Dynamic 1.0

Rs.24,500.00

Dynamic advanced robot development  platform is a robotic development platform comprising of  a top embedded development platform and a bottom robot development platform wherein the bottom platform provides the mobility while the top platform extending the performance getting a plurality of operation modes and different movabilities by means of different wheels and motor arrangements. The two platforms are detachably connected, built with sensors and peripherals, communication devices, a moving mechanism, MCU headers for Arduino types and a charging circuit, making more advanced platform when combined and simplified when detached. The platform has the advantage of expanding capability with robotic arms, different types of microcontroller platforms other than headers allowed, mapped and inbuilt components making the “Dynamic” more advanced for using higher education, research, and development purposes.

 

 

 

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Description

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  • Package Includes
Dynamic -   All peripheral in one  universal advance mobile robot development Platform For the Robotics all sensors are inbuilt in this system.
Built in components

Top Development Board :

  • 16x2 Character LCD (standard driving interface & I2C capable).
  • HC-05 Bluetooth module with level converter.
  • ESP8266(ESP-01) Wi-Fi module.
  • 3 x HC-SR04 Distance sensors for obstacle detection.
  • MPU-9250 (gyroscope, accelerometer & compass) 9-axis motion processing Unit.
  • MAX7219 compact, serial input/out-put common-cathode display driver.
  • 4 Digit common cathode seven segment display.
  • 5v Active buzzer with driver circuit.
  • 2x optical encoders (125c51) for speed measurement.
  • 6x IR Surrounding proximity sensors for obstacle detection.
  • 8x Indicator LEDs.
  • 8x line tracing indicator LEDs(configurable).
  • 5x Push buttons for robot direction control (configurable).
  • 4x servo motor plugin headers.
  • Half breadboard (5.5 cm x 8.5 cm).

Bottom Development Board :

  • 8bit (TCRT5000) Line following sensors.
  • TP5100 Battery charging circuit.
  • 2x 18650 4200mAH Battery.
  • 4x TT130 Gear motors.
Features

Top Development Board :

    • Arduino Mega pro mini compatible. (pins are already connected to the platform).
    • Any other controller board can be used when unplugged the Arduino Mega pro mini.
    • LCD contrast adjust-ability.
    • IR proximity sensitivity adjust-ability.
    • Power rail: 5v & 3.3v.
    • Robot platform accessibility.

Bottom Development Board (Robot Platform) :

  • Common reset button.
  • 8bit (TCRT5000) Line following sensors.
  • TP5100 Battery charging circuit.
  • 2x 18650 4200mAH Battery.
  • 4x TT130 Gear motors.
  • Line tracing sensors sensitivity adjust-ability.
  • HC-05, HC-06 Bluetooth module plugin capability.
  • HC-SR04 Ultrasonic module plugin capability.
  • Exposed pins.
  • The bottom platform can work alone (compatible with an Arduino Nano board ((pins are already connected to the motor driver, Bluetooth plugin header & Ultrasonic module plugin header)).
    Other pins of the Arduino Nano are accessible via JTAG connector.
  • Motor driver power on/off switch.
  • Caster wheel support.
Specifications
  • Product Dimensions : 200L x 160W x 80H mm.
  • Net Weight : 720g.
  • Gross weight : 1380g.

Drivers

Arduino Nano Drivers

Arduino Mega Pro Drivers

Software

Arduino IDE

fritzing

Bluetooth Terminal HC-05

Libraries

Arduino I2C LCD Library

Arduino LedControl Library

esp 8266 (ESP-01)

Lesson - 01 : LED's

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -------------------------------------------------------------------
  LEDs Example.
  -------------------------------------------------------------------
  Hardware setup :
  PINs of the LEDs(these LEDs are already connected and mapped)

  LED 1 PIN connected to Arduino digital PIN -> 22(D22)
  LED 2 PIN connected to Arduino digital PIN -> 23(D23)
  LED 3 PIN connected to Arduino digital PIN -> 24(D24)
  LED 4 PIN connected to Arduino digital PIN -> 25(D25)
  LED 5 PIN connected to Arduino digital PIN -> 32(D32)
  LED 6 PIN connected to Arduino digital PIN -> 33(D33)
  LED 7 PIN connected to Arduino digital PIN -> 34(D34)
  LED 8 PIN connected to Arduino digital PIN -> 35(D35)
  -------------------------------------------------------------------
  23 march 2021
*/

int LED1 = 22;// the number of the Arduino PIN, that LED 1 is connected to.
int LED2 = 23;// the number of the Arduino PIN, that LED 2 is connected to.
int LED3 = 24;// the number of the Arduino PIN, that LED 3 is connected to.
int LED4 = 25;// the number of the Arduino PIN, that LED 4 is connected to.
int LED5 = 32;// the number of the Arduino PIN, that LED 5 is connected to.
int LED6 = 33;// the number of the Arduino PIN, that LED 6 is connected to.
int LED7 = 34;// the number of the Arduino PIN, that LED 7 is connected to.
int LED8 = 35;// the number of the Arduino PIN, that LED 8 is connected to.


void setup() {
  //making all LED PINs as outputs.
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  pinMode(LED5, OUTPUT);
  pinMode(LED6, OUTPUT);
  pinMode(LED7, OUTPUT);
  pinMode(LED8, OUTPUT);
}

void loop() {
  digitalWrite(LED1, HIGH);
  digitalWrite(LED2, HIGH);
  digitalWrite(LED3, HIGH);
  digitalWrite(LED4, HIGH);
  digitalWrite(LED5, HIGH);
  digitalWrite(LED6, HIGH);
  digitalWrite(LED7, HIGH);
  digitalWrite(LED8, HIGH);
  delay(1000);
  digitalWrite(LED1, LOW);
  digitalWrite(LED2, LOW);
  digitalWrite(LED3, LOW);
  digitalWrite(LED4, LOW);
  digitalWrite(LED5, LOW);
  digitalWrite(LED6, LOW);
  digitalWrite(LED7, LOW);
  digitalWrite(LED8, LOW);
  delay(1000);
}
Lesson - 02 : Push Buttons and Navigation LED's

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  Buttons Example.
  --------------------------------------------------------
   Hardware setup :
   Buttons and button press indicator LEDs are all ready
   mapped and connected to the Arduino board.
   PINs are as follows :
  --------------------------------------------------------
   Buttons:
   BACKWARD button : PIN -> Arduino analog PIN 4(A4)
   RIGHT    button : PIN -> Arduino analog PIN 3(A3)
   FORWARD  button : PIN -> Arduino analog PIN 1(A1)
   LEFT     button : PIN -> Arduino analog PIN 0(A0)
   STOP     button : PIN -> Arduino analog PIN 2(A2)
  --------------------------------------------------------
   LEDs:
   BACKWARD LED : PIN -> Arduino digital PIN 39(D39)
   RIGHT    LED : PIN -> Arduino digital PIN 40(D40)
   FORWARD  LED : PIN -> Arduino digital PIN 36(D36)
   LEFT     LED : PIN -> Arduino digital PIN 37(D37)
   STOP     LED : PIN -> Arduino digital PIN 38(D38)
  --------------------------------------------------------
  23 march 2021
*/

//------------------------------BUTTON PINs----------------------------------------------------
int BUTTON_LEFT = A0;// the number of the Arduino PIN, that left button is connected to.

int BUTTON_RIGHT = A3;// the number of the Arduino PIN, that right button is connected to.

int BUTTON_FORWARD = A1;// the number of the Arduino PIN, that forward button is connected to.

int BUTTON_BACK = A4;// the number of the Arduino PIN, that backward button is connected to.

int BUTTON_STOP = A2;// the number of the Arduino PIN, that stop button is connected to.

//------------------------------LED PINs-------------------------------------------------------
int LED_LEFT = 37;// the number of the Arduino PIN, that left LED is connected to.

int LED_RIGHT = 40;// the number of the Arduino PIN, that right LED is connected to.

int LED_FORWARD = 36;// the number of the Arduino PIN, that forward LED is connected to.

int LED_BACK = 39;// the number of the Arduino PIN, that backward LED is connected to.

int LED_STOP = 38;// the number of the Arduino PIN, that stop LED is connected to.



void setup() {

  //initializing all button PINs as inputs.
  pinMode(BUTTON_LEFT, INPUT);
  pinMode(BUTTON_RIGHT, INPUT);
  pinMode(BUTTON_FORWARD, INPUT);
  pinMode(BUTTON_BACK, INPUT);
  pinMode(BUTTON_STOP, INPUT);

  //initializing all LED PINs as outputs.
  pinMode(LED_LEFT, OUTPUT);
  pinMode(LED_FORWARD, OUTPUT);
  pinMode(LED_RIGHT, OUTPUT);
  pinMode(LED_STOP, OUTPUT);
  pinMode(LED_BACK, OUTPUT);
}

void loop() {

  //digital read each button and check if the value is equal to zero.

  if (digitalRead(BUTTON_LEFT) == 0) {//if the button is pressed, the value will be zero
    digitalWrite(LED_LEFT, HIGH);//if value is zero turn the Corresponding LED on.
  } else {
    digitalWrite(LED_LEFT, LOW);//else turn off the LED.
  }

  if (digitalRead(BUTTON_RIGHT) == 0) {//if the button is pressed, the value will be zero
    digitalWrite(LED_RIGHT, HIGH);//if value is zero turn the Corresponding LED on.
  } else {
    digitalWrite(LED_RIGHT, LOW);//else turn off the LED.
  }

  if (digitalRead(BUTTON_FORWARD) == 0) {//if the button is pressed, the value will be zero
    digitalWrite(LED_FORWARD, HIGH);//if value is zero turn the Corresponding LED on.
  } else {
    digitalWrite(LED_FORWARD, LOW);//else turn off the LED.
  }

  if (digitalRead(BUTTON_BACK) == 0) {//if the button is pressed, the value will be zero
    digitalWrite(LED_BACK, HIGH);//if value is zero turn the Corresponding LED on.
  } else {
    digitalWrite(LED_BACK, LOW);//else turn off the LED.
  }

  if (digitalRead(BUTTON_STOP) == 0) {//if the button is pressed, the value will be zero
    digitalWrite(LED_STOP, HIGH);//if value is zero turn the Corresponding LED on.
  } else {
    digitalWrite(LED_STOP, LOW);//else turn off the LED.
  }

}
Lesson - 03 : Buzzer

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Buzzer Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  Buzzer PIN already mapped and connected to Arduino digital PIN -> 13(D13)
  ----------------------------------------------------------------------------
  23 march 2021
*/

int Buz = 13;// the number of the buzzer PIN.

void setup() {
  pinMode(Buz, OUTPUT);//initializing Buz pin as a output pin.
}

void loop() {
  digitalWrite(Buz, HIGH);//turning on the buzzer.
  delay(1000);//waiting one second to be elapsed.
  digitalWrite(Buz, LOW);//turning off the buzzer.
  delay(1000);//waiting one second to be elapsed.
}
Lesson - 04 : IR Proximity Sensors

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  IR Proximity Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  PINs of the IR Sensor's mounted around the top development board are
  already mapped and connected.PINs are as follows :

  IR FRONT LEFT  : Arduino digital PIN -> 49(D49)
  IR FRONT RIGHT : Arduino digital PIN -> 50(D50)
  IR RIGHT       : Arduino digital PIN -> 48(D48)
  IR BACK RIGHT  : Arduino digital PIN -> 47(D47)
  IR BACK LEFT   : Arduino digital PIN -> 42(D42)
  IR LEFT        : Arduino digital PIN -> 41(D41)
  ----------------------------------------------------------------------------
  23 march 2021
*/


int IR_FRONT_LEFT = 49;// the number of the Arduino PIN, that front left IR sensor is connected to.
int IR_FRONT_RIGHT = 50;// the number of the Arduino PIN, that front right IR sensor is connected to.

