Arduino Paddle Boat With Rotating Motors

The Arduino Paddle Boat With Rotating Motors is a DIY project designed to explore basic principles of robotics, propulsion, and wireless control using Arduino. This project involves building a 3D-printed paddle boat powered by two independently rotating servo motors, allowing for directional control and propulsion on water. The system is controlled via an Arduino UNO R4 WiFi, enabling wireless communication and remote operation. This project serves as a practical introduction to embedded systems, motor control, and basic mechanical design, and is suitable for hobbyists, students, or anyone interested in Arduino-based robotics.

1. Arduino Uno Wifi R4 (MUST BE the Wifi module) and a USB-C Connector to upload code
2. x2 Rotational 360 degree motor (will come with necessary supply like motor horn)
3. x2 Rechargeable 9V battery
4. DC Power Connector
5. x2 9V Battery Snap Connector with 2.1mm Plug
6. Wire/Wire Nuts
7. 3D Printer/3D printer service
8. Epoxy Glue

The boat model I used for this project is available on Thingiverse. You can find the 3D model and STL file at the following link: https://www.thingiverse.com/thing:2215941/files

Please note: after downloading the STL file, make sure to scale it up by exactly 1.88x. This adjustment is necessary to fit the larger motor I previously linked from Amazon, as the original model on Thingiverse is designed for a smaller motor.

Since the boat model has already been scaled up, printing the entire boat in one piece may be difficult. Fortunately, the STL file on Thingiverse is already split into two halves, making it easier to print on standard 3D printers.

The final assembled boat will measure approximately 40 cm x 15 cm, so ensure your printer can accommodate the individual halves.

After printing, use epoxy glue to bond the two halves together. Allow the glue to cure for 24–48 hours to ensure a strong seal.

The completed boat should resemble the reference image provided above.

Since the code is quite lengthy, I’ve shared it in a Google Doc for easier access:

Google Doc Link

The code is a modified version of the web server example from the official Arduino documentation:

https://docs.arduino.cc/tutorials/uno-r4-wifi/wifi-examples/

I strongly recommend reviewing those examples and testing your Wi-Fi connection before uploading my code. If you're using my version, note that the local Wi-Fi name is "ArtClass" and the password is "NewMediaArt".

Also please scrolled down because the interactive buttons is below (I will change the UI soon)

After uploading your code, the next step involves wiring and setting up the hardware components. In the diagram above, the transistor icon represents your motor for this project.

1. Connect a snap connector to the first 9V battery and plug it into the Arduino.
2. Connect another snap connector to the second 9V battery and plug it into the DC power connector.
3. Wire your motor to the DC power connector, and also connect it to pin 8 and pin 9 of the Arduino, as shown in the diagram.

I have also uploaded a short video demonstrating how the web server controls two motors, which you can use as a reference (if you want to know how to connect 2 paddles into 2 motors, please refers to step 4)

First, remove the motor horn and hold it as shown in Picture 1, with the circular part facing downward.

Then, gently insert the horn into the center of the paddle, keeping the circular part facing down as in Picture 2.

Next, take up the motor, flipped it 180 degrees and put your finger underneath to hold the horn. By using your finger underneath to support the horn and paddle, you can keeping them in place as you attach them to the motor shaft.

Once assembled, mount both motors with their paddles into the boat. Secure the motors and horns with nails.

Finally, to ensure the motors stay in place, consider applying a layer of glue or tape to hold them firmly on the boat body.

That concludes the final step of the project. There is still plenty of room for improvement and customization for personal use.

Given the size of the boat and assuming it is printed using PLA, you can safely add an extra 80–100 grams of weight without causing it to sink.

If you'd like to personalize your boat, consider adding a GPS tracker, attaching an LED light, or installing a small speaker to serve as a horn.

I hope you enjoyed my project. If you have any questions, feel free to contact me via email at: xtran2@uic.edu