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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width">
<meta name="description" content="Affordable and professional web design">
<meta name="keywords" content="web design, affordable web design, professional web design">
<meta name="author" content="Brad Traversy">
<title>RCar | Car Model</title>
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Raleway">
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<header>
<div style="height: 90px; margin-top:0; background-color: black; text-align: center;color: red;font-size: 80px"> <a href="index.html">RCar</a> <span style="color: white">|</span> <span style="font-size: 35px;color: white;"> Car </span> </div>
</header>
<div style="width: 1000px; margin:auto;">
<article class = "pageHeight" style="position:relative; height: 9900px;">
<div id = "indexxx" style="background-color: black;color: white;position: fixed;left:5%; top: 175px;width: 100px;text-align: center;font-size: 20px;display: none;">Index</div>
<ul id = "indexx" style="position:fixed; left:0.125%; top: 195px; list-style-type: none;line-height: 40px; display: none;">
<li style="color: black;padding: 0 10px; border-left: solid black;">Introduction
<ul style="cursor: pointer; color: black;padding: 0 10px;margin-top: 10px;list-style-type: none;">
<li id = "first" onclick="topFunction(150)" style="cursor: pointer; color: black;padding: 0 10px;"> Remote-Controlled Cars </li>
<li id = "second" onclick="topFunction(880)" style="cursor: pointer; color: black;padding: 0 10px;"> Arduino </li>
</ul>
</li>
<li style="color: black;border-left: solid black;padding: 0 10px;margin-top: 10px;">Prototype
<ul style="cursor: pointer; color: black;padding: 0 10px;margin-top: 10px;list-style-type: none;">
<li id = "third" onclick="topFunction(1930)" style="cursor: pointer; color: black;padding: 0 10px;"> Electronics </li>
<li id = "fourth" onclick="topFunction2(3520+690+130)" style="cursor: pointer; color: black;padding: 0 10px;"> Design </li>
<li id = "fifth" onclick="topFunction2(9100)" style="cursor: pointer; color: black;padding: 0 10px;"> Download Files </li>
<li id = "sixth" onclick="topFunction2(9100)" style="cursor: pointer; color: black;padding: 0 10px;"> Future Improvements </li>
</ul>
</li>
</ul>
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<h1 style="text-align: center;font-size: 30px;font-weight: lighter;">Introduction</h1>
<h3>Remote-Controlled Cars</h3>
<p>
This kind of robots has a broad range of uses in our society. Army applications, toys for kids, automation projects and
professional competitions are some scenarios we may find such a device.
They can be controlled using many technologies, like: wires, Bluetooth, Wi-Fi or 4G/3G
signals are some of the most well-known.
Generally, they can be powered by oil or electricity.
Based on their size, a scale factor is usually attributed. This is done by comparing them with their analogous real models.
They can be found in many categories: Street, Drift, Buggy, Truggy and Trucks (hover each figure
with the cursor and find out a complete correspondence).
