DC motor controlled by Gyro MPU 6050 using Arduino & L298N Motor driver - Wireless Connection

Circuit Diagram:

Required Components:


Arduino uno/nano - 1 Nos
Battery - 1 Nos
DC Motor - 2 Nos
L298N Motor Driver - 1 Nos
Gyro MPU6050 - 1 Nos
Transceiver - 2 Nos

Program Code:

Transmitter Code:

#include <SPI.h>       
#include "RF24.h"      
#include "Wire.h"      
#include "I2Cdev.h"    
#include "MPU6050.h"  

MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;

int data[2];

RF24 radio(9,10);
                              
uint64_t pipe = 0xE8E8F0F0E1LL;

void setup(){
  Serial.begin(9600);
  Wire.begin();
  mpu.initialize();
  radio.begin();                    
  radio.openWritingPipe(pipe);
}

void loop(){
 
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);  //With this function, the acceleration and gyro values of the axis are taken.

  data[0] = map(ax, -17000, 17000, 0, 128); //Send X axis data
  data[1] = map(ay, -17000, 17000, 129, 255);  //Send Y axis data
  radio.write(data, sizeof(data));

  Serial.println(data[0]);
  Serial.println(data[1]);

}

Receiver Code:

#include <SPI.h>     
#include "RF24.h"    

int Motorforward  = A1;  
int Motorbackward = A2;  
int Motorleft     = A3;   
int Motorright    = A4;  

int data[2];

RF24 radio(9,10);

uint64_t pipe = 0xE8E8F0F0E1LL;

void setup(){
  pinMode(Motorforward, OUTPUT);
  pinMode(Motorbackward, OUTPUT);
  pinMode(Motorleft, OUTPUT);
  pinMode(Motorright, OUTPUT);
 
  Serial.begin(9600);
  radio.begin();         
  radio.openReadingPipe(1, pipe);
  radio.startListening();            
  }

void loop(){
  if (radio.available()){
    radio.read(data, sizeof(data));

       if(data[0]>1 && data[0]<60){
    digitalWrite(Motorforward,LOW);
    digitalWrite(Motorbackward,HIGH);
  }
    if(data[0]>69 && data[0]<128){
    digitalWrite(Motorforward,HIGH);
    digitalWrite(Motorbackward,LOW);
  }
      if(data[0]>61 && data[0]<70){
    digitalWrite(Motorforward,LOW);
    digitalWrite(Motorbackward,LOW);
  }


   if(data[1]>129 && data[1]<188){
    digitalWrite(Motorleft,HIGH);
    digitalWrite(Motorright,LOW);
  }
    if(data[1]>198 && data[1]<255){
    digitalWrite(Motorleft,LOW);
    digitalWrite(Motorright,HIGH);
  }
     if(data[1]>189 && data[1]<199){
    digitalWrite(Motorleft,LOW);
    digitalWrite(Motorright,LOW);
  }
  }
}

Video: