{"id":338,"date":"2026-06-10T22:05:06","date_gmt":"2026-06-10T14:05:06","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ugv-4wd-lora-remote-control-farsi\/"},"modified":"2026-06-10T22:15:44","modified_gmt":"2026-06-10T14:15:44","slug":"ugv-4wd-lora-remote-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ugv-4wd-lora-remote-control-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0631\u0628\u0627\u062a UGV \u0686\u0647\u0627\u0631\u0686\u0631\u062e \u0628\u0627 \u06a9\u0646\u062a\u0631\u0644 LoRa: \u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u0628\u06cc\u200c\u0633\u06cc\u0645 \u062f\u0631 \u0628\u0631\u062f \u0628\u0644\u0646\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a UGV \u0686\u0647\u0627\u0631\u0686\u0631\u062e \u06a9\u0646\u062a\u0631\u0644 LoRa\n<\/div>\n
\n

UGV \u0648 \u06a9\u0646\u062a\u0631\u0644 LoRa \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

UGV<\/strong> \u0645\u062e\u0641\u0641 Unmanned Ground Vehicle \u0627\u0633\u062a \u2014 \u06cc\u06a9 \u0648\u0633\u06cc\u0644\u0647 \u0632\u0645\u06cc\u0646\u06cc \u0628\u062f\u0648\u0646 \u0633\u0631\u0646\u0634\u06cc\u0646 \u06a9\u0647 \u0627\u0632 \u0631\u0627\u0647 \u062f\u0648\u0631 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u0632 \u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc \u062c\u0633\u062a\u062c\u0648 \u0648 \u0646\u062c\u0627\u062a \u062a\u0627 \u0648\u0633\u0627\u06cc\u0644 \u0646\u0642\u0644\u06cc\u0647 \u0627\u062a\u0648\u0645\u0627\u062a\u06cc\u06a9 \u0627\u0646\u0628\u0627\u0631 \u0647\u0645\u0647 UGV \u0647\u0633\u062a\u0646\u062f. \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631\u06cc\u0646 \u0631\u0627\u0647 \u0634\u0631\u0648\u0639 \u06cc\u06a9 \u0634\u0627\u0633\u06cc \u0641\u0644\u0632\u06cc \u06f4 \u0686\u0631\u062e \u0628\u0627 \u06f4 \u0645\u0648\u062a\u0648\u0631 \u06af\u06cc\u0631\u0628\u06a9\u0633\u200c\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n

LoRa<\/strong> (Long Range) \u06cc\u06a9 \u067e\u0631\u0648\u062a\u06a9\u0644 \u0631\u0627\u062f\u06cc\u0648\u06cc\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u062f\u0631 \u0641\u0631\u06a9\u0627\u0646\u0633 \u06f4\u06f3\u06f3 \u06cc\u0627 \u06f8\u06f6\u06f8 \u0645\u06af\u0627\u0647\u0631\u062a\u0632 \u0628\u0627 \u062a\u0648\u0627\u0646 \u062e\u0631\u0648\u062c\u06cc \u067e\u0627\u06cc\u06cc\u0646 (\u06f1\u06f0\u06f0 \u0645\u06cc\u0644\u06cc\u200c\u0648\u0627\u062a) \u062a\u0627 \u06f1 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u062f\u0631 \u0634\u0647\u0631 \u0648 \u06f5+ \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632 \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u0631\u0642\u0631\u0627\u0631 \u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 UGV \u0628\u0633\u06cc\u0627\u0631 \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a \u2014 \u062e\u06cc\u0644\u06cc \u0628\u0647\u062a\u0631 \u0627\u0632 Bluetooth \u06a9\u0647 \u0641\u0642\u0637 \u06f1\u06f0 \u0645\u062a\u0631 \u0628\u0631\u062f \u062f\u0627\u0631\u062f. \u0645\u062d\u0628\u0648\u0628\u200c\u062a\u0631\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0622\u0646 Ra-02<\/strong> (SX1278) \u0627\u0633\u062a \u06a9\u0647 \u062f\u0631 \u0627\u06cc\u0631\u0627\u0646 \u0628\u0647\u200c\u0631\u0627\u062d\u062a\u06cc \u067e\u06cc\u062f\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