</p>
<div class="grid-container3">
<div class="image" style="background-image: url('./img/model1.png');">
<div class = "hiddenn">Buggy</div>
</div>
<div class="image" style="background-image: url('./img/model2.png');">
<div class = "hiddenn">Street</div>
</div>
<div class="image" style="background-image: url('./img/model3.png');">
<div class = "hiddenn">Drift</div>
</div>
</div>
<div class="grid-container2">
<div class="image" style="background-image: url('./img/model4.png');">
<div class = "hiddenn">Truck</div>
</div>
<div class="image" style="background-image: url('./img/model5.png');">
<div class = "hiddenn">Truggy</div>
</div>
</div>
<div style="margin-top: 10px; text-align: center;font-size: 15px;"><b>Fig. 1 </b> - 5 standard remote-controlled car categories commercially available. </div>
<h3>Arduino</h3>
<p>
Arduino is an open-source electronic platform based on flexible and reliable hardware and software. It was
created in 2003 by a group of students from Interaction Design Institute Ivrea, in Ivrea, Italy. The name
Arduino comes from a bar’s name located in its native city where the creators used to meet. Its purpose is
to create objects or environments. Arduino can sense the environment by receiving input from a variety of
sensors and can affect its surroundings by controlling lights, motors and other actuators. The
microcontroller on the board is programmed using the Arduino language, which is based on C++,
and the Arduino Integrated Development Environment (IDE), based on Processing. Most boards consist of an
Atmel 8-bit AVR microcontroller with different number of pins, ROM and RAM memory (among others). These
pins are organized in 2 rows of male headers, in order to easily connect and integrate it with external circuits. The
Arduino microcontroller also has an integrated timer based on an oscillating crystal at 16 MHz. Arduino projects
can be stand-alone, or they can communicate with software running on a computer, such as MATLAB.<br/>
</p>
<figure style="float: right;display: inline">
<img src="./img/nano.png" style="width: 300px;">
<figcaption> <b>Fig. 2 </b> - Arduino Nano.</figcaption>
</figure>
<p>
  1 of the relevances of this hardware is its ability to convert analog signals into digital ones,
which can be saved, modified and analyzed in a computer (or other digital device), using specific software. This data
processing could be essential in a medical diagnostic center, where the least variation in the
physiological signal could be crucial for the correct diagnosis of certain pathology.<br/>
  Any program written in Arduino is commonly called a sketch. These files are intended to be saved in the
owner’s PC with the following extension: .ino. In order to be executed, it only requires 2 basic functions:
setup and a loop. The 1st one is only executed once (after powering up or resetting the board).
Information like setting output/input pins; bit rate (baud); variables (…) can be given in this section of
the program. Libraries can also be initialized in this section. These play an important role in Arduino
programming, since a limited number of functions are available to be promptly used. Most of the times, it
is an advantage to use them since functions may often be more efficient from an Arduino’s scope (very
important due to its limited computational power). On the other side, the loop will be executed cyclically
with/without interruptions depending on the existence of interrupts or functions that deliberately pause
the execution (delay, delayMicroseconds).<br/>
  Many prototypes can be projected using Arduino: ECGs, EMGs, EEGs, Pletismography devices, automatized dispensers,
games, printers and, of course, robotic cars.
</p>
<h1 style="text-align: center;font-size: 30px;font-weight: lighter;">Prototype</h1>
<h3>Electronics</h3>
<p>
In order the car to perform some of the features we were interested in, we had to include several devices.
Here is a complete list of the components present in the prototype:
</p>
<div class="grid-container33" style="float: right;">
<div class="image3" style="background-image: url('./img/motor.jpg');">
<div class = "hiddenn">1</div>
</div>
<div class="image3" style="background-image: url('./img/servo.png');">
<div class = "hiddenn">2</div>
</div>
<div class="image3" style="background-image: url('./img/leds.jpg');">
<div class = "hiddenn">3</div>
</div>
