muziToday we present the FlameWheel Robot assembly tutorial and quick-start guide! It is rather difficult to assemble this robot without guidance. Feel free to refer to my introductory tutorial today.
Flamewheel (A 2WD Remote Control Robot) is part of our Education Robot Series. It is an agile two-wheeled robot with unique and innovative movement. Have fun assembling the robot yourself, while learning about electronics and mechanical principles.AssemblyThe materials we need to prepare beforehand are:1. Models used for assembling the body~
2. Two DC motors
3. Romeo BLE mini (Small Arduino Robot Control Board with Bluetooth 4.0) and a set of screws~ 
4. A cross screwdriver
5. A battery box and four AAA batteries~
Now let’s start the assembling:
Step one: assemble the inner shellRemove four boards from the mould and assemble them as follows:
(Here is what it looks like when it’s finished)：
Step two: assemble the back-up plate for the control board;As shown in the following picture:
Step three: assemble the back-up plate for the battery box;As shown in the picture below:
Beware not to confuse it with the bolt: 
Step four: assemble the electric motor and get it fixed;Put the two motors into the inner shell, fix the motor shafts onto appropriate positions, and plug them into the bolt as follows:
Rotate the bolt to clamp the two motors until it’s completely fixated: 
Step seven: assemble the wheels;Assemble the two gaskets first:
Install the wheels and clamp them with washer and screws:Attention: spin the wheels to make sure smooth rotation!
After installing the wheels on both sides, the assembly is nearly done.
DebuggingWe need the following materials in debugging: 1. Mobile Terminal APP: ‘GoBLE’ Bluetooth 4.0 controller (the current version only supports iOS system and iPhone/iPad. Download for free in App Store)
Download link：https://itunes.apple.com/cn/app/ ... qi/id950937437?mt=8
2. Arduino IDE
Official download link：https://www.arduino.cc/en/Main/Software/
Select Windows installer to download and install
Step One: Install GoBLE and Romeo.m library filesAs it’s necessary to call the existing library functions from the sample programs, you need to add GoBLE (mobile Bluetooth communications App) in the Arduino library, as well as the library file of Romeo BLE mini board.
Download link for the library files:GoBLE library functions；
Remeo library functions；Method of installation of GoBLE library file:First, open the downloaded file and unpack it, find the library file and open it, copy the following three files: 
Find the Arduino installation directory, find libraries file, and copy the three files listed above under this file:
Until this stage, installation of the two library files are finished. Step two：download the sample programs, open it up with Arduino IDE as follows:/* -----Bluetooth two-wheel car control program
1 //------2016.6.29 by LL
2 //------Applicable to Romeo BLE mini controller
3 //http://www.dfrobot.com.cn/goods-1182.html
4
5 #include "GoBLE.h"
6 #include <Romeo_m.h>
7 #define LED 13
8
9 int joystickX, joystickY;
10 int buttonState[7];
11 unsigned int led_count;
12
13 void setup() {
14 Romeo_m.Initialise();
15 Goble.begin();
16 pinMode(LED,OUTPUT);
17 }
18
19 void loop() {
20
21 if (Goble.available())
22 {
23 readGoBle();
24 motorContrl();
25 }
26 delayLedBlink();//delay 10ms and led blink
27
28 }
29 //read all the GoBle button stick axes values
30 void readGoBle()
31 {
32 // read joystick value when there's valid command from bluetooth
33 joystickX = Goble.readJoystickX();
34 joystickY = Goble.readJoystickY();
35 // read button state when there's valid command from bluetooth
36 buttonState[SWITCH_UP] = Goble.readSwitchUp();
37 buttonState[SWITCH_DOWN] = Goble.readSwitchDown();
38 buttonState[SWITCH_LEFT] = Goble.readSwitchLeft();
39 buttonState[SWITCH_RIGHT] = Goble.readSwitchRight();
40 buttonState[SWITCH_SELECT] = Goble.readSwitchSelect();
41 buttonState[SWITCH_START] = Goble.readSwitchStart();
42 }
43
44 //control the little car’s movement according to GoBLE button values
45 //mauve the stick to the left and right for big turns, press the keys on the left and right for pivot turns
46 void motorContrl()
47 {
48 if ((buttonState[SWITCH_UP] == PRESSED)||((joystickX>128)&&(joystickY>=64)&&(joystickY<=192)))
49 {
50 Romeo_m.motorControl(Reverse,200,Forward,200);//forward
51 return;//end sub function
52 }
53
54 if ((buttonState[SWITCH_DOWN] == PRESSED)||((joystickX<128)&&(joystickY>=64)&&(joystickY<=192)))
55 {
56 Romeo_m.motorControl(Forward,150,Reverse,150);//backward
57 return;//end sub function
58 }
59
60 if(buttonState[SWITCH_LEFT] == PRESSED)
61 {
62 Romeo_m.motorControl(Forward,100,Forward,100);//turn left
63 return;//end sub function
64 }
65
66 if((joystickY<128 )&&(joystickX>=64 )&&( joystickX<=192) )
67 {
68
69 Romeo_m.motorControl_M1(Reverse,80);//big turn to the left
70 Romeo_m.motorControl_M2(Forward,200);
