L298N motor with Ultrasonic Sensor using Can Bus MCP2515

Today, I will share the project where we use 2x Arduino where each Arduino act as Transmitter to measure a distance using Ultrasonic sensor and Receiver controlling L98N motor driver.

Ultrasonic Sesnor

L298N Motor Driver

          

Two output Motor Driver with Enable pin for both Motor.

Requirement:

1. 2x Arduino
2. 2x MCP2515 CAN module
3. L298N Motor Driver
4. Ultrasonic Sensor
5. 12V battery
6. Download NewPing, SPI and mcp2515 into Arduino.

Instruction:


1. Connect Arduino Nano to Ultrasonic sensor.
2. Connect Arduino Nano to MCP2515(1) through SPI connection.
3. Connect MCP2515(1) with MCP2515(2) using CAN-H and CAN-L wire.
4. Connect MCP2515(2) to Arduino Uno through SPI connection.
5. Connect Arduino Uno with Motor L298N.

Code:

Transmitter:

#include <NewPing.h>

#include <SPI.h>          //Library for using SPI Communication

#include <mcp2515.h>      //Library for using CAN Communication

#define trigPin 3 //Sensor Echo pin connected to Arduino pin 3

#define echoPin 5 //Sensor Trip pin connected to Arduino pin 5

#define MAX_DISTANCE 350 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.

struct can_frame canMsg;

MCP2515 mcp2515(10);      //Set the pin number where SPI CS is connected (10 by default)

NewPing sonar(trigPin, echoPin, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

float duration, distance;

void setup()

{

  while (!Serial);

  Serial.begin(9600);

 

  SPI.begin();               //Begins SPI communication

 

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS,MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz

  mcp2515.setNormalMode();

}

void loop()

{

  duration = sonar.ping();

  distance = (duration / 2) * 0.0343;

  int h = duration;       //Gets duration

  int t = distance;    //Gets distance

 

  //Serial.print("Distance = ");

  //Serial.print(distance); // Distance will be 0 when out of set max range.

  //Serial.println(" cm");

  canMsg.can_id  = 0x035;           //CAN id as 0x036

  canMsg.can_dlc = 8;               //CAN data length as 8

  canMsg.data[0] = h;               //Update humidity value in [0]

  canMsg.data[1] = t;               //Update temperature value in [1]

  canMsg.data[2] = 0x00;            //Rest all with 0

  canMsg.data[3] = 0x00;

  canMsg.data[4] = 0x00;

  canMsg.data[5] = 0x00;

  canMsg.data[6] = 0x00;

  canMsg.data[7] = 0x00;

  mcp2515.sendMessage(&canMsg);     //Sends the CAN message

  delay(1000);

}

Receiver:

#include <SPI.h>              //Library for using SPI Communication

#include <mcp2515.h>          //Library for using CAN Communication

struct can_frame canMsg;

MCP2515 mcp2515(10);                 // SPI CS Pin 10

#define OUR_LED 5

// Motor A connections

int enA = 9;

int in1 = 8;

int in2 = 7;

// Motor B connections

int enB = 3;

int in3 = 5;

int in4 = 4;

void setup() {

  SPI.begin();                       //Begins SPI communication

  Serial.begin(9600);                //Begins Serial Communication at 9600 baudrate

 

  mcp2515.reset();                         

  mcp2515.setBitrate(CAN_500KBPS,MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz

  mcp2515.setNormalMode();                  //Sets CAN at normal mode

 // Set all the motor control pins to outputs

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

 

  // Turn ON motors - Initial state

  digitalWrite(in1, HIGH); //motor A

  digitalWrite(in2, LOW); //motor A

  digitalWrite(in3, HIGH); //motor B

  digitalWrite(in4, LOW); //motor B

}

void loop() {

directionControl();

delay(1000);

}

void directionControl() {

  // Set motors to maximum speed

  // For PWM maximum possible values are 0 to 255

  analogWrite(enA, 255);

  analogWrite(enB, 255);

  if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) // To receive data (Poll Read)

  {

     int x = canMsg.data[0];        

     int y = canMsg.data[1];

    

    Serial.print("Data from ID: 0x");

    Serial.print(canMsg.can_id, HEX);

    Serial.print(" ");

    Serial.print("DLC : ");

    Serial.print(canMsg.can_dlc);

    Serial.print(" ");

    Serial.print("DATA : ");

    Serial.print(canMsg.data[0]);

    Serial.print(" ");

    Serial.print(canMsg.data[1]);

    Serial.print(" ");

    Serial.print(canMsg.data[2]);

    Serial.print(" ");

    Serial.print(canMsg.data[3]);

    Serial.print(" ");

    Serial.print(canMsg.data[4]);

    Serial.print(" ");

    Serial.print(canMsg.data[5]);

    Serial.print(" ");

    Serial.print(canMsg.data[6]);

    Serial.print(" ");

    Serial.print(canMsg.data[7]);

    Serial.print("\n");

   

    Serial.print("Duration = ");   

    Serial.print(x);

    Serial.print("%  ");

    Serial.print("Distance = ");

    Serial.print(y);

    Serial.println("cm  ");

    if (canMsg.data[1] >= 17){

   // Turn ON motors - Initial state

    digitalWrite(in1, HIGH);

    digitalWrite(in2, LOW);

    digitalWrite(in3, HIGH);

    digitalWrite(in4, LOW);

   

    }

    else

     

  // Turn off motors

    digitalWrite(in1, LOW);

    digitalWrite(in2, LOW);

    digitalWrite(in3, LOW);

    digitalWrite(in4, LOW);

    }

}