# Bluefruit LE Feather Robot Rover ## Overview ![](https://cdn-learn.adafruit.com/assets/assets/000/029/527/medium800/microcontrollers_4525_iso_ORIG.jpeg?1452189125) This little 3-wheeled robot can be put together in just an hour or two, and is a great place to start (or continue!) the adventure into robotics. You can control it with your iOS or Android phone over Bluetooth using Adafruit Bluefruit LE Connect! ![](https://cdn-learn.adafruit.com/assets/assets/000/029/475/medium800/microcontrollers_DSC_3353.jpeg?1451928590) ## Parts Links to these products can also be found on the right sidebar - [Adafruit Feather 32u4 Bluefruit LE](https://www.adafruit.com/product/2829) - [DC Motor + Stepper FeatherWing](https://www.adafruit.com/products/2927) - [FeatherWing Doubler](https://www.adafruit.com/product/2890) - [350mAh Lipo Battery](https://www.adafruit.com/product/2750) - [4 X AA Holder with On/Off switch](https://www.adafruit.com/products/830) - [Feather Stacking Headers](https://www.adafruit.com/products/2830) - Mini Robot Metal Frame - Top Plate - 2x DC Motors (in Micro Servo formfactor) - 2x [Wheels](http://www.adafruit.com/product/2744) - 1x Support Wheel - [Rubber Bumper Feet](https://www.adafruit.com/products/550) [**The Mini Robot Rover Kit includes**](https://www.adafruit.com/products/2939): - 2x [Wheels](https://www.adafruit.com/products/2744) - 2x [DC Motors](https://www.adafruit.com/products/2941) - 1x [Support Wheel](https://www.adafruit.com/products/2942) - 1x [Metal Chasis](http://www.adafruit.com/products/2943) - 1x [Top Metal Plate](https://www.adafruit.com/products/2944)  Also needed is the wonderful Adafruit Bluefruit LE Connect app ([iOS](https://itunes.apple.com/us/app/adafruit-bluefruit-le-connect/id830125974?mt=8) & [Android](https://play.google.com/store/apps/details?id=com.adafruit.bluefruit.le.connect&hl=en)) **NOTE: ** All components needed for this project are available in the store EXCEPT 4-40 screws & foam tape, needed for attaching the doubler & battery respectively.   ## Prerequisite Guides Take a look over these guides and get familiar with these components!  - [Adafruit Feather 32u4 Bluefruit LE](../../../adafruit-feather-32u4-bluefruit-le) - [Adafruit Motor Shield](../../../adafruit-motor-shield-v2-for-arduino) (Motor FeatherWing is functionally identical) - [Bluefruit LE Connect](../../../../bluefruit-le-connect-for-ios) # Bluefruit LE Feather Robot Rover ## Wiring & Assembly The wiring is pretty straight forward since the BLE Feather & the doubler do most of the connections for us :). The 4 x AA batteries will be used to power the Motor Featherwing & the compact 350mAh lipo will keep the BLE 32u4 Feather going. - Connect **AA pack +** to **Motor Wing Motor +** - Connect **AA pack +** to **Motor Wing Motor -** - The **Right side Motor** goes into **M3** - The **Left side Motor** goes into **M3** Solder female headers to the doubler, male headers & terminal blocks to the Motor Featherwing, and stacking female headers to the BLE 32u4 Feather. You don't **need** to use the Feather Doubler, you can also just use stacking headers for the BLE Feather and Motor Wing... we just think its very convenient and gives you some prototyping area for sensors or LEDs. Flip over the chassis and attach the DC motors with the supplied screws. Make sure the wires are facing towards the center of the body (not critical, but my preference to not have the wheels stick out far behind). Attach the swivel caster wheel to the front of the chassis. Flip it over and attach the servo wheels with the supplied screws. ![microcontrollers_DSC_3354.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/481/medium640/microcontrollers_DSC_3354.jpeg?1451928626) ![microcontrollers_DSC_3356.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/482/medium640/microcontrollers_DSC_3356.jpeg?1451928637) ![microcontrollers_DSC_3358.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/483/medium640/microcontrollers_DSC_3358.jpeg?1451928650) Stick 4 bumper feet near the corners of the FeatherWing Doubler, but don't cover up any of the mounting holes. These bumpers act as spacers to keep the PCB from shorting against the chassis.   Attach the doubler to the rear of the chassis using two 4-40 screws and nuts. Getting the holes to line up requires just a bit of sliding around to find the sweet spot. ![microcontrollers_DSC_3360.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/484/medium640/microcontrollers_DSC_3360.jpeg?1451928799) ![microcontrollers_DSC_3362.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/485/medium640/microcontrollers_DSC_3362.jpeg?1451928900) Take a stick of extra long male header and break off 5 pieces, carefully pulling (or cutting) out the middle one.    