{"id":779,"date":"2026-06-12T15:20:19","date_gmt":"2026-06-12T07:20:19","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/diy-ugv-wooden-l298n-arduino-code-rc-control-farsi-part2\/"},"modified":"2026-06-12T15:20:19","modified_gmt":"2026-06-12T07:20:19","slug":"diy-ugv-wooden-l298n-arduino-code-rc-control-farsi-part2","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/diy-ugv-wooden-l298n-arduino-code-rc-control-farsi-part2\/","title":{"rendered":"\u067e\u0644\u062a\u0641\u0631\u0645 UGV \u0686\u0648\u0628\u06cc \u2014 \u0628\u062e\u0634 \u06f2: \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc L298N\u060c \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u06a9\u0646\u062a\u0631\u0644 RC (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc UGV L298N Arduino\n<\/div>\n
\n📌 \u0628\u062e\u0634 \u06f1\/\u06f2:<\/strong> \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u0648 \u0634\u0627\u0633\u06cc ✅  |  \u0628\u062e\u0634 \u06f2\/\u06f2 (\u0647\u0645\u06cc\u0646):<\/strong> \u0627\u0644\u06a9\u062a\u0631\u0648\u0646\u06cc\u06a9\u060c \u06a9\u062f \u0648 \u06a9\u0646\u062a\u0631\u0644 RC\n<\/div>\n
\n

L298N \u0686\u0637\u0648\u0631 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/h2>\n

L298N<\/strong> \u06cc\u06a9 \u062a\u0631\u0627\u0634\u0647 H-Bridge \u062f\u0648\u062a\u0627\u06cc\u06cc \u0627\u0633\u062a \u2014 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 DC \u0631\u0627 \u0628\u0647 \u0637\u0648\u0631 \u0645\u0633\u062a\u0642\u0644 \u062f\u0631 \u062f\u0648 \u062c\u0647\u062a \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u062f. \u0628\u0631\u0627\u06cc \u0647\u0631 \u0645\u0648\u062a\u0648\u0631 \u062f\u0648 \u067e\u0627\u06cc\u0647 \u062c\u0647\u062a (IN1\/IN2 \u0648 IN3\/IN4) \u0648 \u06cc\u06a9 \u067e\u0627\u06cc\u0647 PWM \u0633\u0631\u0639\u062a (ENA\/ENB) \u062f\u0627\u0631\u062f. \u0628\u0627 \u06cc\u06a9 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 Uno \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0647\u0631 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0628\u0627 \u06f5 \u067e\u0627\u06cc\u0647 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0631\u062f.<\/p>\n<\/div>\n