<div class="image3" style="background-image: url('./img/resistances.jpg');">
<div class = "hiddenn">4</div>
</div>
<div class="image3" style="background-image: url('./img/bluetooth.jpg');">
<div class = "hiddenn">5</div>
</div>
<div class="image3" style="background-image: url('./img/driver.jpg');">
<div class = "hiddenn">6</div>
</div>
<div class="image3" style="background-image: url('./img/gps.jpg');">
<div class = "hiddenn">7</div>
</div>
<div class="image a" style="position: relative;">
<div style="text-align: center;position: absolute; bottom: 35%;font-size: 15px;width: 450px;"><b>Fig. 3 </b> - List of electric components present in the prototype.</div>
</div>
</div>
<ol style="line-height: 35px; display: inline-block;">
<li>DC 3V Motor;</li>
<li>Micro Servo SG90;</li>
<li>LEDs (Red, Yellow and White);</li>
<li>Resistances;</li>
<li>Bluetooth HC-05 Module;</li>
<li>L298N Driver;</li>
<li>GPS Module (NEO-6M-0-001).</li>
</ol>
<p>
All connections among the previous components were reverseably performed in a breadboard using
male-male, male-female and female-female jumper wires. <br/>
  Using Arduino Nano, we were able to decrease energy consumption and increase the portability of the
final project. This was done at the expense of some computational power. Since this Arduino's model only has
2 serial connections (RX and TX – which were used to transfer data between the Bluetooth module and
the android app), we needed to include an extra serial port to receive the location values from the GPS
module in the smartphone.<br/>
  Regarding the lights present in the vehicle, we always included a resistance in order
to limit the intensity of the current going through the diodes. This was done in the (2) front, (2) back
and (2) turn signal lights. These lights are totally controlled using the RCar app, except the ones in the
back that automatically turn on when the car accelerates backwards.<br/>
  A similar approach was followed with the Bluetooth module. Although, in this case, we included a voltage divider in
the circuit, such that the HC-05 receives half of the voltage (in the RX port) coming from the 5V Arduino
port (TX). Nevertheless, this was dispensable. Thus, it was not included in the electric circuit diagram (Fig. 5). <br/>
  Servo's rotation was lower and upper limited in the Arduino script to 45 and 135 degrees. Avoiding an excessive rotation
of the wheels of the car. We first used an old servo in our project but, due to bad oiled gears, this was substituted by a
new one. This way, we eliminated jittering and greatly increased angle precision.<br/>
  We also decided to include an extra feature in the car - GPS. This detects location with a remarkable accuracy
(considering the price) lower than 3 meters (radius). Then, a map with a red dot is
shown in the app, correctly positioned. Note that, due to GPS module limitations, it is not possible to get
car's position indoors.<br/>
  A speaker was also added to the circuit. A sound signal is emitted every time one clicks in the
corresponding button of the app. Both the duration and frequency of the wave were defined in the Arduino
IDE.<br/>
</p>
<figure style="float: left;">
<img src="./img/hBridge.png" style="width: 300px;">
<figcaption> <b>Fig. 4 </b> - H-Bridge Logic Circuit.</figcaption>
</figure>
<p>
  The L298N Driver is an electric compound that behaves similarly to a H-Bridge. Depending on the
interrupters that are closed, the current will flow in 2 different directions across the DC motor. This
allows the motor to rotate clockwise or counter-clockwise by always applying a positive voltage
with the Arduino (v<sub>in</sub>). Furthermore, it also controls the velocity at which the axles rotate.
These 2 sets of interrupters are controlled by the IN1 and IN2 pins present in the
driver.<br/>
  Motor has 2 axles (1 pointing to
the right and another to the left, moving synchronously).<br/>
  The car is powered by a 9V battery along with its adapter (on/off button incorporated to be easier to cut off circuit's power), which is connected to the L298N Driver. This is both
feeding the motor and the Arduino (consequently, all the remaining circuitry).
</p>
<div>
<figure style="margin-left: -5px">
<img src="./img/circuit.png" style="width: 1000px;">
<figcaption> <b>Fig. 5 </b> - Circuit representation of the car. Note that L298N Motor
Driver has a slightly different wiring than the one in the figure. And the DC 3V Motor has an
