Obstacle avoiding and remote controlled robot based on ATmega328P-PU. Circuit is built on prototype PCB boards.

Main parts:

• ATmega328P-PU
• HC-05 Bluetooth Module
• HC-SR04 Ultrasonic ranging module
• H-driver L293D
• 5V motors with 1:48 gear
• 65mm diameter wheels

This robot has currently two modes - remote controlling and obstacle avoiding. Connect via bluetooth and control robot with 'w', 's', 'a', 'd' commands or 'x' to switch mode.

LFuse: F7 HFuse: D1 EFuse: 07

Fuse bit configuration included in Eclipse project.

Controls list and basic info:

• w - forward
• s - reverse
• a - turn left
• d - turn right
• x - change mode - bluetooth / sensor - default bluetooth
• • • speed up by 5 pulses per second (60 maximum)
• • • speed down by 5 pulses per second (10 minimum)
• m - change straight mode - left and right wheels works separately or jointly while driving straight - default separately
• c - calibrate while moving - yes / no - default no
• Default speed is 40 pulses per second
• 20 pulses equals to one complete rotation of the wheel