int IR_LEFT = 48;// the number of the Arduino PIN, that left IR sensor is connected to.
int IR_RIGHT = 47;// the number of the Arduino PIN, that right IR sensor is connected to.

int IR_BACK_LEFT = 42;// the number of the Arduino PIN, that back left IR sensor is connected to.
int IR_BACK_RIGHT = 41;// the number of the Arduino PIN, that back right IR sensor is connected to.

int s1, s2, s3, s4, s5, s6; //creating variables to hold ir sensor readings.

void setup() {
  Serial.begin(9600); //starting serial communication between arduino and computer.
}

void loop() {

  //reading and printing each sensors value in to the serial monitor
  
  s1 = digitalRead(IR_FRONT_LEFT);
  Serial.print(s1);
  Serial.print("t");


  s2 = digitalRead(IR_FRONT_RIGHT);
  Serial.print(s2);
  Serial.print("t");

  s3 = digitalRead(IR_LEFT);
  Serial.print(s3);
  Serial.print("t");

  s4 = digitalRead(IR_RIGHT);
  Serial.print(s4);
  Serial.print("t");

  s5 = digitalRead(IR_BACK_LEFT);
  Serial.print(s5);
  Serial.print("t");

  s6 = digitalRead(IR_BACK_RIGHT);
  Serial.print(s6);
  Serial.print("t");

  Serial.println("end");
}
Lesson - 05 : Seven Segment Display

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  Seven Segment Example.
  --------------------------------------------------------
  Hardware setup :
  Seven Segment Display Driver(7219) PINs are allready
  mapped and connected to the Arduino board.
  PINs are as follows :
  --------------------------------------------------------
  DIN connected to Arduino digital PIN -> 51
  CS  connected to Arduino digital PIN -> 52
  CLK connected to Arduino digital PIN -> 53
  --------------------------------------------------------
  23 march 2021
*/

int DIN  = 51;
int CLK  = 52;
int CS   = 53;

#include "LedControl.h"
LedControl lc = LedControl(DIN, CLK, CS, 1);

void setup() {
  lc.shutdown(0, false);//The MAX7219 is in power-saving mode on startup,so we do a wakeup call.

  lc.setIntensity(0, 15);//setting the display brightness to its maximum.(brightness : 0 t0 15).

  lc.clearDisplay(0);//clearing the display.

  //sending data to display.
  lc.setDigit(0, 3, 1, false);
  lc.setDigit(0, 2, 2, true);
  lc.setDigit(0, 1, 3, true);
  lc.setDigit(0, 0, 4, false);
}

void loop() {


}
Lesson - 06 : I2C Scanner

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ------------------------------------------------------------------
  I2C Device Scanning Example.
  ------------------------------------------------------------------
  Hardware setup :
  All intergrated I2C devices are is allready mapped and connected
  to the Arduino board.
  ------------------------------------------------------------------
  I2C device at address 0x27 = 16*2 LCD
  I2C device at address 0x69 = MPU9250
  ------------------------------------------------------------------
  22 march 2021
*/

#include "Wire.h" //including the wire library in order to communicate with i2c bus devices.

void setup()
{
  Wire.begin(); //initializing connection to the i2c device(s).

  Serial.begin(9600);//starting serial communication between arduino and computer.

  Serial.println("nI2C Scanner");//printing message to serial monitor.
}


void loop()
{
  byte error, address; //variables to hold the error values and i2c devices addresses.

  int nDevices;//a variable to hold the i2c device count.

  Serial.println("Scanning...");//printing message to serial monitor.

  nDevices = 0;
  for (address = 1; address < 127; address++ )
  {
    // the i2c_scanner uses the return value of
    // the Write.endTransmisstion to see if
    // a device did acknowledge to the address.
    Wire.beginTransmission(address);
    
    error = Wire.endTransmission();

    if (error == 0)
    {
      Serial.print("I2C device found at address 0x");
      if (address < 16)
        Serial.print("0");
      Serial.print(address, HEX);
      Serial.println("  !");

      nDevices++;
    }
    else if (error == 4)
    {
      Serial.print("Unknown error at address 0x");
      if (address < 16)
        Serial.print("0");
      Serial.println(address, HEX);
    }
  }
  if (nDevices == 0)
    Serial.println("No I2C devices foundn");
  else
    Serial.println("donen");

  delay(5000);// wait 5 seconds between each next scan.
}
Lesson - 07 : HD-44780 i2c LCD

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  HD44780 16*2 LCD Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  16*2 LCD is all ready connected to the Arduino board.
  LCD's I2C address is 0x27.
  ----------------------------------------------------------------------------
  23 march 2021
*/


#include "LiquidCrystal_I2C.h"//including the LCD driver library. 

LiquidCrystal_I2C lcd(0x27, 16, 2);//initializing the LCD I2C address(0x27) and LCD's number of columns(16) and rows(2).



void setup() {
  lcd.begin();//initializing connection to the LCD.

  lcd.backlight();//turning on the backlight of the LCD.

  lcd.setCursor(0, 0);//setting the cursor position to column 0 and row 0.

  lcd.print("Dynamic");//printing a message to LCD.

  delay(1000);//waiting for one second to be elapsed.

  lcd.clear();//clearing the charcters printedd on the LCD.
}

void loop() {
  lcd.setCursor(2, 0);//setting the cursor position to column 2 and row 0.

  lcd.print("Hello world !");//printing a message to LCD.
}
Lesson - 08 : MPU9250 

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  MPU9050 Example.
  --------------------------------------------------------
  Hardware setup :
  MPU9050 is allready mapped and connected to the
  Arduino board.I2C address is : 0x69
   --------------------------------------------------------
  23 march 2021
*/

#include "Wire.h"//including wire library, in order to communicate with I2C devices.
int MPU9250_ADDRESS = 0x69;//MPU9250 module's i2c address.
int MAG_ADDRESS = 0x0C;//MPU9250 module's magnetometer i2c address.

int GYRO_FULL_SCALE_250_DPS = 0x00;
int GYRO_FULL_SCALE_500_DPS = 0x08;
int GYRO_FULL_SCALE_1000_DPS = 0x10;
int GYRO_FULL_SCALE_2000_DPS = 0x18;

int ACC_FULL_SCALE_2_G = 0x00;
int ACC_FULL_SCALE_4_G = 0x08;
int ACC_FULL_SCALE_8_G = 0x10;
int ACC_FULL_SCALE_16_G = 0x18;

// This function read Nbytes bytes from I2C device at address Address.
// Put read bytes starting at register Register in the Data array.


long int ti;

void setup()
{
  Wire.begin();
  Serial.begin(9600);

  // Set accelerometers low pass filter at 5Hz
  I2CwriteByte(MPU9250_ADDRESS, 29, 0x06);
  // Set gyroscope low pass filter at 5Hz
  I2CwriteByte(MPU9250_ADDRESS, 26, 0x06);


  // Configure gyroscope range
  I2CwriteByte(MPU9250_ADDRESS, 27, GYRO_FULL_SCALE_1000_DPS);
  // Configure accelerometers range
  I2CwriteByte(MPU9250_ADDRESS, 28, ACC_FULL_SCALE_4_G);
  // Set by pass mode for the magnetometers
  I2CwriteByte(MPU9250_ADDRESS, 0x37, 0x02);

  // Request continuous magnetometer measurements in 16 bits
  I2CwriteByte(MAG_ADDRESS, 0x0A, 0x16);


  // Store initial time
  ti = millis();
}

// Counter
long int cpt = 0;

// Main loop, read and display data
void loop()
{
  // Display time
  Serial.print (millis() - ti, DEC);
  Serial.print ("t");
  // ____________________________________
  // ::: accelerometer and gyroscope :::

  // Read accelerometer and gyroscope
  uint8_t Buf[14];
  I2Cread(MPU9250_ADDRESS, 0x3B, 14, Buf);

  // Create 16 bits values from 8 bits data

  // Accelerometer
  int16_t ax = -(Buf[0] << 8 | Buf[1]);
  int16_t ay = -(Buf[2] << 8 | Buf[3]);
  int16_t az = Buf[4] << 8 | Buf[5];

  // Gyroscope
  int16_t gx = -(Buf[8] << 8 | Buf[9]);
  int16_t gy = -(Buf[10] << 8 | Buf[11]);
  int16_t gz = Buf[12] << 8 | Buf[13];

  //printing accelerometer values to serial monitor.
  Serial.print (ax, DEC);
  Serial.print ("t");
  Serial.print (ay, DEC);
  Serial.print ("t");
  Serial.print (az, DEC);
  Serial.print ("t");

  //printing gyroscope values to serial monitor.
  Serial.print (gx, DEC);
  Serial.print ("t");
  Serial.print (gy, DEC);
  Serial.print ("t");
  Serial.print (gz, DEC);
  Serial.print ("t");

  //-----------------------------------------------
  //reading magnetometer values.
  //waiting data to be ready.
  uint8_t ST1;
  do
  {
    I2Cread(MAG_ADDRESS, 0x02, 1, &ST1);
  }
  while (!(ST1 & 0x01));

  //reading magnetometer data.
  uint8_t Mag[7];
  I2Cread(MAG_ADDRESS, 0x03, 7, Mag);

  // Create 16 bits values from 8 bits data

  // Magnetometer
  int16_t mx = -(Mag[3] << 8 | Mag[2]);
  int16_t my = -(Mag[1] << 8 | Mag[0]);
  int16_t mz = -(Mag[5] << 8 | Mag[4]);


  //printing magnetometer values to serial monitor.
  Serial.print (mx + 200, DEC);
  Serial.print ("t");
  Serial.print (my - 70, DEC);
  Serial.print ("t");
  Serial.print (mz - 700, DEC);
  Serial.print ("t");
  Serial.println("");
}

void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.endTransmission();

  // Read Nbytes
  Wire.requestFrom(Address, Nbytes);
  uint8_t index = 0;
  while (Wire.available())
    Data[index++] = Wire.read();
}

// Write a byte (Data) in device (Address) at register (Register)
void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.write(Data);
  Wire.endTransmission();
}
Lesson - 09 : HC-SR04 Ultrasonic Sensors

/*
INNOVATOR INTERNATIONAL (PVT)LTD.
https://www.innovator.lk/
-----------------------------------------------------------------
Development Platform : Dynamic 1.0
(mobile robot development platform)
-----------------------------------------------------------------
hc-sr04 Ultrasonic Distance Sensor Example.
-----------------------------------------------------------------
Hardware setup :
PINS of the ultrasonic sensors are already mapped and
connected.PINs are as follows :

front ultrasonic sensor TRIG PIN -> Arduino analog PIN 5(A5)
front ultrasonic sensor ECHO PIN -> Arduino analog PIN 43(D43)

left ultrasonic sensor TRIG PIN -> Arduino analog PIN 11(D11)
left ultrasonic sensor ECHO PIN -> Arduino analog PIN 12(D12)

right ultrasonic sensor TRIG PIN -> Arduino analog PIN 17(D17)
right ultrasonic sensor ECHO PIN -> Arduino analog PIN 16(D16)
-----------------------------------------------------------------
23 march 2021
*/

const int FRONT_TRIG_PIN = A5; // the number of the PIN, that front ultrasonic sensor's trigger PIN is connected to.
const int FRONT_ECHO_PIN = 43;// the number of the PIN, that front ultrasonic sensor's echo PIN is connected to.

const int LEFT_TRIG_PIN = 11;// the number of the PIN, that left ultrasonic sensor's trigger PIN is connected to.
const int LEFT_ECHO_PIN = 12;// the number of the PIN, that left ultrasonic sensor's echo PIN is connected to.

const int RIGHT_TRIG_PIN = 17;// the number of the PIN, that right ultrasonic sensor's trigger PIN is connected to.
const int RIGHT_ECHO_PIN = 16;// the number of the PIN, that right ultrasonic sensor's echo PIN is connected to.

long FRONT_DURATION;//variable to store the duration.
int FRONT_DISTANCE;//variable to store the duration.

long LEFT_DURATION;//variable to store the duration.
int LEFT_DISTANCE;//variable to store the duration.

long RIGHT_DURATION;//variable to store the duration.
int RIGHT_DISTANCE;//variable to store the duration.

void setup() {

//initializing all TRIG PINs as outputs.
pinMode(FRONT_TRIG_PIN, OUTPUT);
pinMode(LEFT_TRIG_PIN, OUTPUT);
pinMode(RIGHT_TRIG_PIN, OUTPUT);

//initializing all ECHO PINs as outputs.
pinMode(FRONT_ECHO_PIN, INPUT);
pinMode(LEFT_ECHO_PIN, INPUT);
pinMode(RIGHT_ECHO_PIN, INPUT);

Serial.begin(9600);//starting serial communication between arduino and computer.
}

void loop() {


//-------------------------front ultrasonic sensor------------------------------

digitalWrite(FRONT_TRIG_PIN, LOW);//turning off the trigger if its already on.
delayMicroseconds(2);//waiting for two microseconds.

digitalWrite(FRONT_TRIG_PIN, HIGH);//turning on the trigger.
delayMicroseconds(10);//waiting for ten microseconds.

digitalWrite(FRONT_TRIG_PIN, LOW);//turning off the trigger.

