Wireless Robot V2 (Support WiFi & Bluetooth)

I get The motors ,gear box and tires from two broken car kids toys from Scrap market nearby , they cost me about 10$ and I connect them using din rail and plastic as shown in the pictures.

Using the Serial pins of ATMEGA16 MCU is The Concept of this circuit and it consist from :

1- H-Bridge Motor driver using two L298.
2- Atmega16 MCU.
3- LEDs Driver using ULN2003.
4- Serial Bluetooth Module.
5- Serial-To-Ethernet converter.
6- WiFi Wireless access point.
7- Easy N surveillance IP cam.
8- 12 Volt battery with 7809 & 7805 voltage regulator  for router and IP cam .
9- 6 Volt Battery for motors. 

two L298 dual H-bridge driver connected as shown in the pictures .
the motors working on 6 volt with 2.4 Amp. maximum current for each.
L298 Data sheet attached.

ULN2003 Darlington transistor arrays is a fast solution  and provide 7 output.
The circuit shown in attached picture.
Datasheet attached.
.

The source code debugged by ATMEL AVR studio 4 with AVR MKII ISP .
The Scenario of the code depending on:
1-Enabling the RX/TX of ATMEGA16 MCU.
2-Sending the ASCII code from  the PC or Tablet .
3-Translate the ASCII code by the MCU  to a specific output in port A and port C.

The fuse bit  for 16 Mhz external frequency resonator  should be set to :High: 0xC9 , Low: 0xFF as shown in the attached picture. 

Code: 

/*
ATmega16  16MHz external frequency resonator
Baud Rate 9600 No Parity,1 Stop Bit,Flow Control:None
*/

#include <avr/io.h>
#include <inttypes.h>
#include <util/delay.h>


void USARTInit(uint16_t ubrr_value)
{

   //Set Baud rate
   UBRRL = ubrr_value;     
   UBRRH = (ubrr_value>>8);

   UCSRC=(1<<URSEL)|(3<<UCSZ0);   // Set Asynchronous mode,No Parity ,1 StopBit 
   UCSRB=(1<<RXEN)|(1<<TXEN);     //Enable The receiver and transmitter


}


char USARTReadChar()
{
while(!(UCSRA & (1<<RXC)))
{
   // do nothing
  }
return UDR;
}

void USARTWriteChar(char data)
{
while(!(UCSRA & (1<<UDRE)))
{
  //do nothing
  }
UDR=data;
}

void main()
{
DDRC=0xff;
DDRA=0xff;
char data;
USARTInit(103);  //for 16Mhz and baud 9600 UBRR = 103 and for  baud 19200 UBRR = 51 

while(1)
{
data=USARTReadChar(); 
if (data==0x71){PORTC=0b10000000;USARTWriteChar('Q');} //q in ascii
if (data==0x77){PORTC=0b00001001;USARTWriteChar('w');} //w in ascii Forward
if (data==0x65){PORTC=0b01000000;USARTWriteChar('e');} //e in ascii
if (data==0x61){PORTC=0b00000011;USARTWriteChar('A');} //a in ascii Left
if (data==0x73){PORTC=0b00000000;USARTWriteChar('s');} //s in ascii Stop
if (data==0x64){PORTC=0b00001100;USARTWriteChar('d');} //d in ascii Right
if (data==0x7A){PORTC=0b00100000;USARTWriteChar('z');} //z in ascii
if (data==0x78){PORTC=0b10000110;USARTWriteChar('x');} //x in ascii Backward
if (data==0x99){PORTC=0b11110000;USARTWriteChar('c');} //c in ascii

if (data==0x69){PORTC=0b00001001;_delay_ms(200);PORTC=0b00000000;} //i in ascii Forward
if (data==0x6A){PORTC=0b00000011;_delay_ms(200);PORTC=0b00000000;} //j in ascii Left
if (data==0x6C){PORTC=0b00001100;_delay_ms(200);PORTC=0b00000000;} //l in ascii Right
if (data==0x6B){PORTC=0b00000110;_delay_ms(200);PORTC=0b00000000;} //k in ascii Back

if (data==0x31){PORTA=0b00000001;USARTWriteChar('1');} //1 in ascii //2 LED On
if (data==0x32){PORTA=0b00000010;USARTWriteChar('2');} //2 in ascii //4 LED on
if (data==0x33){PORTA=0b00000111;USARTWriteChar('3');} //3 in ascii //6 LED on
if (data==0x34){PORTA=0b00001000;USARTWriteChar('4');} //4 in ascii //Red LED on
if (data==0x35){PORTA=0b00010000;USARTWriteChar('5');} //5 in ascii
if (data==0x36){PORTA=0b00100000;USARTWriteChar('6');} //6 in ascii
if (data==0x37){PORTA=0b01000000;USARTWriteChar('7');} //7 in ascii
if (data==0x38){PORTA=0b10000000;USARTWriteChar('8');} //8 in ascii
if (data==0x39){PORTA=0b00000000;USARTWriteChar('9');} //9 in ascii //All Off 
   else {}
}
}

I get the module from below website :
http://en.usr.cn/USRCN/RS232-serial-to-ethernet-converter-tcp-ip-module

Connect:
VDD to 5 Volt.
GND to negative.
RX to TX of ATmega16.
TX to RX of Atmega16.
CFG :Normal Mode when connected to positive , Configuration mode when connected to negative.

Also RS232 to TTL module required  to configure this module .

You can download all the documents from the mentioned website.

For this Project I configure the setting for the converter  as below:
Work Mode   : TCP/IP clinet.
Module IP     : 192.168.1.2 
Subnet Mask:255.255.255.0
Default gateway :192.168.1.1  (Access point IP).
Parity/data/stop  :None /8/1
Destination IP    :192.168.1.3  (Laptop IP).
Destination Port: 8234.
Baud Rate    : 9600

I get the Slave Mode Serial Bluetooth module from below web site(all document included):
Pass Key:1234

http://www.elechouse.com/elechouse/index.php?main_page=product_info&cPath=90_91&products_id=603

About the software you can download android Bluetooth Controller  software from android market ,its amazing software and easy to use.
https://play.google.com/store/apps/details?id=apps.BT&hl=en

in the end I connect a selector switch  to select the wireless  mode (WiFi or Bluetooth).