copilot

Diagram

• Arduino Uno (ATmega328P): Central controller
• Bluetooth Module (HC-05): For smartphone communication via Bluetooth
• GPS Module (PAM-7Q-0-000): For navigation
• Compass (HMC5883L): For orientation
• Motor Driver (L298N): Drives the motors
• Left Motor: For movement
• Right Motor: For movement
• Power Supply (3S LiPo & 5V Battery): Supplies power to the system

copilot

• Autonomous Cooler: A cooler that autonomously follows the user.
• Bluetooth Connection: Connects to a smartphone to receive the location.
• GPS: Determines the cooler's position.
• Compass: Helps in navigation by providing the orientation.

• Arduino Uno: The main controller of the project.
• Bluetooth Module (HC-05): Connects to the smartphone.
  • Designator: OUT1
  • Key Pins: VCC, GND, TXD, RXD
• GPS Module (PAM-7Q): Provides GPS data.
  • Designator: Q11
  • Key Pins: VDD, TXD, RXD, GND
• Compass (HMC5883L): Used for direction sensing.
  • Designator: MPN
  • Key Pins: VDD, SDA, SCL, GND
• Motor Driver (L298N): Controls the motors.
  • Designator: U1
  • Key Pins: ENA, ENB, IN1, IN2, IN3, IN4, OUT1, OUT2, OUT3, OUT4
• Motors: Driven by the motor driver.
  • Designators: M1, M2

• Arduino Uno and Sensors: Powered by a 5V battery.
• Motors: Powered by a 3S LiPo battery.

• HC-05 Bluetooth Module:
  • Connect OUT1:VCC to 5V of Arduino.
  • Connect OUT1:GND to GND.
  • Connect OUT1:TXD to D0/RX of Arduino.
  • Connect OUT1:RXD to D1/TX of Arduino.
• PAM-7Q GPS Module:
  • Connect Q11:VDD to 5V.
  • Connect Q11:GND to GND.
  • Connect Q11:TXD to D10 (for software serial communication).
  • Connect Q11:RXD to D11 (for software serial communication).
• HMC5883L Compass Module:
  • Connect MPN:VDD to 3.3V.
  • Connect MPN:GND to GND.
  • Connect MPN:SDA to A4 (I2C data line).
  • Connect MPN:SCL to A5 (I2C clock line).
• L298N Motor Driver:
  • Connect U1:ENA to Arduino PWM Pin (e.g., D3).
  • Connect U1:ENB to Arduino PWM Pin (e.g., D9).
  • Connect U1:IN1 to D8.
  • Connect U1:IN2 to D7.
  • Connect U1:IN3 to D6.
  • Connect U1:IN4 to D5.
  • Connect U1:OUT1 and U1:OUT2 to M1.
  • Connect U1:OUT3 and U1:OUT4 to M2.
  • Connect U1:VSS to 5V.
  • Connect U1:VS to LiPo Battery +.
  • Connect U1:GND to GND.

• Connect OUT1:VCC to 5V, OUT1:GND to GND.
• Connect Q11:VDD to 5V, Q11:GND to GND, Q11:TXD to D10, Q11:RXD to D11.
• Connect MPN:VDD to 3.3V, MPN:GND to GND, MPN:SDA to A4, MPN:SCL to A5.
• Connect U1:ENA to D3, U1:ENB to D9, U1:IN1 to D8, U1:IN2 to D7, U1:IN3 to D6, U1:IN4 to D5.
• Connect U1:OUT1 and U1:OUT2 to M1, U1:OUT3 and U1:OUT4 to M2, U1:VSS to 5V, U1:VS to LiPo Battery +, U1:GND to GND.

• The Bluetooth module communicates with the smartphone.
• The GPS provides location coordinates.
• The compass module guides orientation.
• The motor driver controls the motors based on commands from the Arduino, making the cooler follow the user.

• Hackster.io Project Page
• Arduino Code Repository

copilot

• SoftwareSerial for Bluetooth communication
• TinyGPS++ for GPS
• Wire for I2C communication with the compass
• HMC5883L (Adafruit's library for the compass).

• HC-05: Connect TXD to Arduino D10, RXD to Arduino D11
• GPS (PAM-7Q): Connect TXD to Arduino D8, RXD to Arduino D7
• Compass: Connect SDA to Arduino A4, SCL to Arduino A5
• Motor driver: Connect ENA, IN1, IN2, IN3, IN4, and ENB to the appropriate Arduino digital pins.

Cpp
#include 
#include 
#include 
#include 

TinyGPSPlus gps;
SoftwareSerial bluetooth(10, 11); // RX, TX for HC-05
SoftwareSerial gpsSerial(8, 7); // RX, TX for PAM-7Q

HMC5883L compass;

const int motorPin1 = 2; // IN1 on the L298N
const int motorPin2 = 3; // IN2 on the L298N
const int motorPin3 = 4; // IN3 on the L298N
const int motorPin4 = 5; // IN4 on the L298N
const int enablePinA = 9; // ENA on the L298N
const int enablePinB = 10; // ENB on the L298N

void setup() {
  Serial.begin(9600);
  bluetooth.begin(9600);
  gpsSerial.begin(9600);
  
  Wire.begin();
  compass = HMC5883L();

  // Motor pins
  pinMode(enablePinA, OUTPUT);
  pinMode(enablePinB, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
  
  // Set motor speed
  analogWrite(enablePinA, 255);
  analogWrite(enablePinB, 255);
  
  // Initial calibration for compass
  compass.setRange(HMC5883L_RANGE_1_3GA);
  compass.setMeasurementMode(HMC5883L_CONTINOUS);
  compass.setDataRate(HMC5883L_DATARATE_15HZ);
  compass.setSamples(HMC5883L_SAMPLES_8);
}

void loop() {
  while (gpsSerial.available() > 0) {
    gps.encode(gpsSerial.read());
  }

  if (gps.location.isUpdated()) {
    double latitude = gps.location.lat();
    double longitude = gps.location.lng();
    Serial.print(F("Latitude= "));
    Serial.print(latitude, 6);
    Serial.print(F(" Longitude= "));
    Serial.println(longitude, 6);
  }

  // Get compass readings
  Vector norm = compass.readNormalize();
  double heading = atan2(norm.YAxis, norm.XAxis);
  if (heading  2 * PI) {
    heading -= 2 * PI;
  }
  
  heading = heading * 180 / PI; // Convert to degrees
  Serial.print(F("Heading: "));
  Serial.println(heading);

  // Example motor control based on heading (simple case, needs expansion based on your logic)
  if (heading > 0 && heading  0) {
    char command = (char)bluetooth.read();
    if (command == 'f') {
      moveForward();
    } else if (command == 'b') {
      moveBackward();
    } else if (command == 'l') {
      turnLeft();
    } else if (command == 'r') {
      turnRight();
    } else if (command == 's') {
      stopMoving();
    }
  }
}

void moveForward() {
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
}

void moveBackward() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
}

void turnLeft() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
}

void turnRight() {
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
}

void stopMoving() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
}