//doing the calculations
FRONT_DURATION = pulseIn(FRONT_ECHO_PIN, HIGH);
FRONT_DISTANCE = FRONT_DURATION * 0.034 / 2;

//printing calculations to the serial monitor.
Serial.print("FRONT_DISTANCE: ");
Serial.print(FRONT_DISTANCE);

//-------------------------left ultrasonic sensor------------------------------

digitalWrite(LEFT_TRIG_PIN, LOW);//turning off the trigger if its already on.
delayMicroseconds(2);//waiting for two microseconds.

digitalWrite(LEFT_TRIG_PIN, HIGH);//turning on the trigger.
delayMicroseconds(10);//waiting for ten microseconds.

digitalWrite(LEFT_TRIG_PIN, LOW);//turning off the trigger.

//doing the calculations
LEFT_DURATION = pulseIn(LEFT_ECHO_PIN, HIGH);
LEFT_DISTANCE = LEFT_DURATION * 0.034 / 2;

//printing calculations to the serial monitor.
Serial.print(" LEFT_DISTANCE: ");
Serial.print(LEFT_DISTANCE);


//-------------------------right ultrasonic sensor------------------------------

digitalWrite(RIGHT_TRIG_PIN, LOW);//turning off the trigger if its already on.
delayMicroseconds(2);//waiting for two microseconds.

digitalWrite(RIGHT_TRIG_PIN, HIGH);//turning on the trigger.
delayMicroseconds(10);//waiting for ten microseconds.

digitalWrite(RIGHT_TRIG_PIN, LOW);//turning off the trigger.

//doing the calculations
RIGHT_DURATION = pulseIn(RIGHT_ECHO_PIN, HIGH);
RIGHT_DISTANCE = RIGHT_DURATION * 0.034 / 2;

//printing calculations to the serial monitor.
Serial.print(" RIGHT_DISTANCE: ");
Serial.println(RIGHT_DISTANCE);
}
Lesson - 10 : Servo Motors

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  Servo Motor Example.
  --------------------------------------------------------
  Hardware setup :
  Connect servo motors to "SERVO MOTORs" PINs located on
  top development board.
  --------------------------------------------------------
  SG90 servo motor PIN outs :
  //orange = pwm
  //red    = 5v
  //brown  = gnd
  --------------------------------------------------------
  23 march 2021
*/

#include "Servo.h" //including the servo library in order to use its functions.

// set the number of servo motors.
#define SERVOS  4
// creating the servo object to control a servo motor(s).
Servo myservo[SERVOS];

// attach servo motor(s) to digital PIN on the Arduino.
int servo_pins[SERVOS] = {4, 44, 45, 46}; //d4.15,d45.72

// default angle for the servo in degrees.
int default_pos[SERVOS] = {0};

void setup() {

  for (int i = 0; i < SERVOS; i++) {

    // attach the servo to the servo object.
    myservo[i].attach(servo_pins[i]);

    // make all the servos go to the default position.
    myservo[i].write(default_pos[i]);
  }

  // wait some time for the servo to get to the position.
  delay(15);
}

void loop() {

  // go from 0 degrees to 180 degrees.
  // move in steps of 1 degree.
  for (int angle = 0; angle <= 180; angle += 1) {

    // update the angle for all servos
    for (int i = 0; i < SERVOS; i++) { // tell servo to go to the position in variable 'angle' // where 'angle' is in degrees. myservo[i].write(angle); // wait some time for the servo to get to the position. delay(15); } } // go from 180 degrees to 0 degrees. // move in steps of 1 degree. for (int angle = 180; angle >= 0; angle -= 1) {

    // update the angle for all servos
    for (int i = 0; i < SERVOS; i++) {

      // tell servo to go to the position in variable 'angle'
      // where 'angle' is in degrees.
      myservo[i].write(angle);

      // wait some time for the servo to get to the position.
      delay(15);
    }
  }
}
Lesson - 11 : Top Platform L293D Motor Driver Control

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
   --------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  Motor Driver Example(Top Board).
  ---------------------------------------------------------------------------
  Hardware setup for Dynamic top development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino MEGA board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)

  23 march 2021
*/

int LEFT_FRONT_MOTOR_EN = 8;// the number of the Arduino PIN, that left front motor EN PIN is connected to.
int LEFT_FRONT_MOTOR_A = 26;// the number of the Arduino PIN, that left front motor A PIN is connected to.
int LEFT_FRONT_MOTOR_B = 27;// the number of the Arduino PIN, that left front motor B PIN is connected to.

int LEFT_BACK_MOTOR_EN = 7;// the number of the Arduino PIN, that left back motor EN PIN is connected to.
int LEFT_BACK_MOTOR_B = 5;// the number of the Arduino PIN, that left back motor A PIN is connected to.
int LEFT_BACK_MOTOR_A = 6;// the number of the Arduino PIN, that left back motor B PIN is connected to.

int RIGHT_FRONT_MOTOR_EN = 10;// the number of the Arduino PIN, that right front motor EN PIN is connected to.
int RIGHT_FRONT_MOTOR_A = 28;// the number of the Arduino PIN, that right front motor A PIN is connected to.
int RIGHT_FRONT_MOTOR_B = 29;// the number of the Arduino PIN, that right front motor B PIN is connected to.

int RIGHT_BACK_MOTOR_EN = 9;// the number of the Arduino PIN, that right back motor EN PIN is connected to.
int RIGHT_BACK_MOTOR_A = 30;// the number of the Arduino PIN, that right back motor A PIN is connected to.
int RIGHT_BACK_MOTOR_B = 31;// the number of the Arduino PIN, that right back motor B PIN is connected to.


void setup() {

  //making all motor driver PINs as output PINs
  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void loop() {
  SPEED_CONTROL();//0 to 255 pwm speed control.
  delay(2000);//waiting for 2 seconds.
  FOWARD();//turning all motors forward.
  delay(2000);//waiting for 2 seconds.
  STOP() ;//stopping all motors.
  delay(2000);//waiting for 2 seconds.
  BACKWARDS();//running all motors backward.
  delay(2000);//waiting for 2 seconds.
  LEFT();
  delay(2000);//waiting for 2 seconds.
  RIGHT();
  delay(2000);//waiting for 2 seconds.
}

void FOWARD() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors forward
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void BACKWARDS() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors backwards
  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
}

void STOP() {
  // turn off all motors.
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void LEFT() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
void RIGHT() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);

}

void SPEED_CONTROL() {
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);

  // accelerate from zero to maximum speed
  for (int i = 0; i < 256; i++) { analogWrite(LEFT_FRONT_MOTOR_EN, i); analogWrite(RIGHT_FRONT_MOTOR_EN, i); analogWrite(LEFT_BACK_MOTOR_EN, i); analogWrite(RIGHT_BACK_MOTOR_EN, i); delay(20); } // decelerate from maximum speed to zero for (int i = 255; i >= 0; --i) {
    analogWrite(LEFT_FRONT_MOTOR_EN, i);
    analogWrite(RIGHT_FRONT_MOTOR_EN, i);
    analogWrite(LEFT_BACK_MOTOR_EN, i);
    analogWrite(RIGHT_BACK_MOTOR_EN, i);
    delay(20);
  }

  // turning all motors off
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
 
Lesson - 12 : Bottom Platform L293D Motor Driver Control

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
   --------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  Motor Driver Example(Bottom Board).
  ---------------------------------------------------------------------------
  Hardware setup for Dynamic bottom development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino NANO board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 6(D6)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 4(D4)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 5(D5)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 9(D9)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 7(D7)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 8(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 12(D12)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 11(D11)

  RIGHT BACK MOTOR   EN PIN connected to Arduino analog PIN -> A0(A0)
  RIGHT BACK MOTOR    A PIN connected to Arduino analog PIN -> A2(A2)
  RIGHT BACK MOTOR    B PIN connected to Arduino analog PIN -> A1(A1)
   ---------------------------------------------------------------------------
  23 march 2021
*/

int LEFT_FRONT_MOTOR_EN = 6;// the number of the Arduino PIN, that left front motor EN PIN is connected to.
int LEFT_FRONT_MOTOR_A = 4;// the number of the Arduino PIN, that left front motor A PIN is connected to.
int LEFT_FRONT_MOTOR_B = 5;// the number of the Arduino PIN, that left front motor B PIN is connected to.

int LEFT_BACK_MOTOR_EN = 9;// the number of the Arduino PIN, that left back motor EN PIN is connected to.
int LEFT_BACK_MOTOR_B = 8;// the number of the Arduino PIN, that left back motor A PIN is connected to.
int LEFT_BACK_MOTOR_A = 7;// the number of the Arduino PIN, that left back motor B PIN is connected to.

int RIGHT_FRONT_MOTOR_EN = 12;// the number of the Arduino PIN, that right front motor EN PIN is connected to.
int RIGHT_FRONT_MOTOR_A = 10;// the number of the Arduino PIN, that right front motor A PIN is connected to.
int RIGHT_FRONT_MOTOR_B = 11;// the number of the Arduino PIN, that right front motor B PIN is connected to.

int RIGHT_BACK_MOTOR_EN = A0;// the number of the Arduino PIN, that right back motor EN PIN is connected to.
int RIGHT_BACK_MOTOR_A = A2;// the number of the Arduino PIN, that right back motor A PIN is connected to.
int RIGHT_BACK_MOTOR_B = A1;// the number of the Arduino PIN, that right back motor B PIN is connected to.


void setup() {

  //making all motor driver PINs as output PINs
  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void loop() {
  SPEED_CONTROL();
  delay(2000);
  FOWARD();
  delay(2000);
  STOP() ;
  delay(2000);
  BACKWARDS();
  delay(2000);
}

void FOWARD() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors forward
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void BACKWARDS() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors backwards
  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
}

void STOP() {
  // turn off all motors.
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}

void SPEED_CONTROL() {
  // Turn on motors
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);


  // accelerate from zero to maximum speed
  for (int i = 0; i < 256; i++) { analogWrite(LEFT_FRONT_MOTOR_EN, i); analogWrite(RIGHT_FRONT_MOTOR_EN, i); analogWrite(LEFT_BACK_MOTOR_EN, i); analogWrite(RIGHT_BACK_MOTOR_EN, i); delay(20); } // decelerate from maximum speed to zero for (int i = 255; i >= 0; --i) {
    analogWrite(LEFT_FRONT_MOTOR_EN, i);
    analogWrite(RIGHT_FRONT_MOTOR_EN, i);
    analogWrite(LEFT_BACK_MOTOR_EN, i);
    analogWrite(RIGHT_BACK_MOTOR_EN, i);
    delay(20);
  }

