Introduction: Bluetooth Controlled Vehicle With WiFi Camera

This is a 4-wheel drive camera vehicle controlled by Arduino and Bluetooth module(HC-05). Wifi action camera is mounted on it. This can be controlled remotely by an android device for easy operation. It uses android application commands to move in front, back and left right directions. This vehicle is capable of turning 360 degree in any direction at the same place. On receiving command from the receiver, The microcontroller operates the movement through the motor driver. Range is approximately 10 Meters (30 feet).

Step 1: Materials

  • 4 Wheel Drive Robot Chassis
  • Wifi Action Camera
  • Arduino Uno
  • L293D motor Sheild
  • HC-05 bluetooth module
  • 2x 18650 battery
  • Male to Female jumper wires
  • Female and Male Header Pins
  • Blank PBC
  • (M4 x 10mm) screws
  • (M4 x 30mm) screws
  • (M4 x 10mm) brass spacer
  • (M4 x 40mm) brass spacer
  • M4 nuts

Step 2: Mounting Motors to the Chassis

Using 10mm screws mount the motors.

Step 3: Battery

Here I've used 2 x 18650 batteries in series to make 7.4 V and the batteries are rated at 2800mAh.

mount the battery using zip ties. Be sure that the shafts of motors are away from the battery.

Alternative: using a 2s liPo battery with circuit protection for over charge and discharege

Step 4: Modification of L293D Motor Shield

Here I've done two modifications on the Motor shield.

1. Adding heat sink to the L293D motor driver IC.

2. Soldering two male header pins on the shield for Bluetooth communication.

Soldering male header pins to the pin no. 0 and 1 of the shield, which are basically Rx and Tx pins of the Arduino.

Step 5: Mounting Micro Controller and Motor Driver to Chassis

using 2x m4 10mm screws and 2x m4 30mm screws.

8x m4 nuts as spacers between the arduino board and the chassis.

2x m4 brass spacers as lock nut to lock them tight.

Step 6: Connector for Bluetooth Module

The Bluetooth module uses total 4 pins.

  1. RX
  2. TX
  3. Gnd
  4. Vcc

First solder 4 female header pins on the small blank PCB cutout, then solder male pins of the male to female jumper cables to the corresponding pins at bottom of PCB.


Mark the pins names on the PCB for the correct connection of bluetooth module.

Step 7: Mounting the Bluetooth Connector

Using zip tie , tie the circuit to the back of the upper chassis.

Step 8: Connection of Bluetooth Module to Micro Controller

Arduino (pin) ............ HC-05(pin)

RX >>>>>>>>>>>>>> TX

TX >>>>>>>>>>>>>> RX

5v >>>>>>>>>>>>>> Vcc

Gnd >>>>>>>>>>>>>> Gnd

Step 9: Combining Lower and Upper Chassis Together

Mounting 4x (M4 x 40mm) spacers using (M4 x 10mm) screws on lower chassis, as stands for the upper chassis.

Step 10: Battery Connections

The battery will connect to the EXT_PWR connecting port on the motor shield. Arduino Board will get power from the motor shield itself.

Here I have used male and female connecting ports for the battery connection for ease.

Step 11: Connection of Motors to Motor Driver

M1, M2, M3 & M4 are motor ports.

Connect all the motors to the ports.

Step 12: Connecting Bluetooth Module

Insert the bluetooth module corresponding to their pins as marked.

I had used an antenna as a support only here, its doesn't extend range though.

Step 13: Programming

In order to use the Motor shield, we need the Adafruit Motor Shield library. You can download it here, I also included it below for your convenience. In the Arduino IDE, click on Sketch > Include Library > Add Zip Library... and point it the 'bluetooth_control' folder.

Next, extract the other zip file and open 'bluetooth_control.ino' in the Arduino IDE. Upload the sketch to the arduino.


while uploading the sketch make sure the bluetooth module is not connected to the connector, otherwise the execution will thrown an error.

Step 14: The App !

Download the application Arduino Bluettoth RC Car from play store, run and then connect to the vehicle.

This app also allows to control the vehicle using tilt control.

Step 15: Mounting the Camera to the Rover/Car

Using double sided tape, mount the camera to the front of the vehicle. Cast live to your laptop!!!

Bluetooth Challenge

Runner Up in the
Bluetooth Challenge