Insert it into M3 & M4. This will make it easy to connect and disconnect the DC motors.   Feed the DC motor wires up through the slots in the body and connect to the motor featherwing. For the code to work without modification, the negative lead of the DC motor should be towards the inside of the chassis. ![microcontrollers_DSC_3365.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/486/medium640/microcontrollers_DSC_3365.jpeg?1451929031) ![microcontrollers_DSC_3392.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/488/medium640/microcontrollers_DSC_3392.jpeg?1451929874) Connect the + and - lines from the AA battery holder to the Motor Wing terminals.   Place the BLE feather next to it, and attach the standoffs for the top metal plate.  ![microcontrollers_DSC_3391.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/487/medium640/microcontrollers_DSC_3391.jpeg?1451929841) ![microcontrollers_DSC_3393.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/489/medium640/microcontrollers_DSC_3393.jpeg?1451930262) Attach the top plate and apply foam tape or velcro to keep the AA battery pack stuck to the bot.   Plug the 350 mAh lipo into the feather and it should tuck in nicely underneath the top plate. ![microcontrollers_DSC_3375.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/490/medium640/microcontrollers_DSC_3375.jpeg?1451930488) ![microcontrollers_DSC_3376.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/491/medium640/microcontrollers_DSC_3376.jpeg?1451930527) ![microcontrollers_DSC_3378.jpeg](https://cdn-learn.adafruit.com/assets/assets/000/029/492/medium640/microcontrollers_DSC_3378.jpeg?1451930579) ![microcontrollers_DSC_3382.jpg](https://cdn-learn.adafruit.com/assets/assets/000/029/493/medium640/microcontrollers_DSC_3382.jpg?1451930646) # Bluefruit LE Feather Robot Rover ## Code The code is located [on GitHub here](https://github.com/adafruit/Adafruit_Learning_System_Guides/tree/master/BLE_Robot_Rover). Info: Click on "Download: Project Bundle" below to download all three files containing the code of this project. https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/BLE_Robot_Rover/Ada_BLE_RC/Ada_BLE_RC.ino https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/BLE_Robot_Rover/Ada_BLE_RC/BluefruitConfig.h https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/BLE_Robot_Rover/Ada_BLE_RC/packetParser.cpp # Bluefruit LE Feather Robot Rover ## Use it! ![](https://cdn-learn.adafruit.com/assets/assets/000/029/522/medium800thumb/microcontrollers_learnguideUSEIT_thumb.jpg?1452102507) Open the Adafruit Bluefruit LE Connect app, and you should see 'adafruit red robot rover'. Connect to it and select controller! ![](https://cdn-learn.adafruit.com/assets/assets/000/029/518/medium800/microcontrollers_IMG_1706.png?1452102214) Use your phone's accelerometer to steer, or pull up the on screen control pad with the Adafruit Bluefruit LE connect app. ![](https://cdn-learn.adafruit.com/assets/assets/000/029/520/medium800/microcontrollers_IMG_1704.png?1452102345) ![](https://cdn-learn.adafruit.com/assets/assets/000/029/519/medium800/microcontrollers_IMG_1705.png?1452102295) ## Related Guides - [Adafruit Stepper + DC Motor FeatherWing](https://learn.adafruit.com/adafruit-stepper-dc-motor-featherwing.md) - [LED Noodle Holiday Tree](https://learn.adafruit.com/led-noodle-tree.md) - [Split Ortho Keyboard with TCA8418 Matrix Expanders](https://learn.adafruit.com/split-ortho-keyboard.md) - [4x4 Rotary Encoder MIDI Messenger](https://learn.adafruit.com/4x4-rotary-encoder-midi-messenger.md) - [Feather RP2040 DVI Video Synth](https://learn.adafruit.com/feather-rp2040-dvi-video-synth.md) - [Yoga Pose Chime](https://learn.adafruit.com/yoga-pose-chime.md) - [Bluetooth Controlled NeoPixel Lightbox](https://learn.adafruit.com/bluetooth-neopixel-lightbox.md) - [Robotic Creatures ](https://learn.adafruit.com/robotic-creatures.md) - [Matrix Portal Money-Sensing Tip Jar](https://learn.adafruit.com/matrix-portal-money-sensing-tip-jar.md) - [Improve the Low Speed of Brushed DC Motors](https://learn.adafruit.com/improve-low-speed-performance-of-brushed-dc-motors.md) - [Haunted Air Blaster](https://learn.adafruit.com/automated-air-blaster.md) - [Paper Airplane Launcher](https://learn.adafruit.com/paper-airplane-launcher-with-crickit.md) - [Feather TFT STEMMA Case](https://learn.adafruit.com/feather-tft-stemma-case.md) - [Knobby Sequencer](https://learn.adafruit.com/knobby-sequencer.md) - [CircuitPython displayio Setup for TFT FeatherWings](https://learn.adafruit.com/using-circuitpython-displayio-with-a-tft-featherwing.md) - [ESP32 PlayStation Controller](https://learn.adafruit.com/esp32-playstation-controller.md)