Building a 4-Wheel Drive Robot

Learn how to assemble and program a basic four-wheel robot using Arduino.

Step 1: Components Needed

4 DC Motors
Motor Driver Module (L298N)
Arduino Uno
Chassis with Wheels
Battery Pack
Jumper Wires

Step 2: Wiring

Connect the motors to the driver and the driver to the Arduino.

Step 3: Arduino Code

// Define motor driver pins
     #define IN1 8
     #define IN2 9
     #define IN3 10
     #define IN4 11
     #define ENA 5    // Enable pin for motor A (connected to IN1, IN2)
     #define ENB 6    // Enable pin for motor B (connected to IN3, IN4)
     
     void setup() {
       // Set motor driver pins as output
       pinMode(IN1, OUTPUT); 
       pinMode(IN2, OUTPUT); 
       pinMode(IN3, OUTPUT); 
       pinMode(IN4, OUTPUT); 
       pinMode(ENA, OUTPUT);  // Enable pin for motor A
       pinMode(ENB, OUTPUT);  // Enable pin for motor B
     }
     
     void loop() {
       // Move Forward with 100% speed
       analogWrite(ENA, 255);  // Max speed for motor A
       analogWrite(ENB, 255);  // Max speed for motor B
       digitalWrite(IN1, HIGH);
       digitalWrite(IN2, LOW);
       digitalWrite(IN3, HIGH);
       digitalWrite(IN4, LOW);
       delay(1000); // Move forward for 1 second
     
       // Stop
       analogWrite(ENA, 0);  // Stop motor A
       analogWrite(ENB, 0);  // Stop motor B
       delay(500); // Stop for 0.5 second
     
       // Move Backward with 50% speed
       analogWrite(ENA, 128);  // 50% speed for motor A
       analogWrite(ENB, 128);  // 50% speed for motor B
       digitalWrite(IN1, LOW);
       digitalWrite(IN2, HIGH);
       digitalWrite(IN3, LOW);
       digitalWrite(IN4, HIGH);
       delay(1000); // Move backward for 1 second
     
       // Stop
       analogWrite(ENA, 0);  // Stop motor A
       analogWrite(ENB, 0);  // Stop motor B
       delay(500); // Stop for 0.5 second
     }

Step 4: Test and Run

Upload the code and see your robot move forward and backward in a loop.