In this tutorial we are going to learn, how to make a gesture controlled car or any robot. This project has two part, one part is transmitter unit and other part is receiver unit. Transmitter unit is actually mounted on a hand gloves and receiver unit is placed inside a car or any robot. Now its time to make a nice car. Lets go!

Step 1: Equipments

Transmitter Unit

1. Arduino Nano.

2. MPU6050 Sensor Module.

3. RF 433 MHz Transmitter.

4. Any type of 3 cell, 11.1 volt Battery (Here I've used coin cell).

5. Vero-Board.

6. Hand Gloves.

Receiver Unit

1. Arduino Nano or Arduino Uno.

2. L298N Motor Driver Module.

3. 4 wheel robot frame including motors.

4. RF 433 RF Receiver.

5. 3 cell, 11.1 volt Li-po Battery.

6. Vero-board.

Others

1. Glue Sticks and gun.

2. Jumper wires.

3. Screw Drivers

4. Soldering Kit.

etc.

Step 2: Circuit Diagram Image File

Step 3: Fritzing File of Circuit Diagram

Gesture and RF base 4 wheel car.fzz
Download

Step 4: Transmitter Code

#include <VirtualWire.h>
#include <MPU6050_tockn.h>
#include <Wire.h>
MPU6050 mpu6050(Wire);
long timer = 0;
char *controller;
void setup() 
{
  Serial.begin(9600);
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
  vw_set_ptt_inverted(true); //
  vw_set_tx_pin(10);
  vw_setup(4000);// speed of data transfer Kbps
}
void loop() 
{
////////////////////////////////////////////////////////////////////////////////////////////////
 mpu6050.update();
  if(millis() - timer > 1000)
  {
    
    Serial.println("=======================================================");
    Serial.print("temp : ");Serial.println(mpu6050.getTemp());
    Serial.print("accX : ");Serial.print(mpu6050.getAccX());
    Serial.print("\taccY : ");Serial.print(mpu6050.getAccY());
    Serial.print("\taccZ : ");Serial.println(mpu6050.getAccZ());
  
    Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
    Serial.print("\tgyroY : ");Serial.print(mpu6050.getGyroY());
    Serial.print("\tgyroZ : ");Serial.println(mpu6050.getGyroZ());
  
    Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
    Serial.print("\taccAngleY : ");Serial.println(mpu6050.getAccAngleY());
  
    Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
    Serial.print("\tgyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
    Serial.print("\tgyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());
    
    Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
    Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
    Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());
    Serial.println("=======================================================\n");
    timer = millis();
    
  }
/////////////////////////////////////////////////////////////////////////////////////
  if (mpu6050.getAccAngleX()<-25)
  { 
    controller="X1"  ;
    vw_send((uint8_t *)controller, strlen(controller));
    vw_wait_tx(); // Wait until the whole message is gone
    Serial.println("BACKWARD");
  } 
  else if (mpu6050.getAccAngleX()>30)
  { 
    controller="X2"  ;
    vw_send((uint8_t *)controller, strlen(controller));
    vw_wait_tx(); // Wait until the whole message is gone
Serial.println("FORWARD");
  }
  else if (mpu6050.getAccAngleY()>40 )
  { 
    controller="Y1"  ;
    vw_send((uint8_t *)controller, strlen(controller));
    vw_wait_tx(); // Wait until the whole message is gone
Serial.println("LEFT");
  }
    else if (mpu6050.getAccAngleY()<-40)
  { 
    controller="Y2"  ;
    vw_send((uint8_t *)controller, strlen(controller));
    vw_wait_tx(); // Wait until the whole message is gone
Serial.println("RIGHT");
  }
    else if (mpu6050.getAccAngleX()<10 && mpu6050.getAccAngleX()>-10 && mpu6050.getAccAngleY()<10 && mpu6050.getAccAngleY()>-10)
  { 
    controller="A1"  ;
    vw_send((uint8_t *)controller, strlen(controller));
    vw_wait_tx(); // Wait until the whole message is gone
Serial.println("STOP");
  }
}

Step 5: Receiver Code

#include <VirtualWire.h>
int LA = 3;
int LB = 11;
int RA = 5;
int RB = 6;
void setup()
{
Serial.begin(9600);
vw_set_ptt_inverted(true); // Required for DR3100
vw_set_rx_pin(12);
vw_setup(4000);  // Bits per sec
pinMode(13, OUTPUT);
pinMode(LA, OUTPUT);
pinMode(LB, OUTPUT);
pinMode(RA, OUTPUT);
pinMode(RB, OUTPUT);
vw_rx_start();       // Start the receiver PLL running
Serial.println("All OK");
}
    void loop()
{
    uint8_t buf[VW_MAX_MESSAGE_LEN];
    uint8_t buflen = VW_MAX_MESSAGE_LEN;
if (vw_get_message(buf, &buflen)) // Non-blocking
{
if((buf[0]=='X')&&(buf[1]=='1'))
  {   
  Serial.println("BACKWARD");
  backward();
  delay(100);
  //off();
  }  
      
      
else if((buf[0]=='X')&&(buf[1]=='2'))
  {  
  Serial.println("FORWARD");
  forward();
  delay(100);
  //off();
  }
else if((buf[0]=='Y')&&(buf[1]=='1'))
  {  
   Serial.println("LEFT");
   left();
   delay(100);
   //off();
  }
else if((buf[0]=='Y')&&(buf[1]=='2'))
  {  
  Serial.println("RIGHT");
  right();
  delay(100);
  //off();
  }
else if((buf[0]=='A')&&(buf[1]=='1'))
  {  
  Serial.println("STOP");
  off();
  delay(100);
  }
      
}
else
{
  Serial.println("No Signal Received");
}
}
void forward()
{ 
  analogWrite(LA, 70);
  analogWrite(LB, 0);
  analogWrite(RA, 70);
  analogWrite(RB, 0);
}
void backward()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 70);
  analogWrite(RA, 0);
  analogWrite(RB, 70);
}
void left()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 70);
  analogWrite(RA, 70);
  analogWrite(RB, 0);
}
void right()
{ 
  analogWrite(LA, 70);
  analogWrite(LB, 0);
  analogWrite(RA, 0);
  analogWrite(RB, 70);
}
void off()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 0);
  analogWrite(RA, 0);
  analogWrite(RB, 0);
}