\u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u062f\u0648 \u0628\u0631\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062f\u0627\u0631\u06cc\u062f: \u06cc\u06a9\u06cc \u0641\u0631\u0633\u062a\u0646\u062f\u0647<\/strong> \u0628\u0627 \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646\u060c \u0648 \u06cc\u06a9\u06cc \u06af\u06cc\u0631\u0646\u062f\u0647<\/strong> \u0631\u0648\u06cc \u0631\u0628\u0627\u062a \u06a9\u0647 LoRa \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u0631\u0627 \u0628\u06cc\u0646 \u0622\u0646\u200c\u0647\u0627 \u0645\u0646\u062a\u0642\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0631\u0628\u0627\u062a UGV 4WD<\/strong> \u06a9\u0647 \u0628\u0627 \u06cc\u06a9 \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u062f\u0633\u062a\u06cc (\u0631\u0648\u06cc Arduino Nano) \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0631\u0627\u062f\u06cc\u0648 LoRa \u062a\u0627 \u06f1 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f3 \u062a\u0627 \u06f5 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f8\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0627 \u06f1.\u06f5 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0628\u0631\u062f \u06a9\u0646\u062a\u0631\u0644:<\/strong> \u06f5\u06f0\u06f0m \u0634\u0647\u0631\u06cc \u2014 \u06f1km+ \u0641\u0636\u0627\u06cc \u0628\u0627\u0632<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\nLoRa 433MHz<\/text>\n\u062a\u0627 \u06f1 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631<\/text>\n\u0641\u0631\u0633\u062a\u0646\u062f\u0647 \u062f\u0633\u062a\u06cc<\/text>\nArduino + Ra-02<\/text>\n+ \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9<\/text>\n\u0631\u0628\u0627\u062a UGV<\/text>\nArduino + Ra-02<\/text>\n+ L298N + \u0645\u0648\u062a\u0648\u0631<\/text>\n\n\n\u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 X,Y \u2192 Ra-02 TX \u2192 \u0647\u0648\u0627 \u2192 Ra-02 RX \u2192 L298N \u2192 \u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM) \u2014 \u0641\u0631\u0633\u062a\u0646\u062f\u0647<\/h2>\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u062a\u0639\u062f\u0627\u062f<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0645\u0627\u0698\u0648\u0644 LoRa Ra-02 (SX1278) 433MHz<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u062f\u0648\u06af\u0627\u0646\u0647 (Dual Joystick Module)<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc 9V<\/td>\n\u06f1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 \u2014 \u06af\u06cc\u0631\u0646\u062f\u0647 (\u0631\u0648\u06cc \u0631\u0628\u0627\u062a)<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u062a\u0639\u062f\u0627\u062f<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0645\u0627\u0698\u0648\u0644 LoRa Ra-02 (SX1278) 433MHz<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 L298N<\/td>\n\u06f1 \u06cc\u0627 \u06f2<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc 4WD \u0628\u0627 \u0645\u0648\u062a\u0648\u0631 \u06af\u06cc\u0631\u0628\u06a9\u0633 TT<\/td>\n\u06f1 \u06a9\u06cc\u062a<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc LiPo 7.4V 2S \u06cc\u0627 4\u00d7AA<\/td>\n\u06f1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0627\u062a\u0635\u0627\u0644 Ra-02 \u0628\u0647 Arduino Nano<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n
    \u067e\u06cc\u0646 Ra-02<\/th>\n\u067e\u06cc\u0646 Arduino Nano<\/th>\n<\/tr>\n<\/thead>\n
    VCC<\/td>\n3.3V (\u0645\u0647\u0645: \u0646\u0647 5V!)<\/td>\n<\/tr>\n
    GND<\/td>\nGND<\/td>\n<\/tr>\n
    SCK<\/td>\nD13<\/td>\n<\/tr>\n
    MOSI<\/td>\nD11<\/td>\n<\/tr>\n
    MISO<\/td>\nD12<\/td>\n<\/tr>\n
    NSS\/CS<\/td>\nD10<\/td>\n<\/tr>\n
    RST<\/td>\nD9<\/td>\n<\/tr>\n
    DIO0<\/td>\nD2<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    ⚠ Ra-02 \u0641\u0642\u0637 3.3V \u062a\u062d\u0645\u0644 \u062f\u0627\u0631\u062f. \u067e\u06cc\u0646\u200c\u0647\u0627\u06cc MOSI\/SCK\/CS \u0627\u0632 5V \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u0647 3.3V \u0646\u06cc\u0627\u0632 \u0628\u0647 \u0645\u0642\u0633\u0645 \u0648\u0644\u062a\u0627\u0698 \u062f\u0627\u0631\u0646\u062f \u06cc\u0627 \u0627\u0632 Arduino Pro Mini 3.3V \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n

