{"id":480,"date":"2026-06-11T10:44:52","date_gmt":"2026-06-11T02:44:52","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ugv-4wd-esp32-bluetooth-joystick-control-farsi\/"},"modified":"2026-06-11T10:44:52","modified_gmt":"2026-06-11T02:44:52","slug":"ugv-4wd-esp32-bluetooth-joystick-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ugv-4wd-esp32-bluetooth-joystick-control-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0631\u0628\u0627\u062a UGV \u0686\u0647\u0627\u0631\u0686\u0631\u062e \u0628\u0627 ESP32 \u0648 \u06a9\u0646\u062a\u0631\u0644 Joystick Bluetooth (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a UGV 4WD ESP32 Bluetooth Joystick\n<\/div>\n
\n

UGV \u0628\u0627 Bluetooth \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

UGV<\/strong> (Unmanned Ground Vehicle) \u06cc\u06a9 \u0648\u0633\u06cc\u0644\u0647 \u0646\u0642\u0644\u06cc\u0647 \u0632\u0645\u06cc\u0646\u06cc \u0628\u062f\u0648\u0646 \u0631\u0627\u0646\u0646\u062f\u0647 \u0627\u0633\u062a. \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0645\u0627 \u06cc\u06a9 UGV 4WD (\u0686\u0647\u0627\u0631\u0686\u0631\u062e \u0645\u062d\u0631\u06a9) \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u0645 \u06a9\u0647 \u0628\u0627 Bluetooth Classic<\/strong> \u0627\u0632 \u06af\u0648\u0634\u06cc Android \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

ESP32<\/strong> \u062f\u0627\u0631\u0627\u06cc Bluetooth 4.2 (Classic + BLE) \u062f\u0627\u062e\u0644\u06cc \u0627\u0633\u062a \u0648 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u0645\u0627\u0698\u0648\u0644 HC-05 \u0646\u062f\u0627\u0631\u062f. \u0628\u0627 \u0627\u067e\u0644\u06cc\u06a9\u06cc\u0634\u0646 \u0631\u0627\u06cc\u06af\u0627\u0646 Dabble<\/strong> \u06cc\u0627 BlueControl<\/strong>\u060c \u06cc\u06a9 Joystick \u0645\u062c\u0627\u0632\u06cc \u0631\u0648\u06cc \u06af\u0648\u0634\u06cc \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0645\u062e\u062a\u0635\u0627\u062a X,Y \u0622\u0646 \u0627\u0632 \u0637\u0631\u06cc\u0642 Bluetooth \u0628\u0647 ESP32 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

L298N<\/strong> \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 H-Bridge \u0627\u0633\u062a \u06a9\u0647 \u0627\u0645\u06a9\u0627\u0646 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 DC \u0631\u0627 \u0628\u0627 PWM \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0633\u0631\u0639\u062a \u0648 \u062c\u0647\u062a \u0647\u0631 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0635\u0648\u0631\u062a \u0645\u0633\u062a\u0642\u0644 \u0642\u0627\u0628\u0644 \u062a\u0646\u0638\u06cc\u0645 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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