  // turning all motors off
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
Lesson - 13 : Optical Encoders

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -----------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -----------------------------------------------------------
  RPM Example.
  -----------------------------------------------------------
  Hardware setup :
  Optical Encoder PINs are already mapped and connected to
  the Arduino board.PINs are as follows :
  LEFT  ENCODER  connected to Arduino digital PIN -> 2(D2)
  RIGHT ENCODER  connected to Arduino digital PIN -> 3(D3)
  -----------------------------------------------------------
  24 march 2021
*/

int LEFT_ENCODER_COUNTER = 0,  RIGHT_ENCODER_COUNTER = 0; //variable to hold the encoder counts.

unsigned long TIME_NOW = 0, TIME_ELAPSED = 0;//variables to hold the delay timer values.

float LEFT_WHEEL, RIGHT_WHEEL; //variables to hold the rpm values.

int LEFT_FRONT_MOTOR_EN = 8;// the number of the Arduino PIN, that left front motor EN PIN is connected to.
int LEFT_FRONT_MOTOR_A = 26;// the number of the Arduino PIN, that left front motor A PIN is connected to.
int LEFT_FRONT_MOTOR_B = 27;// the number of the Arduino PIN, that left front motor B PIN is connected to.


int RIGHT_FRONT_MOTOR_EN = 10;// the number of the Arduino PIN, that right front motor EN PIN is connected to.
int RIGHT_FRONT_MOTOR_A = 28;// the number of the Arduino PIN, that right front motor A PIN is connected to.
int RIGHT_FRONT_MOTOR_B = 29;// the number of the Arduino PIN, that right front motor B PIN is connected to.




void setup() {
  Serial.begin(9600);//starting serial communication between arduino and computer.
  attachInterrupt(0, Right_Encoder_Count, RISING);//enabling Arduino digital PIN 2(D2)falling edge interrupt.
  attachInterrupt(1, Left_Encoder_Count, RISING);//enabling Arduino digital PIN 3(D3)falling edge interrupt.
  delay(1000);
  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);
}

void loop() {
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);

  TIME_NOW = millis();//storing the currunt millis count in the variable.
  if (abs(TIME_NOW - TIME_ELAPSED) >= 1000) {//check if delay time has elapsed.
    detachInterrupt(0);//disabaling Arduino digital PIN 1(D1) falling edge interrupt.
    detachInterrupt(1);//disabaling Arduino digital PIN 1(D1) falling edge interrupt.

    //doing the RPM calculation and storing the values in variables.
    LEFT_WHEEL = (float)LEFT_ENCODER_COUNTER * 60 / 20;
    RIGHT_WHEEL = (float)RIGHT_ENCODER_COUNTER * 60 / 20;

    //printing values to serial monitor.
    Serial.print("left:");
    Serial.print(LEFT_WHEEL);
    Serial.print("     right:");
    Serial.println(RIGHT_WHEEL);

    //resetting variable values.
    LEFT_ENCODER_COUNTER = 0;
    RIGHT_ENCODER_COUNTER = 0;
    TIME_ELAPSED =  millis();

    //enabaling inturrupts again.
    attachInterrupt(0, Right_Encoder_Count, FALLING);
    attachInterrupt(1, Left_Encoder_Count, FALLING);
    return 1;//if delay time has elapsed then value is 1.
  } else {
    return 0;//if delay time has not elapsed then value is 0.
  }
}


//incrementing the encoder counters.
//these functions are called by inturrupt routein.
void Right_Encoder_Count()
{
  RIGHT_ENCODER_COUNTER++;
}

void Left_Encoder_Count()
{
  LEFT_ENCODER_COUNTER++;
}
Lesson - 14 : Ultrasonic Sensor Bottom

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -----------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -----------------------------------------------------------------
  hc-sr04 Ultrasonic Distance Sensor Example.
  -----------------------------------------------------------------
  Hardware setup :
  PINS of the ultrasonic sensors are already mapped and
  connected.PINs are as follows :

  front ultrasonic sensor TRIG PIN -> Arduino analog PIN 5(A5)
  front ultrasonic sensor ECHO PIN -> Arduino analog PIN 4(A4)

  -----------------------------------------------------------------
  23 march 2021
*/

const int  TRIG_PIN = A5; // the number of the PIN, that front ultrasonic sensor's trigger PIN is connected to.
const int  ECHO_PIN = A4;// the number of the PIN, that front ultrasonic sensor's echo PIN is connected to.

long  DURATION;//variable to store the duration.
int  DISTANCE;//variable to store the duration.


void setup() {

  //initializing all TRIG PINs as outputs.
  pinMode(TRIG_PIN, OUTPUT);

  //initializing all ECHO PINs as outputs.
  pinMode(ECHO_PIN, INPUT);

  Serial.begin(9600);//starting serial communication between arduino and computer.
}

void loop() {
  digitalWrite(TRIG_PIN, LOW);//turning off the trigger if its already on.
  delayMicroseconds(2);//waiting for two microseconds.

  //doing the calculations
  DURATION = pulseIn(ECHO_PIN, HIGH);
  DISTANCE = DURATION * 0.034 / 2;

  //printing calculations to the serial monitor.
  Serial.print("DISTANCE: ");
  Serial.print(DISTANCE);

}
Lesson - 15 : TCRT5000 Line Following Sensors

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -------------------------------------------------------------------
  TCRT5000 Line Following Sensors Example.
  -------------------------------------------------------------------
  Hardware setup :
  The line tracing sensors and the LEDs are allready
  mapped and connected to the Arduino board.
  PINs are as follows :

  LINE TRACING SENSOR 1: connected to Arduino analog PIN -> 8(A8)
  LINE TRACING SENSOR 2: connected to Arduino analog PIN -> 9(A9)
  LINE TRACING SENSOR 3: connected to Arduino analog PIN -> 10(A10)
  LINE TRACING SENSOR 4: connected to Arduino analog PIN -> 11(A11)
  LINE TRACING SENSOR 5: connected to Arduino analog PIN -> 12(A12)
  LINE TRACING SENSOR 6: connected to Arduino analog PIN -> 13(A13)
  LINE TRACING SENSOR 7: connected to Arduino analog PIN -> 14(A14)
  LINE TRACING SENSOR 8: connected to Arduino analog PIN -> 15(A15)
  -------------------------------------------------------------------
  PINs of the LEDs(these LEDs are already connected and mapped)
  that are used to indicate the line tracing sensors are follows :

  LED 1 PIN connected to Arduino digital PIN -> 22(D22)
  LED 1 PIN connected to Arduino digital PIN -> 23(D23)
  LED 1 PIN connected to Arduino digital PIN -> 24(D24)
  LED 1 PIN connected to Arduino digital PIN -> 25(D25)
  LED 1 PIN connected to Arduino digital PIN -> 32(D32)
  LED 1 PIN connected to Arduino digital PIN -> 33(D33)
  LED 1 PIN connected to Arduino digital PIN -> 34(D34)
  LED 1 PIN connected to Arduino digital PIN -> 35(D35)
  -------------------------------------------------------------------
  23 march 2021
*/

int IR1 = A8; // the number of the Arduino PIN, that line tracing sensor 1 is connected to.
int IR2 = A9; // the number of the Arduino PIN, that line tracing sensor 2 is connected to.
int IR3 = A10;// the number of the Arduino PIN, that line tracing sensor 3 is connected to.
int IR4 = A11;// the number of the Arduino PIN, that line tracing sensor 4 is connected to.
int IR5 = A12;// the number of the Arduino PIN, that line tracing sensor 5 is connected to.
int IR6 = A13;// the number of the Arduino PIN, that line tracing sensor 6 is connected to.
int IR7 = A14;// the number of the Arduino PIN, that line tracing sensor 7 is connected to.
int IR8 = A15;// the number of the Arduino PIN, that line tracing sensor 8 is connected to.

int LED1 = 22;// the number of the Arduino PIN, that LED 1 is connected to.
int LED2 = 23;// the number of the Arduino PIN, that LED 2 is connected to.
int LED3 = 24;// the number of the Arduino PIN, that LED 3 is connected to.
int LED4 = 25;// the number of the Arduino PIN, that LED 4 is connected to.
int LED5 = 32;// the number of the Arduino PIN, that LED 5 is connected to.
int LED6 = 33;// the number of the Arduino PIN, that LED 6 is connected to.
int LED7 = 34;// the number of the Arduino PIN, that LED 7 is connected to.
int LED8 = 35;// the number of the Arduino PIN, that LED 8 is connected to.

int s1, s2, s3, s4, s5 , s6, s7, s8; // creating few variables to hold the each line tracing sensor value.

void setup() {

  //making all PINs connected as line tracing sensors to be input's.
  pinMode(IR1, INPUT);
  pinMode(IR2, INPUT);
  pinMode(IR3, INPUT);
  pinMode(IR4, INPUT);
  pinMode(IR5, INPUT);
  pinMode(IR6, INPUT);
  pinMode(IR7, INPUT);
  pinMode(IR8, INPUT);

  //making all LED PINs as outputs.
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  pinMode(LED5, OUTPUT);
  pinMode(LED6, OUTPUT);
  pinMode(LED7, OUTPUT);
  pinMode(LED8, OUTPUT);
}

void loop() {
  //reading each line tracing sensors to variables.
  s1 = digitalRead(IR1);
  s2 = digitalRead(IR2);
  s3 = digitalRead(IR3);
  s4 = digitalRead(IR4);
  s5 = digitalRead(IR5);
  s6 = digitalRead(IR6);
  s7 = digitalRead(IR7);
  s8 = digitalRead(IR8);

  //check the variable values and turning on off corrosponding LED's.
  
  if (s1) {
    digitalWrite(LED1, LOW);
  } else {
    digitalWrite(LED1, HIGH);
  }

  if (s2) {
    digitalWrite(LED2, LOW);
  } else {
    digitalWrite(LED2, HIGH);
  }

  if (s3) {
    digitalWrite(LED3, LOW);
  } else {
    digitalWrite(LED3, HIGH);
  }

  if (s4) {
    digitalWrite(LED4, LOW);
  } else {
    digitalWrite(LED4, HIGH);
  }

  if (s5) {
    digitalWrite(LED5, LOW);
  } else {
    digitalWrite(LED5, HIGH);
  }

  if (s6) {
    digitalWrite(LED6, LOW);
  } else {
    digitalWrite(LED6, HIGH);
  }

  if (s7) {
    digitalWrite(LED7, LOW);
  } else {
    digitalWrite(LED7, HIGH);
  }

  if (s8) {
    digitalWrite(LED8, LOW);
  } else {
    digitalWrite(LED8, HIGH);
  }
}
Lesson - 16 A : Bluetooth Send Data

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Bluetooth Send Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  built-in bluetooth module already mapped and connected to
  Arduino board. the PINs are as follows:

  BT_TX connected to Arduino digital PIN18(D18)
  BT_RX connected to Arduino digital PIN19(D19)
  Serial 1 on Atmega PRO MINI
  ----------------------------------------------------------------------------
  //Android application used for this example:
  //https://play.google.com/store/apps/details?id=project.bluetoothterminal
  ----------------------------------------------------------------------------
  23 march 2021
*/

void setup() {
  Serial1.begin(9600);//starting software serial communication.
}

void loop() {
  Serial1.println("this is from Dynamic :) ");//printing a message to software serial.

  delay(1000);//keep a one second delay between each serial print.
}
Lesson - 16 B : Bluetooth Receive Data

/*
INNOVATOR INTERNATIONAL (PVT)LTD.
https://www.innovator.lk/
----------------------------------------------------------------------------
Development Platform : Dynamic 1.0
(mobile robot development platform)
----------------------------------------------------------------------------
Bluetooth Receive Example.
----------------------------------------------------------------------------
Hardware setup :
built-in bluetooth module already mapped and connected to
Arduino board. the PINs are as follows:

BT_TX connected to Arduino digital PIN18(D18)
BT_RX connected to Arduino digital PIN19(D19)
Serial 1 on Atmega PRO MINI
-----------------------------------------------------------------------------
//Android application used for this example:
//https://play.google.com/store/apps/details?id=project.bluetoothterminal
-----------------------------------------------------------------------------
23 march 2021
*/

char c;//variable to hold the character recived by the serial data.

void setup() {
Serial1.begin(9600);//starting software serial communication.