    \u06a9\u062f \u0641\u0631\u0633\u062a\u0646\u062f\u0647<\/h2>\n
    \n#include <SPI.h>\n#include <LoRa.h>\n\nconst int JOY_X = A0;  \/\/ \u0686\u067e\/\u0631\u0627\u0633\u062a\nconst int JOY_Y = A1;  \/\/ \u062c\u0644\u0648\/\u0639\u0642\u0628\n\nvoid setup() {\n  Serial.begin(9600);\n  if (!LoRa.begin(433E6)) { Serial.println(\"LoRa init failed!\"); while(1); }\n  LoRa.setSpreadingFactor(7);\n  LoRa.setSignalBandwidth(125E3);\n  Serial.println(\"Transmitter ready\");\n}\n\nvoid loop() {\n  int x = analogRead(JOY_X);  \/\/ 0-1023\n  int y = analogRead(JOY_Y);  \/\/ 0-1023\n\n  LoRa.beginPacket();\n  LoRa.print(x); LoRa.print(\",\"); LoRa.print(y);\n  LoRa.endPacket();\n\n  Serial.print(\"Sent X=\"); Serial.print(x);\n  Serial.print(\" Y=\"); Serial.println(y);\n  delay(50);  \/\/ \u06f2\u06f0 \u0628\u0627\u0631 \u062f\u0631 \u062b\u0627\u0646\u06cc\u0647\n}\n<\/code><\/pre>\n
    \u06a9\u062f \u06af\u06cc\u0631\u0646\u062f\u0647 (\u0631\u0648\u06cc \u0631\u0628\u0627\u062a)<\/h2>\n
    \n#include <SPI.h>\n#include <LoRa.h>\n\n\/\/ L298N \u067e\u06cc\u0646\u200c\u0647\u0627\nconst int IN1=5, IN2=6, IN3=7, IN4=8, ENA=3, ENB=11;\n\nvoid setMotors(int left, int right) {\n  left  = constrain(left,  -255, 255);\n  right = constrain(right, -255, 255);\n  analogWrite(ENA, abs(left));  analogWrite(ENB, abs(right));\n  digitalWrite(IN1, left  > 0); digitalWrite(IN2, left  < 0);\n  digitalWrite(IN3, right > 0); digitalWrite(IN4, right < 0);\n}\n\nvoid setup() {\n  Serial.begin(9600);\n  for (int p : {IN1,IN2,IN3,IN4,ENA,ENB}) pinMode(p, OUTPUT);\n  if (!LoRa.begin(433E6)) { Serial.println(\"LoRa failed!\"); while(1); }\n  LoRa.setSpreadingFactor(7);\n  LoRa.setSignalBandwidth(125E3);\n}\n\nvoid loop() {\n  int pktSize = LoRa.parsePacket();\n  if (pktSize) {\n    String data = \"\";\n    while (LoRa.available()) data += (char)LoRa.read();\n    int comma = data.indexOf(',');\n    int x = data.substring(0, comma).toInt();\n    int y = data.substring(comma + 1).toInt();\n\n    \/\/ \u062a\u0628\u062f\u06cc\u0644 \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u0628\u0647 \u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631\n    int fwd   = map(y, 0, 1023, -255, 255);\n    int turn  = map(x, 0, 1023, -150, 150);\n    setMotors(fwd + turn, fwd - turn);\n  }\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    Serial Monitor \u0641\u0631\u0633\u062a\u0646\u062f\u0647 X,Y \u0646\u0645\u0627\u06cc\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u0628\u0647 \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u067e\u0627\u0633\u062e \u0645\u06cc\u200c\u062f\u0647\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u062f\u0631 \u0641\u0627\u0635\u0644\u0647 \u06f1\u06f0\u06f0 \u0645\u062a\u0631 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u0647\u0646\u06af\u0627\u0645 \u0642\u0637\u0639 \u0627\u0631\u062a\u0628\u0627\u0637 \u0631\u0628\u0627\u062a \u062a\u0648\u0642\u0641 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\ntimeout \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\n\u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9<\/text>\nRa-02 TX<\/text>\n433MHz LoRa<\/text>\nRa-02 RX<\/text>\n\u0631\u0648\u06cc \u0631\u0628\u0627\u062a<\/text>\nL298N + \u0645\u0648\u062a\u0648\u0631<\/text>\n\u062d\u0631\u06a9\u062a UGV<\/text>\n\u06a9\u0646\u062a\u0631\u0644 UGV \u0627\u0632 \u0631\u0627\u0647 \u062f\u0648\u0631 \u2014 \u0628\u0631\u062f \u062a\u0627 \u06f1 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u0628\u0627 Ra-02 LoRa<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n