correct direction. The motors are bolted in place using special brackets.
Figure 11
Image of the motor assembly
Encoders are installed next to the motors to measure the speed of the wheels. These
encoders send signals to the Arduino, allowing it to know the speed and rotation of the wheels.
This is important for adjusting the speed of the car and improving navigation accuracy.
Figure 12
Image of the encoder installation
The tires are mounted on the axles of the motors, ensuring that they fit correctly. This
ensures that the movement of the car is smooth and that the tires rotate as controlled by the
motors, allowing efficient travel in any direction.
7
Figure 13
Picture of wheel assembly
The servo motor is connected to the ultrasonic sensor and the Arduino, allowing control
of the direction of the sensor. This is essential for adjusting the detection angle of the car. The
servomotor rotates the sensor so that the car can “see” in different directions, facilitating
decision making when obstacles are detected.
Figure 14
Image of the assembled car
Programming of the car
8
III. Conclusions
This project has demonstrated the feasibility of implementing a master-slave system in
remote-controlled cars using accessible and inexpensive components such as Arduino,
Bluetooth/NRF24L01/LoRa modules and standard motor controllers. Through the development
of this system, fundamental concepts of robotics, wireless communication and motor control
have been explored and applied.
The implementation of manual control of the master car via Bluetooth enables direct
and adaptive interaction, while V2V communication via NRF24L01 or LoRa facilitates inter-
vehicle coordination. The incorporation of a proximity sensor in the master car adds a layer of
autonomy that enables obstacle detection and avoidance, crucial to the safety and efficiency of
the system.
IV. Bibiography
