In this project we will connect Robot Car to Arduino Wifi Shield and Use a Mobile APP to control 4-DOF robot arm movement.
Parts and Devices:
|OSOYOO basic board fully compatible with Arduino UNO board||https://osoyoo.store/products/osoyoo-uno-r3-for-arduino?variant=31955265290351|
|OSOYOO Wifi shield||https://osoyoo.store/products/esp8266-wifi-shiled-osoyoo-wifi-internet-of-things-learning-kit-for-arduino-uno?variant=31955252215919|
|PCA9685 PWM control board||https://osoyoo.store/products/pca9685-compatible-module?variant=32079312879727|
|补MG995舵机图片||MG995 Servo x 4|
Hardware Installation :
Step 1: Insert to Osoyoo Wifi Shield onto your UNO board
Step 2: Install servos on Robot Arms and fix the base servo in some servo platform.
Step 3: Connect 4 servo motor, PCA9685 and OSOYOO Wifi Shield as following graph：
|PCA9685||Arduino UNO board|
|PWM 15||Finger servo|
|PWM 14||Wrist servo|
|PWM 11||Arm servo|
|PWM 10||Base servo|
Step 4: Make sure Wifi Shield jumper caps in E_TX to D4 and E_RX to D5 are connected.
|Download Arduino IDE here:
|7 zip is a free zip
utility that un-zips zip files
|Download 7zip here for free
|Osoyoo Wifi Robot APP||search “Osoyoo Wifi Robot APP” in
Google Play or Apple Store
Step 1) Download OSOYOO Wifi UDP Robot Car control APP
In Google Play or Apple Store, please search key words “OSOYOO Wifi UDP Robot Car”, you will find an orange icon APP as following:
You can also DOWNLOAD Android APP directly from https://osoyoo.com/driver/arduino-udp/udp-robot.apk
Step 2) Install WifiESP and Adafruit-PWM-Servo-Driver-Library-master Library
Please download these two library zip files from
Open Arduino IDE ->click Sketch ->Include Library ->Add .ZIP library , then load above zip files into Arduino.
Step 3) Arduino Sketch code Installation:
Unzip above file , you will see a wifi-robot-arm sub-folder.
1) Go to wifi-arm sub folder, Run sketch code file wifi-robot-arm.ino
2) You need change following code in line 39,40:
char ssid = “***”; // replace this with your router wifi SSID
char pass = “***”; // replace with your wifi password
4) In this mode, your will see an IP address which is our LAN IP address assigned by my router. Please write down this IP address and click Setting to set up robot IP address and set this IP address to your APP Setting section (no need change default port 8888 in APP).
Now your Robot car is connected to your LAN, you can use Mobile phone under same LAN to control the robot car. If your APP is in WAN, you need to go to your Router Control Panel, forward Port 8888 to Robot car LAN IP address, then you can use Router IP to control the car. This feature makes our robot car A REAL INTERNET OF THING device
Now your Robot car become a Wifi Hot Spot, you can use Mobile phone control the robot car.
Trun on the car. Now click Setting to set up robot IP address, use default port 8888
To control the Robot Arm movement:
|F3||rotate finger clockwise|
|F6||rotate finger counter clockwise|
|▷||Rotate base clockwise|
|◃||Rotate base countclockwise|
Note: F1~F6 are further development functions in the future.
FAQ about the Wifi UDP APP and sketch Code:
Q 1)What happened when you press buttons in OSOYOO WiFi UDP Robot Car APP ?
A: When you press a button of the APP, APP will send a single-letter message through UDP protocol to target device (in this example, our Arduino Wifi Shield)
DownLoad Url osoyoo.com