Serial.begin(9600);//starting serial communication between arduino and computer.
}

void loop() {
if (Serial1.available() > 0) {//check if software serial is containing any data.

while (Serial1.available() > 0) {//while there is data,

c = Serial1.read();//read it and store it in the variable called "c".

Serial.print(c);//printing stored variable to the serial monitor.
}
}
}
Lesson - 17 A : Bluetooth Send Data Bottom

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Bluetooth Send Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  built-in bluetooth module already mapped and connected to
  Arduino board. the PINs are as follows:

  BT_TX connected to Arduino digital PIN 2(D2)
  BT_RX connected to Arduino digital PIN 3(D3)
  Serial 1 on Atmega PRO MINI
  ----------------------------------------------------------------------------
  //Android application used for this example:
  //https://play.google.com/store/apps/details?id=project.bluetoothterminal
  ----------------------------------------------------------------------------
  23 march 2021
*/

void setup() {
  Serial1.begin(9600);//starting software serial communication.
}

void loop() {
  Serial1.println("this is from Dynamic :) ");//printing a message to software serial.

  delay(1000);//keep a one second delay between each serial print.
}
Lesson - 17 B : Bluetooth Receive Data Bottom

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Bluetooth Receive Example.
  ----------------------------------------------------------------------------
  Hardware setup :
  built-in bluetooth module already mapped and connected to 
  Arduino board. the PINs are as follows:

  BT_TX connected to Arduino digital PIN 2(D2)
  BT_RX connected to Arduino digital PIN 3(D3)
  Serial 1 on Atmega PRO MINI
  -----------------------------------------------------------------------------
  //Android application used for this example:
  //https://play.google.com/store/apps/details?id=project.bluetoothterminal
  -----------------------------------------------------------------------------
  23 march 2021
*/

char c;//variable to hold the character recived by the serial data.

void setup() {
  Serial1.begin(9600);//starting software serial communication.

  Serial.begin(9600);//starting serial communication between arduino and computer.
}

void loop() {
  if (Serial1.available() > 0) {//check if software serial is containing any data.

    while (Serial1.available() > 0) {//while there is data,

      c = Serial1.read();//read it and store it in the variable called "c".

      Serial.print(c);//printing stored variable to the serial monitor.
    }
  }
}
Lesson - 18 : ESP-01 Wi Fi

/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ---------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  ESP1 (esp8266) wifi example.
  controling a led through wifi
  ---------------------------------------------------------------------------
  Hardware setup :
  //connect RX of wifi to MCU RX0.
  //connect TX of wifi to MCU TX0.
  //connect MCU RST pin to one of the GND pins.

  //pres and hold GPIO0 and RST buttons together and release the RST button first then GPIO0.
  //this will put the esp8266 to programing mode.
  //now press upload button in arduin IDE.
  ---------------------------------------------------------------------------
  23 march 2021
*/

#include "ESP8266WiFi.h"
const char* ssid = "**********";//type your ssid
const char* password = "**********";//type your password

int ledPin = 2; // GPIO2 of ESP8266
WiFiServer server(80);

void setup() {
  Serial.begin(115200);
  delay(10);


  pinMode(ledPin, OUTPUT);
  digitalWrite(ledPin, LOW);

  // Connect to WiFi network
  Serial.println();
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(ssid);

  WiFi.begin(ssid, password);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");

  // Start the server
  server.begin();
  Serial.println("Server started");

  // Print the IP address
  Serial.print("Use this URL to connect: ");
  Serial.print("http://");
  Serial.print(WiFi.localIP());
  Serial.println("/");

}

void loop() {
  // Check if a client has connected
  WiFiClient client = server.available();
  if (!client) {
    return;
  }

  // Wait until the client sends some data
  Serial.println("new client");
  while (!client.available()) {
    delay(1);
  }

  // Read the first line of the request
  String request = client.readStringUntil('r');
  Serial.println(request);
  client.flush();

  // Match the request

  int value = LOW;
  if (request.indexOf("/LED=ON") != -1) {
    digitalWrite(ledPin, LOW);
    value = HIGH;
  }
  if (request.indexOf("/LED=OFF") != -1) {
    digitalWrite(ledPin, HIGH);
    value = LOW;
  }

  // Set ledPin according to the request
  //digitalWrite(ledPin, value);


  // Return the response
  client.println("HTTP/1.1 200 OK");
  client.println("Content-Type: text/html");
  client.println(""); //  do not forget this one
  client.println("");
  client.println("");

  client.print("Led pin is now: ");

  if (value == HIGH) {
    client.print("On");
  } else {
    client.print("Off");
  }
  client.println("");
  client.println("Click here turn the LED on pin 2 ON");
  client.println("Click here turn the LED on pin 2 OFF");
  client.println("");

  delay(1);
  Serial.println("Client disonnected");
  Serial.println("");

}
ssd dice
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  SSD DICE.
  --------------------------------------------------------
  Hardware setup :
  Seven Segment Display Driver(7219) PINs are allready
  mapped and connected to the Arduino board.
  PINs are as follows :
  --------------------------------------------------------
  Hardware setup :
  DIN connected to Arduino digital PIN -> 51
  CS  connected to Arduino digital PIN -> 52
  CLK connected to Arduino digital PIN -> 53

  16*2 LCD is allready connected to the Arduino board.
  LCD's I2C adress is 0x27.
  --------------------------------------------------------
  5 may 2021
*/
#include "LedControl.h"

#include  "LiquidCrystal_I2C.h"  

int DIN  = 51;
int CLK  = 52;
int CS   = 53;

LedControl lc = LedControl(DIN, CLK, CS, 1);
LiquidCrystal_I2C lcd(0x27, 16, 2);

int START_BUTTON = A1;
int STOP_BUTTON = A2;
boolean RUN = false;

int RANDOM_NUMBER = 0;

void setup() {
  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("  SSD Dice");
  delay(1000);

  lc.shutdown(0, false);
  lc.setIntensity(0, 15);
  lc.clearDisplay(0);
  lc.setDigit(0, 3, 1, false);
  lc.setDigit(0, 2, 2, true);
  lc.setDigit(0, 1, 3, true);
  lc.setDigit(0, 0, 4, false);
}

void loop() {
  if (!digitalRead(START_BUTTON)) {
    RUN = true;
    delay(100);
  }
  if (!digitalRead(STOP_BUTTON)) {
    RUN = false;
    RANDOM_NUMBER = random(1, 7);
    lc.setDigit(0, 3, 0, true);
    lc.setDigit(0, 2, 0, true);
    lc.setDigit(0, 1, 0, true);
    lc.setDigit(0, 0, RANDOM_NUMBER, true);
    delay(100);
  }
  if (RUN) {
    for (int i = 0; i < 10; i++) {
      lc.setDigit(0, 3, i, false);
      lc.setDigit(0, 2, i, false);
      lc.setDigit(0, 1, i, false);
      lc.setDigit(0, 0, i, false);
    }
    delay(50);
  }


}
ssd counter
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  SSD COUNTER.
  --------------------------------------------------------
  Hardware setup :
  Seven Segment Display Driver(7219) PINs are allready
  mapped and connected to the Arduino board.
  PINs are as follows :
  --------------------------------------------------------
  Hardware setup :
  DIN connected to Arduino digital PIN -> 51
  CS  connected to Arduino digital PIN -> 52
  CLK connected to Arduino digital PIN -> 53

  16*2 LCD is allready connected to the Arduino board.
  LCD's I2C adress is 0x27.
  --------------------------------------------------------
  5 may 2021
*/

#include "LedControl.h"

#include  "LiquidCrystal_I2C.h"

int DIN  = 51;
int CLK  = 52;
int CS   = 53;

LedControl lc = LedControl(DIN, CLK, CS, 1);
LiquidCrystal_I2C lcd(0x27, 16, 2);

int MAX = 9999;

void setup() {
  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("  SSD Counter");
  delay(1000);

  lc.shutdown(0, false);
  lc.setIntensity(0, 15);
  lc.clearDisplay(0);
  lc.setDigit(0, 3, 1, false);
  lc.setDigit(0, 2, 2, true);
  lc.setDigit(0, 1, 3, true);
  lc.setDigit(0, 0, 4, false);
}

void loop() {
  for (int i = 0; i < MAX; i++) {
    lc.setDigit(0, 0, i % 10, false);
    lc.setDigit(0, 1, (i / 10 ) % 10, false);
    lc.setDigit(0, 2, (i / 100 ) % 10, false);
    lc.setDigit(0, 3, (i / 1000 ) % 10, false);
    delay(500);
  }
}
wi-fi car - html web page

follow the instruction below to upload code to esp-01

download all files

IR Proximity Object Counter
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  --------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  --------------------------------------------------------
  IR PROXIMITY OBJECT COUNTER.
  --------------------------------------------------------
  Hardware setup :
  PINs of the IR Sensor's mounted around the top development board are
  already mapped and connected.PINs are as follows :

  IR FRONT LEFT  : Arduino digital PIN -> 49(D49)
  IR FRONT RIGHT : Arduino digital PIN -> 50(D50)
  IR RIGHT       : Arduino digital PIN -> 48(D48)
  IR BACK RIGHT  : Arduino digital PIN -> 47(D47)
  IR BACK LEFT   : Arduino digital PIN -> 42(D42)
  IR LEFT        : Arduino digital PIN -> 41(D41)

  16*2 LCD is allready connected to the Arduino board.
  LCD's I2C adress is 0x27.
  --------------------------------------------------------
  5 may 2021
*/

#include "LiquidCrystal_I2C.h"
LiquidCrystal_I2C lcd(0x27, 16, 2);

int IR_FRONT_LEFT = 49;
int IR_FRONT_RIGHT = 50;

int IR_RIGHT = 48;
int IR_LEFT = 41;

int IR_BACK_RIGHT = 47;
int IR_BACK_LEFT = 42;

int COUNTER = 0;

void setup() {
  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("IR Obj Counter");
  delay(1000);
}

void loop() {

  if (!digitalRead (IR_FRONT_LEFT)) {
    COUNTER++;
  }
  if (!digitalRead (IR_FRONT_RIGHT)) {
    COUNTER++;
  }
  if (!digitalRead (IR_RIGHT)) {
    COUNTER++;
  }
  if (!digitalRead (IR_LEFT)) {
    COUNTER++;
  }
  if (!digitalRead (IR_BACK_RIGHT)) {
    COUNTER++;
  }
  if (!digitalRead (IR_BACK_LEFT)) {
    COUNTER++;
  }

  delay(500);
  lcd.setCursor(0, 1);
  lcd.print(COUNTER);
}
Button Operated Car
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
   --------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  Obstacal avoiding robot.
  ---------------------------------------------------------------------------
  Hardware setup for Dynamic top development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)

     Buttons:
   BACKWARD button : PIN -> Arduino analog PIN 4(A4)
   RIGHT    button : PIN -> Arduino analog PIN 3(A3)
   FORWARD  button : PIN -> Arduino analog PIN 1(A1)
   LEFT     button : PIN -> Arduino analog PIN 0(A0)
   STOP     button : PIN -> Arduino analog PIN 2(A2)
  --------------------------------------------------------
   LEDs:
   BACKWARD LED : PIN -> Arduino digital PIN 39(D39)
   RIGHT    LED : PIN -> Arduino digital PIN 40(D40)
   FORWARD  LED : PIN -> Arduino digital PIN 36(D36)
   LEFT     LED : PIN -> Arduino digital PIN 37(D37)
   STOP     LED : PIN -> Arduino digital PIN 38(D38)
  --------------------------------------------------------