extra axis pointing in the opposite direction (both moving synchronously).</figcaption>
</figure>
</div>
<div class = "dropdown" style="background-color: black; cursor:pointer;border-style: dashed; position: relative;height: 25px;">
<div style=" color: white;position: absolute;left: 40px;top: 3px;">Arduino Code</div>
<div id = "plusMinus" style="color: white;position: absolute;right: 40px;bottom: -9px;font-size: 35px;">+</div>
</div>
<pre style="display: none; border-style: solid;">
<code>
// ------------------------------------------------ Including Libraries ------------------------------------------------
#include <NeoSWSerial.h> // Extra serial communication port
#include <TinyGPS++.h> // GPS module
#include <Servo.h> // Servo
// GPS Parameters
static const int RXPin = 12;
static const uint32_t GPSBaud = 9600;
// The serial connection to the GPS device
NeoSWSerial ss (RXPin,13);
// Creating Instances
Servo servo;
TinyGPSPlus gps;
// --------------------------------------------------- Defining Pins ---------------------------------------------------
int ledPin1 = 2;
int ledPin2 = 3;
int headLights = 5;
int backLights = 7;
boolean ledPin1State = LOW;
boolean ledPin2State = LOW;
int buzzer = 4;
int motorVelocityControl = 11;
int motorFrontDirectionControl = 9;
int motorBackDirectionControl = 10;
double aux;
int state;
int state2 = 4;
int x, y = 0;
int xAxis, yAxis;
unsigned long previousMillis = 0;
const long interval = 200;
// ------------------------------------------------------- Setup -------------------------------------------------------
void setup() {
// --------------------------------------------------------------- Pin Mode (Input/Output)
pinMode(ledPin1, OUTPUT); // Side Light
pinMode(ledPin2, OUTPUT); // Side Light
pinMode(backLights, OUTPUT); // Back Lights
pinMode(headLights, OUTPUT); // Front Lights
pinMode(motorVelocityControl, OUTPUT);
pinMode(motorFrontDirectionControl, OUTPUT);
pinMode(motorBackDirectionControl, OUTPUT);
servo.attach (6);
Serial.begin(38400);
ss.begin(GPSBaud);
}
// ------------------------------------------------------------ Loop ---------------------------------------------------
void loop() {
unsigned long currentMillis = millis();
// --------------------------------------------------------------- GPS Module
while (ss.available() > 0)
if (gps.encode(ss.read()))
if (gps.location.isValid())
{
Serial.print(gps.location.lat(), 6);
Serial.print("|");
Serial.println(gps.location.lng(), 6);
}
// --------------------------------------------------------------- Bluetooth Module
while (Serial.available() >= 2) {
x = Serial.read();
delay(10);
y = Serial.read();
};
delay(10);
// --------------------------------------------------------------- Head Lights
if (x == 1) {
digitalWrite(headLights, HIGH);
}
if (x == 0) {
digitalWrite(headLights, LOW);
}
// --------------------------------------------------------------- Back Lights
if (motorBackDirectionControl == HIGH) {
digitalWrite(backLights, HIGH);
} else {
digitalWrite(backLights, LOW);
}
// --------------------------------------------------------------- Buzzer
if (x == 2) {
tone(buzzer, 200, 80);
} else if (x == 3) {
digitalWrite(buzzer, LOW);
}
// --------------------------------------------------------------- Left Light
if (x == 5) {
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis;
if (ledPin1State == LOW) {
digitalWrite(ledPin1, HIGH);
ledPin1State = HIGH;
} else {
digitalWrite(ledPin1, LOW);
ledPin1State = LOW;
}
}
} else if (x == 4) {
digitalWrite(ledPin1, LOW);
}
// --------------------------------------------------------------- Right Light
if (x == 6) {
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis;
if (ledPin2State == LOW) {
digitalWrite(ledPin2, HIGH);
ledPin2State = HIGH;
} else {
digitalWrite(ledPin2, LOW);
ledPin2State = LOW;
}
}
} else if (x == 7) {
digitalWrite(ledPin2, LOW);
}
// --------------------------------------------------------------- Servo Motor
if ((x == 255 && y == 255) || x == 153) {
servo.write(90 - 15);
delay(10);
} else if (x > 153 & y < 153) {
servo.write((180 / PI)*asin((153 - y) / (pow(pow(x - 153, 2) + pow(153 - y, 2), 0.5))) * 0.5 + 45 - 15);
delay(10);
} else if (x < 153 & y < 153 & x > 10 & y > 10) {
servo.write(160 - ((180 / PI)*asin((153 - y) / (pow(pow(x - 153, 2) + pow(153 - y, 2), 0.5))) * 0.5 + 45 - 15));
delay(10);
} else if (x > 153 & y > 153) {