71
72 return;//end sub function
73 }
74
75 if( buttonState[SWITCH_RIGHT] == PRESSED)
76 {
77 Romeo_m.motorControl(Reverse,100,Reverse,100);//turn right
78 return;//end sub function
79 }
80
81 if((joystickY>128)&&(joystickX>=64)&&(joystickX<=192))
82 {
83
84 Romeo_m.motorControl_M2(Forward,80); //big turn to the right
85 Romeo_m.motorControl_M1(Reverse,200);
86
87 return;//end sub function
88 }
89
90 Romeo_m.motorStop();//press to stop
91 }
92 //led blink function，delay 10ms every time before execution, perform a level reverse when execution reaches 100 times
93 void delayLedBlink()
94 {
95 delay(10);
96 led_count++;
97 if(led_count>100)
98 {
99 digitalWrite(LED,!digitalRead(LED));
100 led_count=0;
101 }
102 } Program brief analysis: 1 #include "GoBLE.h"
2 #include <Romeo_m.h>This section calls two header files in order to use the library functions within; Define the LED lamp pin. 1 void setup() {
2 Romeo_m.Initialise();
3 Goble.begin();
4 pinMode(LED,OUTPUT);
5 }Initializing the programs; 1 void loop() {
2 if (Goble.available())
3 {
4 readGoBle();
5 motorContrl();
6 }
7 delayLedBlink();//delay 10ms and led blink
8 }The program in mainly consists of two functions. The first one is used for reading the GoBLE joystick values readGoBle(), the second is to process the function motorContrl() whichcontrols the car, plus a program that controls the delay flickering of Led lights;1 void readGoBle()
2 {
3 // read joystick value when there's valid command from bluetooth
4 joystickX = Goble.readJoystickX();
5 joystickY = Goble.readJoystickY();
6 // read button state when there's valid command from bluetooth
7 buttonState[SWITCH_UP] = Goble.readSwitchUp();
8 buttonState[SWITCH_DOWN] = Goble.readSwitchDown();
9 buttonState[SWITCH_LEFT] = Goble.readSwitchLeft();
10 buttonState[SWITCH_RIGHT] = Goble.readSwitchRight();
11 buttonState[SWITCH_SELECT] = Goble.readSwitchSelect();
12 buttonState[SWITCH_START] = Goble.readSwitchStart();
13 }
14 Read the X and Y axes values from Goble.readJoystickX() and Goble.readJoystickY() library functions in readGoBle(). Read button values from Goble.readSwitchXXXX(). 1 void motorContrl()
2 {
3 if ((buttonState[SWITCH_UP] == PRESSED)||((joystickX>128)&&(joystickY>=64)&&(joystickY<=192)))
4 {
5 Romeo_m.motorControl(Reverse,200,Forward,200);//forward
6 return;//end sub function
7 }
8
9 if ((buttonState[SWITCH_DOWN] == PRESSED)||((joystickX<128)&&(joystickY>=64)&&(joystickY<=192)))
10 {
11 Romeo_m.motorControl(Forward,150,Reverse,150);//backward
12 return;//end sub function
13 }
14
15 if(buttonState[SWITCH_LEFT] == PRESSED)
16 {
17 Romeo_m.motorControl(Forward,100,Forward,100);//turn left
18 return;//end sub function
19 }
20
21 if((joystickY<128 )&&(joystickX>=64 )&&( joystickX<=192) )
22 {
23
24 Romeo_m.motorControl_M1(Reverse,80);//big turn to the left
25 Romeo_m.motorControl_M2(Forward,200);
26
27 return;//end sub function
29
30 if( buttonState[SWITCH_RIGHT] == PRESSED)
31 {
32 Romeo_m.motorControl(Reverse,100,Reverse,100);//turn right
33 return;//end sub function
34 }
35
36 if((joystickY>128)&&(joystickX>=64)&&(joystickX<=192))
37 {
38
39 Romeo_m.motorControl_M2(Forward,80); //big turn to the right
40 Romeo_m.motorControl_M1(Reverse,200);
41
42 return;//end sub function
43 }
44 motorContrl() controls the little car’s movement according to the state values of buttons and the joystick;The format of the library functions that controls the little car’s movement is as follows: Romeo_m.motorControl(a,b,c,d); a and c are direction values applicable to Forward and Reverse respectively, which means moving forward and backward. C and d indicate speed ofthe two motors respectively. The higher the values, the faster they rotate；Remeo_m.motorControl_Mx(a,b); x is motor value，which points to either 1 or 2, a is direction value，which corresponds with Forward and Reverse，b is rpm valueAttention: why do the two motors rotate in the opposite directions when you control the little car to move forward? The answer is the motors were installed in the oppositedirections by us. Hence, if you want the two wheels rotate in the same direction, the two motors should rotate in opposite directions. 1 void delayLedBlink()
2 {
3 delay(10);
4 led_count++;
5 if(led_count>100)
6 {
7 digitalWrite(LED,!digitalRead(LED));
8 led_count=0;
9 }This function is used for time-delay, as well as to control LED light flicking.Step three: open Arduino download programSelect Arduino/Genuino Uno as the development board model from the toolbar, select the correct port number, debug and download the program.
Step Four: open mobile App to debugOpen mobil App GoBLE (English version of ‘Zou Ni’), as shown in the picture below:
v0.1 version function features1、Motor drive2、Mobile bluetooth control
V0.2 version1、Optimize movement control (start, stop, constant acceleration and uniform deceleration)2、Add obstacle avoidance function
Read original robot project.