🚗 ADAS Car Control System – ESP8266 Version

IoT & Bluetooth-Controlled 4-Motor Car with Omni/Mecanum Wheels

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📌 Project Overview

The ADAS Car Control System is an ESP8266-based automated driving platform designed for real-time wireless control using a Bluetooth module (HC-05). The system drives four DC motors through L298N motor drivers to achieve omnidirectional movement (forward, backward, sideways, rotation).

This setup is particularly suitable for autonomous or semi-autonomous vehicle prototyping, robotics research, and educational purposes.

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🎯 Objectives

• Implement Bluetooth-based remote control using HC-05
• Drive 4 independent motors for omnidirectional movement
• Allow speed adjustment via Bluetooth
• Support multiple movement commands: forward, backward, sideways, rotation
• Provide a modular, maintainable motor control system

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⚙️ Hardware Components

Component	Description
ESP8266 NodeMCU	Main microcontroller
L298N Motor Driver (x2)	Drive 4 DC motors
DC Motors (x4)	Omnidirectional / Mecanum wheels
HC-05 Bluetooth Module	Wireless control interface
Power Supply	7.4–12V for motors, 5V for ESP8266

Motor Connections:

• Motor 1 (Front Right): IN1 → D1, IN2 → D2, EN → D0 (PWM)
• Motor 2 (Front Left): IN1 → D3, IN2 → D4, EN → D5 (PWM)
• Motor 3 (Rear Left): IN1 → D6, IN2 → D7, EN → D8 (PWM)
• Motor 4 (Rear Right): IN1 → SD2, IN2 → SD3, EN → RX (PWM)

Bluetooth HC-05:

• TX → ESP8266 TX (GPIO1)
• RX → ESP8266 RX (GPIO3)
• VCC → 5V, GND → GND

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💻 Software Requirements

• Arduino IDE

• ESP8266 Board Package

• Required Libraries:

  • ESP8266WiFi.h (optional for future IoT extension)
  • Arduino.h (built-in)

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📱 Control Logic

1. Bluetooth Input: The system continuously reads bytes from HC-05.

2. Command Parsing:

   • Values 0–14 represent movement commands (forward, backward, sideways, rotate, stop, reserved).
   • Values ≥16 adjust the motor speed (wheelSpeed).

3. Movement Execution:

   • A DCMotor class handles pin configuration, speed, and direction.
   • Commands are executed through functions like moveForward(), moveSidewaysRight(), rotateLeft(), etc.

4. Loop: After executing a command, the system waits for the next Bluetooth input.

Movement Commands Mapping:

Command	Action
0	Stop
1	Right Forward
2	Forward
3	Left Forward
4	Sideways Right
5	Sideways Left
6	Right Backward
7	Backward
8	Left Backward
9	Rotate Left
10	Rotate Right
11,12,14	Reserved / Save

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🔄 System Flow – Block Diagram

The system’s architecture and control flow can be visualized here:

🔗 Block Diagram: View Block Diagram

Description:

• Bluetooth Module → Receives commands → ESP8266
• ESP8266 → Parses commands → Sets movement variable (m) and speed
• Motor Driver & Motors → Executes corresponding wheel movement

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✅ Key Features

• Fully modular motor control via DCMotor class
• Support for omnidirectional movement
• Bluetooth-based wireless speed and movement control
• PWM speed adjustment
• Easy to extend for sensors (ultrasonic, IR) or IoT integration

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⚠️ Safety & Notes

• Ensure correct power supply for motors; do not power motors from ESP8266 5V.
• Motors and drivers should be isolated to prevent voltage spikes on ESP8266.
• Reserved commands (11, 12, 14) can be extended for future functions.
• Use adequate heat sinks for L298N drivers under continuous operation.

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📌 Conclusion

The ADAS Car Control System is a flexible, modular platform for studying autonomous vehicle dynamics, omni-directional control, and Bluetooth-based robotics.

It demonstrates hardware abstraction, real-time control, and modular code design, suitable for academic, hobbyist, or prototype autonomous vehicle projects.

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