  18 june 2021
*/

#include  "LiquidCrystal_I2C.h".
LiquidCrystal_I2C lcd(0x27, 16, 2);

int LEFT_FRONT_MOTOR_EN = 8;
int LEFT_FRONT_MOTOR_A = 26;
int LEFT_FRONT_MOTOR_B = 27;

int LEFT_BACK_MOTOR_EN = 7;
int LEFT_BACK_MOTOR_B = 5;
int LEFT_BACK_MOTOR_A = 6;

int RIGHT_FRONT_MOTOR_EN = 10;
int RIGHT_FRONT_MOTOR_A = 28;
int RIGHT_FRONT_MOTOR_B = 29;

int RIGHT_BACK_MOTOR_EN = 9;
int RIGHT_BACK_MOTOR_A = 30;
int RIGHT_BACK_MOTOR_B = 31;

int BUTTON_LEFT = A0;
int BUTTON_RIGHT = A3;
int BUTTON_FORWARD = A1;
int BUTTON_BACK = A4;
int BUTTON_STOP = A2;

int LED_LEFT = 37;
int LED_RIGHT = 40;
int LED_FORWARD = 36;
int LED_BACK = 39;
int LED_STOP = 38;

void setup() {
  Serial.begin(9600);

  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);

  pinMode(BUTTON_LEFT, INPUT);
  pinMode(BUTTON_RIGHT, INPUT);
  pinMode(BUTTON_FORWARD, INPUT);
  pinMode(BUTTON_BACK, INPUT);
  pinMode(BUTTON_STOP, INPUT);

  pinMode(LED_LEFT, OUTPUT);
  pinMode(LED_FORWARD, OUTPUT);
  pinMode(LED_RIGHT, OUTPUT);
  pinMode(LED_STOP, OUTPUT);
  pinMode(LED_BACK, OUTPUT);

  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Dynamic Button");
  lcd.setCursor(0, 1);
  lcd.print("Opareted car");
}

void loop() {
  if (digitalRead(BUTTON_LEFT) == 0) {
    digitalWrite(LED_LEFT, HIGH);
    left();
  } else {
    digitalWrite(LED_LEFT, LOW);
    stopAll();
  }

  if (digitalRead(BUTTON_RIGHT) == 0) {
    digitalWrite(LED_RIGHT, HIGH);
    right();
  } else {
    digitalWrite(LED_RIGHT, LOW);
    stopAll();
  }

  if (digitalRead(BUTTON_FORWARD) == 0) {
    digitalWrite(LED_FORWARD, HIGH);
    foward();
  } else {
    digitalWrite(LED_FORWARD, LOW);
    stopAll();
  }

  if (digitalRead(BUTTON_BACK) == 0) {
    digitalWrite(LED_BACK, HIGH);
    backward();
  } else {
    digitalWrite(LED_BACK, LOW);
    stopAll();
  }

  if (digitalRead(BUTTON_STOP) == 0) {
    digitalWrite(LED_STOP, HIGH);
    stopAll();
  } else {
    digitalWrite(LED_STOP, LOW);
    stopAll();
  }
}

void foward() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}
void backward() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
  delay(20);
}

void left() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}

void right() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
  delay(20);
}

void stopAll() {
  // turn off all motors.
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
Button Debouncing
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Multitasking.
  ----------------------------------------------------------------------------
  Hardware setup :
  Button's and LED's are all ready mapped and connected to
  the Arduino board. PINs are as follows :
  --------------------------------------------------------
   Buttons:
   FORWARD  button : PIN -> Arduino analog PIN 1(A1)

   LED 1 PIN connected to Arduino digital PIN -> 22(D22)
  ----------------------------------------------------------------------------
  01 june 2021
*/

int LED1 = 22;
int BUTTON1 = A1;

int LED_STATE = HIGH;
int BUTTON_STATE;
int BUTTON_STATE_PREVIOUS = LOW;

unsigned long PREVIOUS_DEBOUNCE_TIME = 0;
unsigned long DEBOUNCE_DELAY = 50;

void setup() {
  pinMode(BUTTON1, INPUT);
  pinMode(LED1, OUTPUT);
  digitalWrite(LED1, LED_STATE);
}

void loop() {
  int reading = digitalRead(BUTTON1);
  if (reading != BUTTON_STATE_PREVIOUS) {
    PREVIOUS_DEBOUNCE_TIME = millis();
  }

  if ((millis() - PREVIOUS_DEBOUNCE_TIME) > DEBOUNCE_DELAY) {
    if (reading != BUTTON_STATE) {
      BUTTON_STATE = reading;
      if (BUTTON_STATE == HIGH) {
        LED_STATE = !LED_STATE;
      }
    }
  }
  digitalWrite(LED1, LED_STATE);
  BUTTON_STATE_PREVIOUS = reading;
}
LCD Menu
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  LCD MENU.
  ----------------------------------------------------------------------------
  Hardware setup :
  16*2 LCD is allready connected to the Arduino board.
  LCD's I2C adress is 0x27.

  Buttons are all ready mapped and connected to
  the Arduino board. PINs are as follows :
  --------------------------------------------------------
   Buttons:
   BACKWARD button : PIN -> Arduino analog PIN 4(A4)
   RIGHT    button : PIN -> Arduino analog PIN 3(A3)
   FORWARD  button : PIN -> Arduino analog PIN 1(A1)
   LEFT     button : PIN -> Arduino analog PIN 0(A0)
   STOP     button : PIN -> Arduino analog PIN 2(A2)

  ----------------------------------------------------------------------------
  31 may 2021
*/


#include "Wire.h"
#include "LiquidCrystal_I2C.h"

LiquidCrystal_I2C lcd(0x27, 16, 2);

int UP_BUTTON = A1;
int DOWN_BUTTON = A4;
int SELECT_BUTTON = A2;
int MENU = 1;

int LED1 = 22;
int LED2 = 23;
int LED3 = 24;
int LED4 = 25;

boolean LED1_STATE = false;
boolean LED2_STATE = false;
boolean LED3_STATE = false;
boolean LED4_STATE = false;

void setup() {
  lcd.begin();
  lcd.backlight();
  pinMode(UP_BUTTON, INPUT);
  pinMode(DOWN_BUTTON, INPUT);
  pinMode(SELECT_BUTTON, INPUT);
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  updateMenu();
  Serial.begin(9600);
}

void loop() {
  if (!digitalRead(DOWN_BUTTON)) {
    MENU++;
    updateMenu();
    delay(100);
    while (!digitalRead(DOWN_BUTTON));
  }

  if (!digitalRead(UP_BUTTON)) {
    MENU--;
    updateMenu();
    delay(100);
    while (!digitalRead(UP_BUTTON));
  }

  if (!digitalRead(SELECT_BUTTON)) {
    Action(MENU);
    updateMenu();
    delay(100);
    while (!digitalRead(SELECT_BUTTON));
  }
}

void updateMenu() {
  switch (MENU) {
    case 0:
      MENU = 1;
      break;
    case 1:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print(">Toggle LED 1");
      lcd.setCursor(0, 1);
      lcd.print(" Toggle LED 2");
      break;

    case 2:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print(" Toggle LED 1");
      lcd.setCursor(0, 1);
      lcd.print(">Toggle LED 2");
      break;

    case 3:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print(">Toggle LED 3");
      lcd.setCursor(0, 1);
      lcd.print(" Toggle LED 4");
      break;

    case 4:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print(" Toggle LED 3");
      lcd.setCursor(0, 1);
      lcd.print(">Toggle LED 4");
      break;

    case 5:
      MENU = 4;
      break;
  }
}
void Action(int M) {
  Serial.println(M);
  if (MENU == 1) {
    toggleLed1();
  }
  if (MENU == 2) {
    toggleLed2();
  }
  if (MENU == 3) {
    toggleLed3();
  }
  if (MENU == 4) {
    toggleLed4();
  }
}

void toggleLed1() {
  if (LED1_STATE == false) {
    LED1_STATE = true;
  } else {
    LED1_STATE = false;
  }
  digitalWrite(LED1, LED1_STATE);
}

void toggleLed2() {
  if (LED2_STATE == false) {
    LED2_STATE = true;
  } else {
    LED2_STATE = false;
  }
  digitalWrite(LED2, LED2_STATE);
}

void toggleLed3() {
  if (LED3_STATE  == false) {
    LED3_STATE  = true;
  } else {
    LED3_STATE  = false;
  }
  digitalWrite(LED3, LED3_STATE);
}

void toggleLed4() {
  if (LED4_STATE  == false) {
    LED4_STATE  = true;
  } else {
    LED4_STATE  = false;
  }
  digitalWrite(LED4, LED4_STATE );
}
Multitasking
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Multitasking.
  ----------------------------------------------------------------------------
  Hardware setup :
  Button's and LED's are all ready mapped and connected to
  the Arduino board. PINs are as follows :
  --------------------------------------------------------
   Buttons:
   BACKWARD button : PIN -> Arduino analog PIN 4(A4)

   LED 1 PIN connected to Arduino digital PIN -> 22(D22)
   LED 2 PIN connected to Arduino digital PIN -> 23(D23)
  ----------------------------------------------------------------------------
  01 june 2021
*/

int LED1 = 22;
int LED2 = 23;
int BUTTON = A4;


unsigned long lastMillis1;
unsigned long lastMillis2;
unsigned long lastMillis3;

unsigned long LED2_SPEED = 1000;

boolean LED1_STATE = false;
boolean LED2_STATE = false;



void setup() {
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(BUTTON, INPUT);
  lastMillis1 = millis();
  lastMillis2 = millis();
  Serial.begin(9600);
}

void loop() {
  if ((millis() - lastMillis1) >= 200) {
    blinkLED1();
    lastMillis1 = millis();
  }

  if ((millis() - lastMillis2) >= LED2_SPEED) {
    blinkLED2();
    lastMillis2 = millis();
  }

  if (!digitalRead(BUTTON)) {
    if ((millis() - lastMillis3) >= 300) {
      LED2_SPEED -= 100;

      if (LED2_SPEED <= 0) {
        LED2_SPEED = 1000;
      }
      Serial.println(LED2_SPEED);
      lastMillis3 = millis();
    }
  }
}
void blinkLED1() {
  if (LED1_STATE == LOW) {
    LED1_STATE = HIGH;
  } else {
    LED1_STATE = LOW;
  }
  digitalWrite(LED1, LED1_STATE);
}

void blinkLED2() {
  if (LED2_STATE == LOW) {
    LED2_STATE = HIGH;
  } else {
    LED2_STATE = LOW;
  }
  digitalWrite(LED2, LED2_STATE);
}
Obstacal Avoiding Robot
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
   --------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  Obstacal avoiding robot.
  ---------------------------------------------------------------------------
  Hardware setup for Dynamic top development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)

  15 june 2021
*/

#include  "LiquidCrystal_I2C.h".
LiquidCrystal_I2C lcd(0x27, 16, 2);

int TRIGGER_PIN = A5;
int ECHO_PIN = 43;

int LEFT_FRONT_MOTOR_EN = 8;// the number of the Arduino PIN, that left front motor EN PIN is connected to.
int LEFT_FRONT_MOTOR_A = 26;// the number of the Arduino PIN, that left front motor A PIN is connected to.
int LEFT_FRONT_MOTOR_B = 27;// the number of the Arduino PIN, that left front motor B PIN is connected to.

int LEFT_BACK_MOTOR_EN = 7;// the number of the Arduino PIN, that left back motor EN PIN is connected to.
int LEFT_BACK_MOTOR_B = 5;// the number of the Arduino PIN, that left back motor A PIN is connected to.
int LEFT_BACK_MOTOR_A = 6;// the number of the Arduino PIN, that left back motor B PIN is connected to.

int RIGHT_FRONT_MOTOR_EN = 10;// the number of the Arduino PIN, that right front motor EN PIN is connected to.
int RIGHT_FRONT_MOTOR_A = 28;// the number of the Arduino PIN, that right front motor A PIN is connected to.
int RIGHT_FRONT_MOTOR_B = 29;// the number of the Arduino PIN, that right front motor B PIN is connected to.

int RIGHT_BACK_MOTOR_EN = 9;// the number of the Arduino PIN, that right back motor EN PIN is connected to.
int RIGHT_BACK_MOTOR_A = 30;// the number of the Arduino PIN, that right back motor A PIN is connected to.
int RIGHT_BACK_MOTOR_B = 31;// the number of the Arduino PIN, that right back motor B PIN is connected to.

int BUZ = 13;

long DURATION, DISTANCE;

void setup() {

  Serial.begin(9600);
  //making all motor driver PINs as output PINs
  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);

  pinMode(TRIGGER_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);


  pinMode(BUZ, OUTPUT);
  digitalWrite(BUZ, HIGH);
  delay(200);
  digitalWrite(BUZ, LOW);

  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Dynamic Obstacal");
  lcd.setCursor(0, 1);
  lcd.print("Avoiding Robot");
}

void loop() {
  digitalWrite(TRIGGER_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGGER_PIN, HIGH);
  delayMicroseconds(10);
  DURATION = pulseIn(ECHO_PIN, HIGH);
  DISTANCE = DURATION / 58.2;
  delay(10);

  Serial.println(DISTANCE);

  if (DISTANCE > 19)
  {
    foward();
  }
  if (DISTANCE < 18)
  {
    stopAll();
    digitalWrite(BUZ, HIGH);
    delay(500);
    digitalWrite(BUZ, LOW);
    backward();
    delay(500);
    stopAll();
    digitalWrite(BUZ, HIGH);
    delay(100);
    digitalWrite(BUZ, LOW);
    left();
    delay(500);
  }
}

void foward() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors forward
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
void backward() {
  // set motors to maximum speed.
  // PWM maximum possible values are 0 to 255.
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  //driving all motors backwards
  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
}

void left() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}

void right() {

  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
}

void stopAll() {
  // turn off all motors.
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
Car Speed Monitor
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Car Speed Monitor.
  ----------------------------------------------------------------------------
  Hardware setup for Dynamic top development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)

  interrupt PINs : Arduino digital PIN 2 (D2)
  interrupt PINs : Arduino digital PIN 3 (D3)
  --------------------------------------------------------

  Lt and Rt represents Left Interrupt Count and Right Interrupt count.
  S indicates the Speed of the bot in m/sec.
  D indicates Distance covered in meters.
  he Angle of the bot is displayed at the end where 0° is
  for straight and it goes negative for anti-clockwise rotation
  and positive for clockwise rotation.

  ----------------------------------------------------------------------------
  18 june 2021
*/

#include  "LiquidCrystal_I2C.h".
LiquidCrystal_I2C lcd(0x27, 16, 2);

int LEFT_FRONT_MOTOR_EN = 8;
int LEFT_FRONT_MOTOR_A = 26;
int LEFT_FRONT_MOTOR_B = 27;

int LEFT_BACK_MOTOR_EN = 7;
int LEFT_BACK_MOTOR_B = 5;
int LEFT_BACK_MOTOR_A = 6;

int RIGHT_FRONT_MOTOR_EN = 10;
int RIGHT_FRONT_MOTOR_A = 28;
int RIGHT_FRONT_MOTOR_B = 29;

int RIGHT_BACK_MOTOR_EN = 9;
int RIGHT_BACK_MOTOR_A = 30;
int RIGHT_BACK_MOTOR_B = 31;


int LEFT_INTR = 0;
int RIGHT_INTR = 0;
int ANGLE = 0;

/*Hardware details*/
float radius_of_wheel = 0.033;  //Measure the radius of your wheel and enter it here in cm

volatile byte ROTATION; // variale for interrupt fun must be volatile
float TIME_TAKEN, RPM, D_TIME;
float V;
int DISTANCE;
unsigned long PEV_TIME;

void setup()
{
  ROTATION = RPM = PEV_TIME = 0; //Initialize all variable to zero
  Serial.begin(9600);
  lcd.begin(); //Initialise 16*2 LCD
  lcd.print("  car speed"); //Intro Message line 1
  lcd.setCursor(0, 1);
  lcd.print("  monitor"); //Intro Message line 2
  delay(2000);
  lcd.clear();
  lcd.print("Lt:     Rt:    ");
  lcd.setCursor(0, 1);
  lcd.print("S:     D:  A:   ");

  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);

  attachInterrupt(digitalPinToInterrupt(2), Right_ISR, CHANGE);
  attachInterrupt(digitalPinToInterrupt(3), Left_ISR, CHANGE);
}

void loop()
{
  foward();
  /*To drop to zero if vehicle stopped*/
  if (millis() - D_TIME > 500) //no inetrrupt found for 500ms
  {
    RPM = V = 0; // make RPM and velocity as zero
    D_TIME = millis();
  }
  V = radius_of_wheel * RPM * 0.104; //0.033 is the radius of the wheel in meter
  DISTANCE = (2 * 3.141 * radius_of_wheel) * (LEFT_INTR / 40);
  int angle_left = (LEFT_INTR % 360) * (90 / 80) ;
  int angle_right = (RIGHT_INTR % 360) * (90 / 80) ;
  ANGLE = angle_right - angle_left;

  lcd.setCursor(3, 0); lcd.print("    "); lcd.setCursor(3, 0); lcd.print(LEFT_INTR);
  lcd.setCursor(11, 0); lcd.print("    "); lcd.setCursor(11, 0); lcd.print(RIGHT_INTR);
  lcd.setCursor(2, 1); lcd.print("  "); lcd.setCursor(2, 1); lcd.print(V);
  lcd.setCursor(9, 1); lcd.print("  "); lcd.setCursor(9, 1); lcd.print(DISTANCE);
  lcd.setCursor(13, 1); lcd.print("   "); lcd.setCursor(13, 1); lcd.print(ANGLE);

  delay(100);
}

void Left_ISR()
{
  LEFT_INTR++; delay(10);
}

void Right_ISR()
{
  RIGHT_INTR++; delay(10);
  ROTATION++;
  D_TIME = millis();
  if (ROTATION >= 40)
  {
    TIME_TAKEN = millis() - PEV_TIME; //TIME_TAKEN in millisec
    RPM = (1000 / TIME_TAKEN) * 60; //formulae to calculate RPM
    PEV_TIME = millis();
    ROTATION = 0;
  }
}


void foward() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}
Police Siren
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  ----------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ----------------------------------------------------------------------------
  Police Siren.
  ----------------------------------------------------------------------------
  Hardware setup :
  Buzzer PIN already mapped and connected to Arduino digital PIN -> 13(D13)
  ----------------------------------------------------------------------------
  23 june 2021
*/

int FQ;
int BUZZER = 13;

void setup()
{
  pinMode(BUZZER, OUTPUT);
}
void loop() {
  for (int i = 0; i < random(2, 5); i++) {
    Pattern1();
  }
  for (int i = 0; i < random(40, 70); i++) {
    Pattern2();
  }
}
void Pattern1() {
  for (FQ = 635; FQ <= 912; FQ++) { tone(BUZZER, FQ); delay(10); } for (FQ = 911; FQ >= 634; FQ--) {
    tone(BUZZER, FQ);
    delay(7);
  }
}
void Pattern2() {
  for (FQ = 635; FQ <= 912; FQ++) { tone(BUZZER, FQ); } for (FQ = 911; FQ >= 634; FQ--) {
    tone(BUZZER, FQ);
  }
}
White Stick Follower.
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
   --------------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  ---------------------------------------------------------------------------
  White stick following robot.
  ---------------------------------------------------------------------------
  Hardware setup for Dynamic top development board :
  Motor Driver PINs are allready mapped and connected to
  the Arduino board.PINs are as follows :

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)
  --------------------------------------------------------
  PINs of the IR Sensor's mounted around the top development board are
  already mapped and connected.PINs are as follows :
  --------------------------------------------------------
  IR FRONT LEFT  : Arduino digital PIN -> 49(D49)
  IR FRONT RIGHT : Arduino digital PIN -> 50(D50)
  IR RIGHT       : Arduino digital PIN -> 48(D48)
  IR BACK RIGHT  : Arduino digital PIN -> 47(D47)
  IR BACK LEFT   : Arduino digital PIN -> 42(D42)
  IR LEFT        : Arduino digital PIN -> 41(D41)
  --------------------------------------------------------
  PINS of the ultrasonic sensors are already mapped and
  connected.PINs are as follows :
  --------------------------------------------------------
  front ultrasonic sensor TRIG PIN -> Arduino analog PIN 5(A5)
  front ultrasonic sensor ECHO PIN -> Arduino analog PIN 43(D43)
  --------------------------------------------------------

  23 june 2021
*/

#include  "LiquidCrystal_I2C.h".
LiquidCrystal_I2C lcd(0x27, 16, 2);

int LEFT_FRONT_MOTOR_EN = 8;
int LEFT_FRONT_MOTOR_A = 26;
int LEFT_FRONT_MOTOR_B = 27;

int LEFT_BACK_MOTOR_EN = 7;
int LEFT_BACK_MOTOR_B = 5;
int LEFT_BACK_MOTOR_A = 6;

int RIGHT_FRONT_MOTOR_EN = 10;
int RIGHT_FRONT_MOTOR_A = 28;
int RIGHT_FRONT_MOTOR_B = 29;

int RIGHT_BACK_MOTOR_EN = 9;
int RIGHT_BACK_MOTOR_A = 30;
int RIGHT_BACK_MOTOR_B = 31;

int IR_FRONT_LEFT = 49;
int IR_FRONT_RIGHT = 50;

//int IR_LEFT = 48;
//int IR_RIGHT = 47;

int IR_BACK_LEFT = 42;
int IR_BACK_RIGHT = 41;

int FLEFT, FRIGHT, RLEFT, RRIGHT;

const int FRONT_TRIG_PIN = A5;
const int FRONT_ECHO_PIN = 43;

long FRONT_DURATION;
int FRONT_DISTANCE;

void setup() {
  Serial.begin(9600);

  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);

  pinMode(FRONT_TRIG_PIN, OUTPUT);
  pinMode(FRONT_ECHO_PIN, INPUT);

  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Dynamic White");
  lcd.setCursor(0, 1);
  lcd.print("Stick Follower");
}

void loop() {
  FLEFT = digitalRead(IR_FRONT_LEFT);
  FRIGHT = digitalRead(IR_FRONT_RIGHT);
  RLEFT = digitalRead(IR_BACK_LEFT);
  RRIGHT = digitalRead(IR_BACK_RIGHT);


  digitalWrite(FRONT_TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(FRONT_TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(FRONT_TRIG_PIN, LOW);
  FRONT_DURATION = pulseIn(FRONT_ECHO_PIN, HIGH);
  FRONT_DISTANCE = FRONT_DURATION * 0.034 / 2;
  //Serial.println(FRONT_DISTANCE);

  if (FRONT_DISTANCE > 10 && FRONT_DISTANCE < 15) {
    foward();
  } else if (FRONT_DISTANCE < 7) {
    backward();
  } else {
    stopAll() ;
  }
  if (!FLEFT && FRIGHT) {
    left();
  } else {
    stopAll() ;
  }
  if (!FRIGHT && FLEFT) {
    right();
  } else {
    stopAll() ;
  }

  if (!FLEFT && !FRIGHT) {
    stopAll() ;
  }
  if (!RLEFT && !RRIGHT) {
    stopAll() ;
  }
}
void foward() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}
void backward() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
  delay(20);
}

void left() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, HIGH);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, HIGH);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}

void right() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);

