Arduino Mega2560 User manual

Mars Explorer Mecanum Wheel Robotic Kit
(Arduino Mega2560)
More information: http://osoyoo.com/?p= 30176

Mecanum wheels, also known as omni wheels or Ilon wheels, consist of a hub with rollers oriented 45°to the
axis of rotation.The mecanum wheels are wheel hubs fitted with integrated rollers that move passively and
independently.
Depending on which wheels rotate in which direction, the platform will move forward, backward, sideways,
diagonally, or spin in place. This range of maneuverability enables the Omni Platform to efficiently navigate
any space, particularly around tight corners, narrow lanes, and complex pathways.
This Arduino Omini Direction Robot Car learning kit is developed our Japan and Canada engineer team. It
has all features a traditional Arduino Robot car should have, including remote control by Bluetooth, IoT
through Wifi, Line tracking and Obstacle Avoidance auto driving. With the help of powerful Mecanum wheels,
the car can make much more complicated movement such as sideway shifting and digaonally movement
controlled by Cell phone APP.
The kit comes with OSOYOO MEGA2560 board(fully compatiable with Arduino MEGA2560) and
OSOYOO ESP8266 Wifi Shield. Besides, we have designed five step by step lessons which help students to
learn Arduino robot programming from scratch. If you are an experience DIY player or Arduino programmer,
you can also get a lot of knowledge from this kit’s open source code and hardware to make interesting DIY
project of your own.
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Buy from JP
This full package kit didn’t come with 18650 batteries (3.7V), you need to buy a pair of 18650 batteries separetly

CONTEXT
Lesson1 Assembling the Car.......................................................................................4
Lesson 2: Obstacle Avoidance Robot Car.................................................................17
Lesson 3: Tracking Line............................................................................................23
Lesson 4: Bluetooth Imitation Robot Car .................................................................27
Lesson 5: Wifi IoT Control Robot Car......................................................................32

Lesson1 Assembling the Car
Mecanum Omni direction wheel is a very interesting wheel which allows robot car make
omni-directional movement( parallel shift to left and right).
In this project, we will show how to use Arduino to control an Osoyoo Brand Mecanum wheel
robot car to make some basic movement including go forward, backward, left turn, right
turn, parallel left shift, parallel right shift etc.
This lesson also shows you how to install the chassis of this car and connect Arduino
control signal wires to two model-X (L298N) driver board. This installation will be the
start point of our other lessons.
OSOYOO Mecanum wheels robotic car chassis x1(2xleft-wheels/2xright-wheels and Motor x 4)
OSOYOO Mega2560 board fully compatible with Arduino UNO/Mega2560 x 1
OSOYOO V1.0 Wifi shield x 1
OSOYOO Model X motor driver x 2
OSOYOO battery box x 1
Model X to Model X connection white cable (2 pin XH.25 female to female) x 1
18650 batteries(3.7V) x 2 (the kit don’t include the batteries,click it to buy it
separately)
Picture 1: size dimensions:

Picture 2: Chassis screw location map (view from top)
Step 1) Install Cooper standoff on the chassis
If your motors have already connected with a copper standoff, please skip this step and
directly go to Step 2
Follow the picture below to install 4 copper standoff on the positions of the blue lines
first, then fasten the 4 motors onto the 4 standoffs. Make sure the motor directions must
be correct(exactly same as picture)!
Picture 3: Motor fasten screws location map (view from bottom of the chassis)

Picture 4: Motor installation guide map
Step 2) If you have already installed motor and standoff in Step 1, please skip this step
and go to Step 3
If your motor comes with pre-installed standoff, please follow the pictures below to
install them onto the chassis.
The four motors have two types of standoff positions:
Type A have standoffs installed on the RED wire side of the motor (see picture 5
top two motors)
Group B have standoffs installed on the Black wire side of the motors(see picture 5 lower
two motors)
Picture 5: distinguish two type of motors.

Picture 6: Type A and Type B motors location map in chassis.
Picture 7: Wheel installation map

Step 3) Connect wheels to the motors
The Mecanum wheel has some sub-wheels on the main wheel. The four Mecanum wheels have
two types by the sub-wheel directions. Check the type A wheel and type Wheel by following
picture 8 left side . You must 100% sure that correct type of wheel is installed into
correct position as per picture 8 right side, the rolling direction of each wheel
will determine the whole car moving directions showed in the picture.
Picture 8: Two types of Mecanum wheel and their installation position in the car

Picture 9: different rotation combination of 4 wheels will result in different car
movement directions. Following pictures shows how they works.
Step 4) Install Mega2560, Model X boards(L298N),Wifi shield onto the chassis
Picture 10: MEGA2560, Model X, voltage meter guide
Picture 11: Battery box installation location