\u06cc\u06a9 UGV 4WD \u06a9\u0647 \u0628\u0627 Joystick \u06af\u0648\u0634\u06cc Android \u0627\u0632 \u0637\u0631\u06cc\u0642 Bluetooth \u0628\u0627 \u0628\u0631\u062f \u06f1\u06f0 \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> \u06f4 \u062a\u0627 \u06f6 \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> \u06f1\u06f0-\u06f3\u06f0 \u0645\u062a\u0631 Bluetooth<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\n\n\nESP32 + L298N<\/text>\nBluetooth + \u0645\u0648\u062a\u0648\u0631<\/text>\n\n\u06af\u0648\u0634\u06cc Android<\/text>\nDabble App<\/text>\n\nBT Classic<\/text>\nUGV 4WD \u2014 Joystick BT \u2192 ESP32 \u2192 L298N \u2192 \u06f4 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0646\u0642\u0634<\/th>\n<\/tr>\n<\/thead>\n
    ESP32 DevKit V1<\/td>\n\u06a9\u0646\u062a\u0631\u0644\u0631 + BT<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc 4WD Smart Robot Car<\/td>\n\u0628\u062f\u0646\u0647 + \u06f4 \u0645\u0648\u062a\u0648\u0631 + \u0686\u0631\u062e<\/td>\n<\/tr>\n
    L298N Motor Driver<\/td>\n\u06a9\u0646\u062a\u0631\u0644 \u06f2 \u062c\u0641\u062a \u0645\u0648\u062a\u0648\u0631<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc 7.4V LiPo \u06cc\u0627 \u06f6\u00d7AA<\/td>\n\u062a\u063a\u0630\u06cc\u0647<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f ESP32 \u2014 Bluetooth Joystick Control<\/h2>\n
    \n#include \"BluetoothSerial.h\"\nBluetoothSerial SerialBT;\n\n\/\/ \u067e\u06cc\u0646\u200c\u0647\u0627\u06cc L298N:\nconst int L_FWD=26, L_BWD=27, L_PWM=14;\nconst int R_FWD=25, R_BWD=33, R_PWM=32;\nconst int BASE = 180;  \/\/ \u0633\u0631\u0639\u062a \u067e\u0627\u06cc\u0647\n\nvoid setMotors(int left, int right) {\n  left  = constrain(left,  -255, 255);\n  right = constrain(right, -255, 255);\n  digitalWrite(L_FWD, left  > 0); digitalWrite(L_BWD, left  < 0);\n  digitalWrite(R_FWD, right > 0); digitalWrite(R_BWD, right < 0);\n  ledcWrite(0, abs(left));  \/\/ PWM channel 0 \u2192 L_PWM\n  ledcWrite(1, abs(right)); \/\/ PWM channel 1 \u2192 R_PWM\n}\n\nvoid setup() {\n  Serial.begin(115200);\n  SerialBT.begin(\"UGV_ESP32\");\n  int pwmPins[] = {L_FWD,L_BWD,R_FWD,R_BWD};\n  for(int p : pwmPins) pinMode(p, OUTPUT);\n  ledcSetup(0, 1000, 8); ledcAttachPin(L_PWM, 0);\n  ledcSetup(1, 1000, 8); ledcAttachPin(R_PWM, 1);\n}\n\nvoid loop() {\n  if(SerialBT.available()) {\n    \/\/ \u0641\u0631\u0645\u062a Dabble: F(forward), B(back), L(left), R(right), S(stop)\n    char c = SerialBT.read();\n    Serial.println(c);\n    if(c == 'F')      setMotors(BASE, BASE);\n    else if(c == 'B') setMotors(-BASE, -BASE);\n    else if(c == 'L') setMotors(-BASE\/2, BASE);\n    else if(c == 'R') setMotors(BASE, -BASE\/2);\n    else if(c == 'S') setMotors(0, 0);\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
    \u06af\u0648\u0634\u06cc \u062f\u0631 BT Settings \"UGV_ESP32\" \u0631\u0627 \u0645\u06cc\u200c\u0628\u06cc\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Forward \u2192 \u0647\u0631 \u06f4 \u0686\u0631\u062e \u0628\u0647 \u062c\u0644\u0648\u061f<\/td>\n\u0628\u0644\u0647 \u2014 \u0627\u06af\u0631 \u0646\u0647\u060c \u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0639\u0648\u0636 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    Left\/Right \u2192 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Stop \u2192 \u0645\u06cc\u200c\u0627\u06cc\u0633\u062a\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nDabble App<\/text>\nJoystick \u06af\u0648\u0634\u06cc<\/text>\nESP32 BT<\/text>\nClassic \u067e\u0627\u0631\u0633<\/text>\nL298N \u00d7 \u06f2<\/text>\nPWM \u0645\u0648\u062a\u0648\u0631<\/text>\nUGV 4WD<\/text>\n\u062c\u0647\u062a + \u0633\u0631\u0639\u062a<\/text>\nUGV 4WD BT \u2014 Joystick \u06af\u0648\u0634\u06cc \u2192 ESP32 \u2192 L298N \u2192 \u062d\u0631\u06a9\u062a<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n