  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, HIGH);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, HIGH);
  delay(20);
}

void stopAll() {
  // turn off all motors.
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
}
Strobe Lights
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -------------------------------------------------------------------
  Strobe Lights.
  -------------------------------------------------------------------
  Hardware setup :
  PINs of the LEDs(these LEDs are already connected and mapped)

  LED 1 PIN connected to Arduino digital PIN -> 22(D22)
  LED 2 PIN connected to Arduino digital PIN -> 23(D23)
  LED 3 PIN connected to Arduino digital PIN -> 24(D24)
  LED 4 PIN connected to Arduino digital PIN -> 25(D25)
  LED 5 PIN connected to Arduino digital PIN -> 32(D32)
  LED 6 PIN connected to Arduino digital PIN -> 33(D33)
  LED 7 PIN connected to Arduino digital PIN -> 34(D34)
  LED 8 PIN connected to Arduino digital PIN -> 35(D35)
  -------------------------------------------------------------------
  23 march 2021
*/

int LED1 = 22;
int LED2 = 23;
int LED3 = 24;
int LED4 = 25;
int LED5 = 32;
int LED6 = 33;
int LED7 = 34;
int LED8 = 35;

void setup() {
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  pinMode(LED5, OUTPUT);
  pinMode(LED6, OUTPUT);
  pinMode(LED7, OUTPUT);
  pinMode(LED8, OUTPUT);
}
void loop() {
  for (int i = 0; i < 2; i++)
  {
    digitalWrite(LED1, HIGH);
    digitalWrite(LED2, HIGH);
    digitalWrite(LED3, HIGH);
    digitalWrite(LED4, HIGH);
    digitalWrite(LED5, HIGH);
    digitalWrite(LED6, HIGH);
    digitalWrite(LED7, HIGH);
    digitalWrite(LED8, HIGH);
    delay(10);
    digitalWrite(LED1, LOW);
    digitalWrite(LED2, LOW);
    digitalWrite(LED3, LOW);
    digitalWrite(LED4, LOW);
    digitalWrite(LED5, LOW);
    digitalWrite(LED6, LOW);
    digitalWrite(LED7, LOW);
    digitalWrite(LED8, LOW);
    delay(100);
  }
  delay(random(2500));
}
LED Software PWM
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -------------------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -------------------------------------------------------------------
  LED software PWM.
  -------------------------------------------------------------------
  Hardware setup :
  PINs of the LEDs(these LEDs are already connected and mapped)

  LED 1 PIN connected to Arduino digital PIN -> 22(D22)
  LED 2 PIN connected to Arduino digital PIN -> 23(D23)
  LED 3 PIN connected to Arduino digital PIN -> 24(D24)
  LED 4 PIN connected to Arduino digital PIN -> 25(D25)
  LED 5 PIN connected to Arduino digital PIN -> 32(D32)
  LED 6 PIN connected to Arduino digital PIN -> 33(D33)
  LED 7 PIN connected to Arduino digital PIN -> 34(D34)
  LED 8 PIN connected to Arduino digital PIN -> 35(D35)
  -------------------------------------------------------------------
  23 march 2021
*/

int fadeSpeed = 20;

int ledPins[] = {
  22, 23, 24, 25, 32, 33, 34, 35
};

int pinCount = 8;

void setup() {
  for (int thisPin = 0; thisPin < pinCount; thisPin++) {
    pinMode(ledPins[thisPin], OUTPUT);
  }
}

void loop() {
  func_12();
}

void pwm() {
  for (int thisPin = 0; thisPin < pinCount; thisPin++) {
    for (int fade = 1; fade < 254; fade++) { softPWM(ledPins[thisPin], fade, fadeSpeed); } for (int fade = 254; fade > 1; fade--) {
      softPWM(ledPins[thisPin], fade, fadeSpeed);
    }
  }
  delay(1);
  for (int thisPin = pinCount - 1; thisPin >= 0; thisPin--) {
    for (int fade = 1; fade < 254; fade++) { softPWM(ledPins[thisPin], fade, fadeSpeed); } for (int fade = 254; fade > 1; fade--) {
      softPWM(ledPins[thisPin], fade, fadeSpeed);
    }
  }
  delay(1);
}
void softPWM(int pin, int freq, int sp) {
  digitalWrite(pin, HIGH);
  delayMicroseconds(sp * freq);
  digitalWrite(pin, LOW);
  delayMicroseconds(sp * (255 - freq));
}

void func_12() {
  for (int thisPin = 0; thisPin < pinCount; thisPin++) {
    for (int fade = 1; fade < 254; fade++) { softPWM(ledPins[thisPin], fade, fadeSpeed); } } delay(20); for (int thisPin = pinCount - 1; thisPin >= 0; thisPin--) {
    for (int fade = 254; fade > 1; fade--) {
      softPWM(ledPins[thisPin], fade, fadeSpeed);
    }
  }
  delay(20);
}
Automatic 4WD Activation System
/*
  INNOVATOR INTERNATIONAL (PVT)LTD.
  https://www.innovator.lk/
  -----------------------------------------------------------
  Development Platform : Dynamic 1.0
  (mobile robot development platform)
  -----------------------------------------------------------
  Automatic 4WD Activation System.
  -----------------------------------------------------------
  Hardware setup :
  Optical Encoder PINs are allready mapped and connected to
  the Arduino board.PINs are as follows :
  LEFT  ENCODER  connected to Arduino digital PIN -> 2(D2)
  RIGHT ENCODER  connected to Arduino digital PIN -> 3(D3)

  LEFT FRONT MOTOR   EN PIN connected to Arduino digital PIN -> 8(D8)
  LEFT FRONT MOTOR    A PIN connected to Arduino digital PIN -> 26(D26)
  LEFT FRONT MOTOR    B PIN connected to Arduino digital PIN -> 27(D27)

  LEFT BACK MOTOR    EN PIN connected to Arduino digital PIN -> 7(D8)
  LEFT BACK MOTOR     A PIN connected to Arduino digital PIN -> 6(D8)
  LEFT BACK MOTOR     B PIN connected to Arduino digital PIN -> 5(D8)

  RIGHT FRONT MOTOR  EN PIN connected to Arduino digital PIN -> 10(D10)
  RIGHT FRONT MOTOR   A PIN connected to Arduino digital PIN -> 28(D28)
  RIGHT FRONT MOTOR   B PIN connected to Arduino digital PIN -> 29(D29)

  RIGHT BACK MOTOR   EN PIN connected to Arduino digital PIN -> 9(D9)
  RIGHT BACK MOTOR    A PIN connected to Arduino digital PIN -> 30(D30)
  RIGHT BACK MOTOR    B PIN connected to Arduino digital PIN -> 31(D31)
  -----------------------------------------------------------
  23 june 2021
*/

int LEFT_ENCODER_COUNTER = 0,  RIGHT_ENCODER_COUNTER = 0;

unsigned long TIME_NOW = 0, TIME_ELAPSED = 0;

float LEFT_WHEEL, RIGHT_WHEEL;


#include  "LiquidCrystal_I2C.h".
LiquidCrystal_I2C lcd(0x27, 16, 2);

int LEFT_FRONT_MOTOR_EN = 8;
int LEFT_FRONT_MOTOR_A = 26;
int LEFT_FRONT_MOTOR_B = 27;

int LEFT_BACK_MOTOR_EN = 7;
int LEFT_BACK_MOTOR_B = 5;
int LEFT_BACK_MOTOR_A = 6;

int RIGHT_FRONT_MOTOR_EN = 10;
int RIGHT_FRONT_MOTOR_A = 28;
int RIGHT_FRONT_MOTOR_B = 29;

int RIGHT_BACK_MOTOR_EN = 9;
int RIGHT_BACK_MOTOR_A = 30;
int RIGHT_BACK_MOTOR_B = 31;

void setup() {
  Serial.begin(9600);
  attachInterrupt(0, Right_Encoder_Count, CHANGE);
  attachInterrupt(1, Left_Encoder_Count, CHANGE);
  pinMode(LEFT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_A, OUTPUT);
  pinMode(LEFT_FRONT_MOTOR_B, OUTPUT);

  pinMode(LEFT_BACK_MOTOR_EN, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_A, OUTPUT);
  pinMode(LEFT_BACK_MOTOR_B, OUTPUT);

  pinMode(RIGHT_FRONT_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_A, OUTPUT);
  pinMode(RIGHT_FRONT_MOTOR_B, OUTPUT);

  pinMode(RIGHT_BACK_MOTOR_EN, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_A, OUTPUT);
  pinMode(RIGHT_BACK_MOTOR_B, OUTPUT);

  // turning all motors off at startup
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, LOW);

  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);

  digitalWrite(RIGHT_FRONT_MOTOR_A, LOW);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);

  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);

  lcd.begin();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Automatic 4WD");
  lcd.setCursor(0, 1);
  lcd.print("Activation");
}

void loop() {
  front();
  TIME_NOW = millis();
  if (abs(TIME_NOW - TIME_ELAPSED) >= 1000) {
    detachInterrupt(0);
    detachInterrupt(1);
    LEFT_WHEEL = (float)LEFT_ENCODER_COUNTER * 60 / 20;
    RIGHT_WHEEL = (float)RIGHT_ENCODER_COUNTER * 60 / 20;
    LEFT_ENCODER_COUNTER = 0;
    RIGHT_ENCODER_COUNTER = 0;
    TIME_ELAPSED =  millis();
    attachInterrupt(0, Right_Encoder_Count, CHANGE);
    attachInterrupt(1, Left_Encoder_Count, CHANGE);

  }
  if (LEFT_WHEEL < 220 && RIGHT_WHEEL < 220) {
    rear();
  } else {
    stop_rear();
  }

  if (LEFT_WHEEL < 220 || RIGHT_WHEEL < 220) {
    rear();
  } else {
    stop_rear();
  }
}

void Right_Encoder_Count()
{
  RIGHT_ENCODER_COUNTER++;
}

void Left_Encoder_Count()
{
  LEFT_ENCODER_COUNTER++;
}

void rear() {
  analogWrite(LEFT_BACK_MOTOR_EN, 255);
  analogWrite(RIGHT_BACK_MOTOR_EN, 255);
  
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_A, HIGH);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}


void front() {
  analogWrite(LEFT_FRONT_MOTOR_EN, 255);
  analogWrite(RIGHT_FRONT_MOTOR_EN, 255);
  
  digitalWrite(LEFT_FRONT_MOTOR_A, LOW);
  digitalWrite(LEFT_FRONT_MOTOR_B, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_A, HIGH);
  digitalWrite(RIGHT_FRONT_MOTOR_B, LOW);
  delay(20);
}

void stop_rear() {
  digitalWrite(LEFT_BACK_MOTOR_A, LOW);
  digitalWrite(LEFT_BACK_MOTOR_B, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_A, LOW);
  digitalWrite(RIGHT_BACK_MOTOR_B, LOW);
  delay(20);
}
Android WI-FI car (no - internet)

follow the instruction below to upload code to esp-01

firmware for Arduino and ESP-01 : https://drive.google.com/file/d/1nj_CaKE5YpjnvnrNjpOzbW_osnx6rNpa/view?usp=sharing

Android Application : https://drive.google.com/file/d/1yZqExJfaFvUecGi4IdE6XRO8bsUDBJ-Y/view?usp=sharing

IoT car

follow the instruction below to upload code to esp-01

Firmware files for Arduino and ESP-01 : https://drive.google.com/file/d/1BlJPiwpnft8LMaxO3vUcQWaEVyZ3w3-I/view?usp=sharing

java Application : https://drive.google.com/file/d/1RlLVEiPhcmuD63lh_23OH2WF0swckX9C/view?usp=sharing

 

1 x Top Development Platform ( with Arduino MEGA PRO MINI ).

1x Arduino MEGA PRO MINI.

1 x Bottom Development Platform (Arduino board is **NOT** included).

2 x 18650 3.7v Rechargeable Battery.

1 x Battery Charger.

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