arduino bluetooth tank

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i has build an arduino bluetooth tank to learn how to programming or learn how bluetooth communication works between android smart phone and HC-06 or HC-05. The robotic arm are attached for user to control and capture something that assisted by ping sensor. The coding has included 3 type of auto pilot mode can be triggered remotely such as obstacle avoiding mode, auto loading mode, and search and capture mode.

The obstacle avoiding mode is to let arduino automatically pilot its self by avoiding any object in front of it by using ping sensor to measuring the distance of obstacle. Auto loading mode was use to assist user to facilitate the process of taking an object that in-front of the tank. arduino will tracking any object in-front of it by run forward with medium speed and lower the robotic arm, arduino will slow down the speed and open the gripper when something was detected, the gripper will close after an object was detected and located inside the gripper. Final mode was the search and capture mode that i writed to assist user to facilitate the process of capturing an floating object that in-front of the tank. An arduino will swinging the gripper arm up and down slowly to sensing any floating object and capture it by moving the robotic arm after an object has been detected.

Beside that, user also can fully take control on arduino bluetooth tank movement or even the robotic arm via smart phone. My next upgrade will be building an arduino bluetooth controller by using arduino mega and add more auto pilot mode.

This project included:

  • Arduino UNO X1
  • Mini servo motor HD-1160A X2
  • 360 rotation servo motor X2
  • Metal gear servo motor C55R X1
  • Tamiya twin motor gear box X1
  • Tamiya universal plate set X2
  • Tamiya tank tracks X2
  • Ping sensor HC-SR04 X1
  • Lithium ion 3.7V battery X3
  • Battery connector X1
  • Balance charger connector X1
  • Buck converter 5V
  • Bluetooth HC-06 X1
  • LCD 8X2 X1
  • Donut Board X1
  • Male and female header pin connector

Some transparent acrylic plastic board

here the video link…

Step 1: Battery pack

arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank

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Build your own 11.1V battery pack from lithium ion 3.7V rechargeable battery is the lowest cost ever, but i recommend to add more safety protection such as fuse. You can get the lithium ion battery from portable power bank, old laptop, or high power torch light. Just simply connect 3 battery in serial so you can get 11.1V and attach a smart balance charger connector that connected to terminal of each battery. The picture show how a 24V battery connected by using seven 3.7V li-ion battery, but we just only need 3 cell to get 11.1V. So just follow the circuit diagram but only using 3 battery.

Step 2: Track assembly process

arduino bluetooth tank
arduino bluetooth tank

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I purchase 2 set of Tamiya track wheel set from myduino webside and combine it into one robot tank base. Build your own robot base by your imagination or just follow the instruction paper that has been included inside the package.

Step 3: Robotic arm assembly

arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank

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Cut and build a robotic arm by using transparent Acrylic Plastic Board. don’t forget to install the servo motor. The gripper that i has cut was 10cm length, 13.5cm for the arm and 10cm for the booms.

Unfortunately my 360 servo motor accidentally malfunction so i has to modify a mini servo motor into a continuous rotation servo motor. Click link below for servo motor hacking information.

Step 4: Assembly all

arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank
arduino bluetooth tank

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Build an arduino shield that included power regulator and all the output connector so its can be attached and easily connect all 5 servo motor on it. Picture above shows that my arduino tank shield that has included HC-06 bluetooth connector, 6 servo motor connector, front and back light connector, buck converter power connector LCD connector and a ping sensor connector. This process required some soldering skill and designing own PCB track. I use PCB plotter to milled an arduino donut shield (when i was in college). Just follow the pin number and schematic diagram so you would never missed~

pin function
0 = Blue Tx

1 = Blue Rx

2 = Servo 1 (left)

3 = Servo 2 (right)

4 = Servo 3 (boom)

5 = Servo 4 (arm)

6 = Servo 5 (gripper)

7 =


9 = LCD D5

10 = Head light/LCD light

11 = LCD RS

12 = LCD D4

13 = LCD D6

A0 =

A1 = Trig Pin

A2 = Echo Pin

A3 = Tail light

A4 = LCD D7

A5 = Battery

Step 5: Replacement

arduino bluetooth tank
arduino bluetooth tank

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I replace my LM7805 regulator power supply into a DC to DC buck converter for lowest power consumption. 11.1V from battery connect to buck converter INPUT pin and please check the OUTPUT pin by using multi-meter, ensure you get 5V output or else you have to adjust the trimmer on the buck converter. All done? The OUTPUT pin is now safe to be connected to arduino shield that should be connected to arduino 5V and supplying power to all servo motor.

You can also connect the battery 11.1V directly to arduino power jack and the INPUT pin of buck converter should connected to arduino VIN pin that located beside the GND pin. All low power consumption hardware such as LCD, LED, PING sensor, and bluetooth HC-06 are recommended to use arduino on-board regulator to avoid overheating on buck converter. Now buck converter can only supplying power to all servo motor through the buck converter OUTPUT pin.

Step 6: Programming

arduino bluetooth tank

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Discoinnect the HC-06 bluetooth module and upload the code in my text file. enjoy build your own robot~

  • arduino bluetooth tank

    Bluetooth Tank robotic arm.txt

Step 7:

arduino – arduino bluetooth tank, in category: technology