\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc L298N \u0628\u0647 Arduino Uno<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n\n
L298N<\/th>\nArduino<\/th>\n\u062a\u0648\u0636\u06cc\u062d<\/th>\n<\/tr>\n<\/thead>\n
IN1<\/td>\nD7<\/td>\n\u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0686\u067e A<\/td>\n<\/tr>\n
IN2<\/td>\nD8<\/td>\n\u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0686\u067e B<\/td>\n<\/tr>\n
ENA<\/td>\nD9 (PWM)<\/td>\n\u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631 \u0686\u067e<\/td>\n<\/tr>\n
IN3<\/td>\nD5<\/td>\n\u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a A<\/td>\n<\/tr>\n
IN4<\/td>\nD6<\/td>\n\u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a B<\/td>\n<\/tr>\n
ENB<\/td>\nD10 (PWM)<\/td>\n\u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a<\/td>\n<\/tr>\n
12V<\/td>\n\u0628\u0627\u062a\u0631\u06cc +<\/td>\n\u0628\u0631\u0642 \u0645\u0648\u062a\u0648\u0631<\/td>\n<\/tr>\n
5V out<\/td>\nArduino 5V<\/td>\n\u0628\u0631\u0642 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u0632 L298N<\/td>\n<\/tr>\n
GND<\/td>\nGND + \u0628\u0627\u062a\u0631\u06cc –<\/td>\n\u0632\u0645\u06cc\u0646 \u0645\u0634\u062a\u0631\u06a9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u06a9\u0627\u0645\u0644 Differential Drive<\/h2>\n
\/\/ ===== \u062a\u0639\u0631\u06cc\u0641 \u067e\u06cc\u0646\u200c\u0647\u0627 =====\n#define IN1 7\n#define IN2 8\n#define ENA 9\n#define IN3 5\n#define IN4 6\n#define ENB 10\n\nvoid setup(){\n  pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(ENA,OUTPUT);\n  pinMode(IN3,OUTPUT); pinMode(IN4,OUTPUT); pinMode(ENB,OUTPUT);\n  Serial.begin(9600);\n}\n\n\/\/ \u062a\u0627\u0628\u0639 \u062d\u0631\u06a9\u062a: leftSpeed \u0648 rightSpeed \u0627\u0632 -255 \u062a\u0627 255\nvoid drive(int L, int R){\n  digitalWrite(IN1, L>=0 ? HIGH:LOW);\n  digitalWrite(IN2, L>=0 ? LOW:HIGH);\n  analogWrite(ENA, abs(constrain(L,-255,255)));\n  digitalWrite(IN3, R>=0 ? HIGH:LOW);\n  digitalWrite(IN4, R>=0 ? LOW:HIGH);\n  analogWrite(ENB, abs(constrain(R,-255,255)));\n}\n\nvoid loop(){\n  if(Serial.available()){\n    char cmd = Serial.read();\n    if(cmd=='F') drive(200,200);       \/\/ \u062c\u0644\u0648\n    else if(cmd=='B') drive(-200,-200); \/\/ \u0639\u0642\u0628\n    else if(cmd=='L') drive(-150,150);  \/\/ \u0686\u0631\u062e\u0634 \u0686\u067e\n    else if(cmd=='R') drive(150,-150);  \/\/ \u0686\u0631\u062e\u0634 \u0631\u0627\u0633\u062a\n    else if(cmd=='S') drive(0,0);       \/\/ \u062a\u0648\u0642\u0641\n  }\n}<\/code><\/pre>\n
\u0627\u0641\u0632\u0648\u062f\u0646 \u06a9\u0646\u062a\u0631\u0644 NRF24L01<\/h2>\n
\/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: RF24 by TMRh20\n#include <SPI.h>\n#include <RF24.h>\nRF24 radio(7, 8); \/\/ CE=7, CSN=8\nconst byte addr[6] = \"00001\";\nstruct Ctrl { int throttle; int steer; };\n\nvoid setup(){\n  radio.begin();\n  radio.openReadingPipe(0, addr);\n  radio.startListening();\n}\n\nvoid loop(){\n  if(radio.available()){\n    Ctrl c;\n    radio.read(&c, sizeof(c));\n    \/\/ c.throttle: -100 \u062a\u0627 100\u060c c.steer: -100 \u062a\u0627 100\n    int L = c.throttle + c.steer;\n    int R = c.throttle - c.steer;\n    drive(map(L,-200,200,-255,255), map(R,-200,200,-255,255));\n  }\n}<\/code><\/pre>\n
\u0686\u06a9\u200c\u0644\u06cc\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n
\u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n\u2713<\/th>\n<\/tr>\n<\/thead>\n
Serial ‘F’ \u2192 \u0647\u0631 \u062f\u0648 \u0686\u0631\u062e \u062c\u0644\u0648 \u0645\u06cc\u200c\u0631\u0648\u0646\u062f<\/td>\n\u0627\u06af\u0631 \u06cc\u06a9\u06cc \u0628\u0631\u0639\u06a9\u0633 \u0628\u0648\u062f IN1\/IN2 \u0631\u0627 \u062c\u0627\u0628\u0647\u200c\u062c\u0627 \u06a9\u0646<\/td>\n⬜<\/td>\n<\/tr>\n
Serial ‘L’ \u2192 UGV \u0628\u0647 \u0686\u067e \u0645\u06cc\u200c\u0686\u0631\u062e\u062f<\/td>\n\u0686\u0631\u062e\u0634 \u0635\u062d\u06cc\u062d<\/td>\n⬜<\/td>\n<\/tr>\n
PWM \u0633\u0631\u0639\u062a \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f<\/td>\n\u0639\u062f\u062f \u06a9\u0645 = \u06a9\u0646\u062f\u060c \u0632\u06cc\u0627\u062f = \u0633\u0631\u06cc\u0639<\/td>\n⬜<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
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