servo.write((180 / PI)*abs(asin((153 - y) / (pow(pow(x - 153, 2) + pow(153 - y, 2), 0.5)))) * 0.5 + 45 - 15);
delay(10);
} else if (x < 153 & y > 153) {
servo.write(160 - ((180 / PI)*asin(abs(153 - y) / (pow(pow(x - 153, 2) + pow(153 - y, 2), 0.5))) * 0.5 + 45 - 15));
delay(10);
}
// --------------------------------------------------------------- DC Motor
aux = pow(pow(x - 153, 2) + pow(153 - y, 2), 0.5);
if (x == 255 || y == 255) {
analogWrite(motorVelocityControl, 0);
} else if (y < 153 && aux < 120 && y > 10) {
analogWrite(motorVelocityControl, 0.7 * aux * 255 / 120);
digitalWrite(motorFrontDirectionControl, HIGH);
digitalWrite(motorBackDirectionControl, LOW);
delay(20);
} else if (y > 153 && aux < 120) {
digitalWrite(motorFrontDirectionControl, LOW);
digitalWrite(motorBackDirectionControl, HIGH);
analogWrite(motorVelocityControl, 0.7 * aux * 255 / 120);
digitalWrite(backLights, HIGH);
delay(20);
} else if (y > 153 && aux < 120) {
digitalWrite(motorFrontDirectionControl, LOW);
digitalWrite(motorBackDirectionControl, HIGH);
analogWrite(motorVelocityControl, 0.7 * aux * 255 / 120);
digitalWrite(backLights, HIGH);
delay(20);
} else if (y < 153 && aux < 120 && y > 10) {
digitalWrite(motorFrontDirectionControl, HIGH);
digitalWrite(motorBackDirectionControl, LOW);
analogWrite(motorVelocityControl, 0.7 * aux * 255 / 120);
delay(20);
}
}
</code>
</pre>
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<h3 style="margin-top: 25px;">Design</h3>
<p>
All the parts of the remote-controlled car were modelled using the CAD software SolidWorks.
The complete model (Fig. 6) was divided in several parts (which were meant to be 3D printed separately): wheels,
chassis, L-shape axles, connecting bar and the body of the car. The shape of the last component resulted from a funny
try to roughly resemble <a target="_blank" rel="noopener noreferrer" href="https://www.google.com/url?sa=i&rct=j&q=&esrc=s&source=images&cd=&cad=rja&uact=8&ved=2ahUKEwiJ1aXD07rdAhUBtRoKHRJCBtoQjRx6BAgBEAU&url=http%3A%2F%2Frentapolicecar.com%2Four-cars&psig=AOvVaw3E0nFzeMX9BPpbG4nP_7Dt&ust=1537019805284361">FBI vehicles</a>.
<figure style="float: right;">
<img src="./img/car1.png">
<figcaption> <b>Fig. 6 </b> - Isometric view of the remote-controlled car model.</figcaption>
</figure>
</p>
<p>
  At the beginning, the first parts to be modelled were the back wheels. An <a target="_blank" rel="noopener noreferrer" href="https://grabcad.com/library/rc-drift-wheel-1-10-1">initial design</a> was obtained from
GrabCad. However, some changes had to be made in order to fit our model. Since these wheels were meant to be attached
to the motor (with a double axis, 1 pointing to the right and another to the left), a cylindrical axle with an appropriate length and internal radius had to be built. Instead of
having the hexagonal cavity that was present in the original design, the shape of the hollow inner cylinder was
changed to match the shape of the motor's axle, as we can see in Fig. 7.
<figure style="float: left;">
<img src="./img/car2.png">
<figcaption> <b>Fig. 7 </b> - Back wheel design.</figcaption>
</figure>
</p>
<p>
  Special attention should be given to the fact the wheels were fixed to this double axle, consequently, these
2 move along at the motor speed. This is not the case for the 2 front wheels. <br/>
The same original design was used
in the front wheels. However, the axles modelled were completely different, as these were meant to rotate
around a vertical imaginary axle, synchronously with the servo's paddle. This movement was limited to 45º rotation to each side. Both wheels’ axles
were designed in an L-shape, with a cylindrical and a rectangular end. The latter is always parallel to the
servo’s paddle and has a cut where an elastic is to be wrapped around and connected to the paddle (Fig. 8).
<figure style="float: right;">
<img src="./img/car3.png">
<figcaption style="width: 400px;"> <b>Fig. 8 </b> - Cut view of 1 of the front
wheels. 2 features of the L-shaped axle are visible here: the cut where the
elastic is to be wrapped and the connection between the axle and the wheel.</figcaption>
</figure>
</p>
<p>
  Both ends of each axle were connected by a bar to guarantee the wheels move simultaneously to the sides. Furthermore, to
assure the wheels rotate at the same angle as the servo’s paddle, the distance between the centre of
the hinge of the axle and the centre of the cut was equal to the length of the paddle (Fig. 9).