Picture 12: Wifi shield installation guide

Caution:
When insert/remove the 6-pin parallel cable plug into Model X 6-pin male
socket, please hold the black plastic pin-holder to do operation. Never drag the
wires to pull the plug out of the socket, otherwise it will damage the wires.
Picture 13: Connect Model X board (L298N) to front motors
Picture 14: connect another model X board(L298N) to rear motors.
Picture 15: Connect Front Model X pins to MEGA2560

Note: wire (purple wire) is connected to D22 which is located on the SECOND female hole
from right in following picture 10. Many people treat the first hole as D22. THIS IS
WRONG.
Picture 16: Front Model X board IN1,IN2,IN3,IN4 pin connect to D22,D24,D26,D28

Picture 17: Connect Rear model X control pins to Mega2560
Picture 18: Connect Model X to Voltage meter

Open-source Arduino
Software(IDE)
Download Arduino IDE here:
https://www.arduino.cc/en/Main/Software?setlang=en

7 zip is a free zip
utility that un-zips zip
files
Download 7zip here for free
https://www.7-zip.org/
Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please
skip this step). Download Arduino IDE from
https://www.arduino.cc/en/Main/Software?setlang=en , then install the software.
Step 2: Download https://osoyoo.com/driver/mecanum/mecanum-2560-lesson1.zip, unzip the
download zip file lesson1.zip, you will see a folder called lesson2 .
Step 3: Connect mega2560 board to PC with USB cable, Open Arduino IDE -> click file ->
click Open -> choose code “lesson1.ino” in lesson1 folder, load the code into arduino.
Step 4: Choose corresponding board/port for your project,upload the sketch to the board.

After running Lesson 1 code, the car will move forward,backward, left turn, right turn,
left shift, right shift. If the car does not move as per this sequence , you need check
the wire connection.
Youtube Video Link: https://www.youtube.com/embed/15qYSh9M5AE

Lesson 2: Obstacle Avoidance Robot Car
In this lesson, you must complete lesson 1 before you continue on with this lesson. we
use the ultrasonic module to “see” obstacle and measure the distance. If the distance
is less than pre-defined threshold value, the car will turn around from the obstacle
automatically.
OSOYOO Mecanum Wheels Robotic Car Chassis x1(2xleft-wheels/2xright-wheels and Motor x 4)
OSOYOO Mega2560 board fully compatible with Arduino x 1
OSOYOO V1.0 Wifi shield x 1
OSOYOO Model X motor driver x 2
OSOYOO MG90 servo motor x 1
OSOYOO Ultrasonic sensor module x1
OSOYOO Mount holder
OSOYOO Battery box x 1
18650 Batteries(3.7V) x 2
You must complete lesson 1 (assembling the car) before you continue on with this
lesson.In this lesson3, we will add a servo motor and to the robotic car built in Lesson
1.
Step 1: Install bracket (from servo motor package) on mount holder for Ultrasonic
Module with 2pcs M1.5*6 Self Tapping Screws.
Step 2: Install Ultrasonic Module to mount holder with 4pcs M1.4*8 screw and M1.4 nuts.

Step 3: Remove screws on copper pillars and install servo motor at the front of upper car
chassis with 2pcs M2.2*8 Self Tapping Screws.
Step 4: Install mount holder for Ultrasonic Module on servo motor with M2*4 Self Tapping
screw. (Please note: please upload code to adjust servo motor direction before fixing
this screw)

If you just finishes Lesson 1, please keep all lesson 1 connections same as it is.
STEP5:Connect Servo 3-pin head to any Model X board servo slot(yellow to S pin, red to
5v,brown to G pin), then connect another S pin to Wifi board D13.
STEP6:Connect Ultrasonic sensor module to wifi board as following graph.

Open-source Arduino
Software(IDE)
Download Arduino IDE here:
https://www.arduino.cc/en/Main/Software?setlang=en
7 zip is a free zip
utility that un-zips zip
files
Download 7zip here for free
https://www.7-zip.org/
Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please
skip this step). Download Arduino IDE from
https://www.arduino.cc/en/Main/Software?setlang=en , then install the software.
Step 2: Download https://osoyoo.com/driver/mecanum/mecanum-2560-lesson2.zip , unzip the
download zip file lesson2.zip, you will see a folder called lesson2 .
Step 3: Connect mega2560 board to PC with USB cable, Open Arduino IDE -> click file ->
click Open -> choose code “lesson2.ino” in lesson folder, load the code into arduino as
following: