🎮 Dual-Track Controller

Competition-ready web controller for dual-track vehicles with 6 fixed throttle levels and Bluetooth Arduino control.

🌐 LIVE WEB APP

Test URL: http://192.168.137.129:8001

Desktop: Open in browser → Use W/A/S/D + 1-6 keys Mobile: Open on phone (same WiFi) → Touch controls

⚡ Features

• 6 Fixed Throttle Levels: 40, 80, 120, 160, 200, 250 RPM
• Strict Motor Control Rules: Independent LEFT/RIGHT motor control
• Real-time Bluetooth: 20 Hz update rate
• Industrial UI: Tech-themed design with grid layout
• Emergency Stop: Immediate cutoff with priority
• PWA Support: Installable as native app

🎯 Motor Control Rules

FORWARD:  LEFT=FWD  + RIGHT=FWD
BACKWARD: LEFT=BWD  + RIGHT=BWD
LEFT:     LEFT=OFF  + RIGHT=FWD  (right motor only)
RIGHT:    LEFT=FWD  + RIGHT=OFF  (left motor only)
STOP:     LEFT=OFF  + RIGHT=OFF

🎮 Controls

Touch/Click

• Throttle Buttons: Tap 1-6 to select speed level
• Direction Buttons: W/A/S/D layout
• Emergency Stop: Large red button

Keyboard

• W - Forward
• S - Backward
• A - Left turn
• D - Right turn
• 1-6 - Select throttle level
• SPACE - Emergency stop
• Q - Quit (stop motors)

📊 Throttle Levels

Level	RPM	PWM	Use Case
1	40	41	Precision control
2	80	82	Slow movement
3	120	122	Default
4	160	163	Medium speed
5	200	204	Fast movement
6	250	255	Maximum speed

🔌 Hardware Setup

Required Components

• Arduino Uno/Nano/Mega
• HC-05 Bluetooth Module
• L298N Motor Driver
• 2 DC Motors (max 250 RPM)
• Power supply (7-12V)

Wiring

HC-05 to Arduino:

HC-05 VCC → 5V
HC-05 GND → GND
HC-05 TX  → Pin 10
HC-05 RX  → Pin 11 (via voltage divider!)

L298N Motor 1 (LEFT):

IN1 → Pin 5
IN2 → Pin 6
ENA → Pin 3 (PWM)

L298N Motor 2 (RIGHT):

IN3 → Pin 9
IN4 → Pin 10
ENB → Pin 11 (PWM)

🚀 Quick Start

1. Upload Arduino Sketch

   • Open arduino/track_controller.ino
   • Set SIMULATION_MODE = true for LED testing
   • Upload to Arduino

2. Configure HC-05

   AT+NAME=TrackController
   AT+PSWD=1234
   AT+UART=38400,0,0
   

3. Pair Bluetooth

   • Phone Settings → Bluetooth
   • Connect to "TrackController" (PIN: 1234)

4. Open Web App

   • Navigate to: http://192.168.137.129:8001
   • Click "CONNECT BLUETOOTH"
   • Select device from list

5. Test Controls

   • Select throttle level (default: 3)
   • Press direction buttons
   • Watch motor status update

📱 Convert to APK

Method 1: PWA Builder

1. Deploy to GitHub Pages/Netlify
2. Visit pwabuilder.com
3. Enter your URL
4. Download Android APK

Method 2: Capacitor

npm install @capacitor/core @capacitor/cli @capacitor/android
npx cap init
npx cap add android
npx cap open android
# Build APK in Android Studio

🔬 Serial Protocol

Packet Format: <M1_DIR,M1_PWM,M2_DIR,M2_PWM,SAFE>\n

Direction Codes:

• 0 = STOP
• 1 = FORWARD
• 2 = BACKWARD

Examples:

<1,122,1,122,0>  → Both forward at level 3 (120 RPM)
<0,0,1,163,0>    → Left turn at level 4 (160 RPM)
<1,204,0,0,0>    → Right turn at level 5 (200 RPM)
<0,0,0,0,1>      → Emergency stop

🛡️ Safety Features

✅ Emergency Stop: Overrides all commands ✅ Watchdog Timer: Arduino auto-stops after 500ms no packet ✅ Disconnect Handling: Auto-stop on Bluetooth disconnect ✅ PWM Clamping: Enforced 0-255 range ✅ Motor Rule Validation: Strict turn logic enforced

🧪 Testing

LED Simulation Mode

Set SIMULATION_MODE = true in Arduino sketch:

• Pin 2: Motor 1 Forward LED
• Pin 4: Motor 1 Backward LED
• Pin 7: Motor 2 Forward LED
• Pin 8: Motor 2 Backward LED
• Pin 13: Emergency LED

Web App Testing

1. Open browser console (F12)
2. Watch packet logs
3. Test each throttle level
4. Verify motor states update correctly

📂 Project Structure

track-controller/
├── index.html           # Main interface
├── styles.css           # Industrial theme
├── app.js               # Controller logic
├── manifest.json        # PWA config
├── service-worker.js    # Offline support
└── arduino/
    └── track_controller.ino  # Arduino sketch

🐛 Troubleshooting

Bluetooth won't connect

• Pair HC-05 in phone Settings first
• Use Chrome browser (best Web Bluetooth support)
• Check HC-05 is powered and blinking

Motors don't respond

• Check L298N power supply (7-12V)
• Verify wiring (TX/RX not swapped)
• Test with LED simulation mode first
• Check Serial Monitor for packets

Wrong motor direction

• Swap motor wires on L298N output
• Or modify Arduino pin assignments

📊 Performance

• Update Rate: 20 Hz (50ms interval)
• Latency: <50ms touch to motor
• Packet Size: ~20 bytes
• Bluetooth Range: ~10 meters

🏁 Competition Ready

This system is designed for robotics competitions:

• Deterministic throttle levels
• Instant stop behavior
• Fail-safe mechanisms
• Clean motor control rules
• Professional UI

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Project: Dual-Track Controller v1.0 License: MIT Built for: Competition Robotics