<figure style="float: left;">
<img src="./img/car4.png">
<figcaption style="width: 500px;"> <b>Fig. 9 </b> - Bottom view of the chassis. It is visible the connection between
both front wheels’ axles.</figcaption>
</figure>
</p>
<p>
  To guarantee the rotation of the wheels, a revolved cut was added to the cylindrical end of the axle and a
complementary boss was designed in the wheel (Fig. 8). In order the joint to be detachable, a difference of 0.3mm between
the internal and external radius was guaranteed. The same principle was applied to the hinges in both axles. Thus, 2 cylindrical
structures were built on the bottom surface of the chassis, each with a revolved cut at the
end. A complementary structure was built in each axle corner, again with the 0.3mm difference.
<figure style="float: right;">
<img src="./img/car5.png">
<figcaption style="width: 400px;"> <b>Fig. 10 </b> - Isometric view of the chassis, wheels, axles and servo.</figcaption>
</figure>
</p>
<p>
  As for the chassis of the car, besides the structures already referred, there are 2 other features worth
mentioning. First, a cut in the chassis was made in order to fit the servo, as the paddle must be at the same
height as the axles. Second, it had to be cut at the front in order the wheels to turn (Fig. 10). <br/>
  Finally, although this part was not printed due to its dimension and accessory nature, the body of the
car was also designed. We made sure to include the cuts for the respective lighting system, place for (back and front)
registration plates and 4 complementary supports to the ones present on the top surface of the chassis - tightly connecting both parts. <br/>
  It is shown below the side, front and back views of the completely assembled model (Fig.11).
</p>
<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/>
<div class="grid-container22" style="padding-left: 90px;padding-right: 90px;">
<div class="image2" style="background-image: url('./img/car7.png');background-size: 350px">
<div class = "hiddenn" style="background-color: white;width: 400px">Front View</div>
</div>
<div class="image2" style="background-image: url('./img/car8.png');background-size: 350px">
<div class = "hiddenn" style="background-color: white;width: 400px">Back View</div>
</div>
<div class="image2 a2" style="background-image: url('./img/car6.png');background-size: 450px; margin-left: 160px;">
<div class = "hiddenn" style="background-color: white;">Side View</div>
</div>
</div>
<div style="margin-top: -50px; text-align: center;font-size: 15px;"><b>Fig. 11 </b>- Different views of the car prototype modeled using SoliWorks.</div>
<p>
The biggest challenge faced in this part of the project was the design of the front wheels' rotation system.
This had to be redone several times in order to allow the proper movement imposed by the servo. However, this was never tested, as the
axles were meant to be connected to the servo’s paddle by an elastic, and this could only be done after printing. <br/>
  Furthermore, it is important to mention that in order to achieve the final design, all components had to be
redone several times, particularly, the cuts and extrudes responsible for the connections between
parts. This assured the pieces were aligned and had appropriate dimensions. <br/>
  After modelling, the main goal, in terms of design, was to 3D print (using Ultimaker 2+ Extended printer
- Fig. 12) the several parts and use them to build the model. Finally, all the electric components were displaced in the car.
</p>
<figure style="float: left;">
<img src="./img/printer.png">
<figcaption style="width: 300px;"> <b>Fig. 12 </b> - Ultimaker 2+ Extended, at iStartLab (IST, University of Lisbon).</figcaption>
</figure>
<p>
  It is important to mention there was a dimension limitation associated with the printer, which did not
allow us to print the body of the car. The printing required the use of
a 2.85mm PLA filament. Although some smaller details of the model were not perfectly reproduced, printing
was well succeeded. <br/>
   Regarding the 2 cylindrical structures designed on the bottom of the chassis (to fit the L-shape axles),
they ended up slightly prone to break. This was fixed by wrapping some resistant tap glue. Moreover, still
to secure the axles to the chassis, 2 elastics were wrapped around on each side, which helped keeping the
car stable and all parts in place. In other words, they pushed both parts against each other. 1 way to