Speed, Distance and Angle Measurement for Mobile Robots using Arduino and LM393 Sensor (H206)
Arduino and LM393 Sensor (H206) Throughout human history, robots have gradually made our lives easier. Starship has already deployed six wheeled robotic food delivery vehicles on the UK's…
Know the mission before touching a wire.
Understand what you are making, prepare the right tools, and make the workbench safe.
Project details
Speed, Distance and Angle Measurement for Mobile Robots using Arduino and LM393 Sensor (H206) is a arduino project. Arduino and LM393 Sensor (H206) Throughout human history, robots have gradually made our lives easier. Starship has already deployed six wheeled robotic food delivery vehicles on the UK's…
- Source pages
- 672-675
- Named parts
- 6
- Build goal
- Working, tested prototype
Tools you need
- Digital multimeter
- Wire stripper and side cutters
- Soldering iron with a fine tip
- Current-limited bench supply
- Computer with a data-capable USB cable
Use eye protection, good lighting, and a clean insulated surface throughout the build.
Safety precautions
- Disconnect every power source before changing a connection.
- Check component polarity, pinout, and supply voltage twice.
- Use a current limit for the first power-up.
- Keep liquids, loose metal, and uninsulated wires away from the bench.
Gather, identify, and understand every part.
Use the standardized inventory, then open What's this? to learn each part's role, advantages, limitations, handling, and specifications.
What's this?Image, role, pros, cons, handling & specifications
MODULE LEARNING VIEWArduino Nano
A programmable controller that reads inputs, makes decisions, and drives the project's outputs.
What it does hereIt is the control centre and must use the documented board, pin map, supply, and logic level.
Buy / compare this part ↗Advantages
- Reprogrammable and reusable
- Large learning ecosystem
- Complex behaviour remains changeable
Limitations
- GPIO voltage and current are limited
- Some pins affect boot or communication
- Loads normally need a driver
Handling
- Disconnect power before rewiring
- Avoid static discharge
- Never power motors, relays, or pumps directly from GPIO
Specifications to verify
- Use the exact model, value, package, and rating listed for Arduino Nano; similar-looking parts are not always interchangeable.
- Confirm operating voltage, logic level, pinout, memory, USB interface, and maximum GPIO current.
What's this?Image, role, pros, cons, handling & specifications
x2 LCD module
An output component turns an electrical control signal into light, sound, motion, switching, or displayed information.
What it does hereIt presents the circuit result or acts on the physical world.
Buy / compare this part ↗Advantages
- Makes system state visible
- Can be tested separately
- Supports clear troubleshooting
Limitations
- Loads may exceed controller current
- Polarity or driver direction can matter
- Inductive loads create voltage spikes
Handling
- Use the documented driver stage
- Check polarity and load current
- Add flyback protection for inductive loads
Specifications to verify
- Use the exact model, value, package, and rating listed for x2 LCD module; similar-looking parts are not always interchangeable.
- Confirm voltage, current, polarity, interface, driver requirements, and duty cycle.
What's this?Image, role, pros, cons, handling & specifications
L298N H-Bridge Motor Driver
An output component turns an electrical control signal into light, sound, motion, switching, or displayed information.
What it does hereIt presents the circuit result or acts on the physical world.
Buy / compare this part ↗Advantages
- Makes system state visible
- Can be tested separately
- Supports clear troubleshooting
Limitations
- Loads may exceed controller current
- Polarity or driver direction can matter
- Inductive loads create voltage spikes
Handling
- Use the documented driver stage
- Check polarity and load current
- Add flyback protection for inductive loads
Specifications to verify
- Use the exact model, value, package, and rating listed for L298N H-Bridge Motor Driver; similar-looking parts are not always interchangeable.
- Confirm voltage, current, polarity, interface, driver requirements, and duty cycle.
What's this?Image, role, pros, cons, handling & specifications
Analog Joystick
A named project component whose exact role is defined by the source circuit and build guide.
What it does hereIt performs a documented electrical, control, interface, or construction function in this project.
Buy / compare this part ↗Advantages
- Selected for this project
- Can be checked independently
- Supports modular troubleshooting
Limitations
- Substitutes may differ
- Generic names can hide variants
- Pinouts and ratings vary
Handling
- Compare the received part with the source
- Keep it labelled
- Do not force connectors or adjusters
Specifications to verify
- Use the exact model, value, package, and rating listed for Analog Joystick; similar-looking parts are not always interchangeable.
- Confirm dimensions, ratings, connection method, polarity, and environmental limits.
What's this?Image, role, pros, cons, handling & specifications
H206 Sensor
A sensor converts a physical condition into an electrical signal the circuit can measure.
What it does hereIt provides project input as an analogue, digital, resistive, frequency, or calibrated signal.
Buy / compare this part ↗Advantages
- Adds real-world awareness
- Can usually be tested independently
- Often supports calibration
Limitations
- Readings can drift
- Placement affects results
- Some sensors need warm-up or calibration
Handling
- Protect the sensing surface
- Observe supply voltage and polarity
- Keep signal leads away from noisy power wiring
Specifications to verify
- Use the exact model, value, package, and rating listed for H206 Sensor; similar-looking parts are not always interchangeable.
- Confirm supply range, output type, measurement range, accuracy, response time, and pin order.
What's this?Image, role, pros, cons, handling & specifications
LM393 Speed Sensor
A sensor converts a physical condition into an electrical signal the circuit can measure.
What it does hereIt provides project input as an analogue, digital, resistive, frequency, or calibrated signal.
Buy / compare this part ↗Advantages
- Adds real-world awareness
- Can usually be tested independently
- Often supports calibration
Limitations
- Readings can drift
- Placement affects results
- Some sensors need warm-up or calibration
Handling
- Protect the sensing surface
- Observe supply voltage and polarity
- Keep signal leads away from noisy power wiring
Specifications to verify
- Use the exact model, value, package, and rating listed for LM393 Speed Sensor; similar-looking parts are not always interchangeable.
- Confirm supply range, output type, measurement range, accuracy, response time, and pin order.
Connect one verified path at a time.
Explore the named components and standardized signal flow, then use Source Check to verify exact physical pins, values, and topology before applying power.
Trace this circuit.
Speed, Distance and Angle Measurement for Mobile Robots using Arduino and LM393 Sensor (H206): interactive parts, standardized terminals, responsive anchored wires, student explanations, and the original circuit reference in one shared system.
Trace before wiring
Follow power, ground, inputs, processing, and outputs in that order. Never guess a pin from package shape alone.
Connect with power off
Make short, labelled connections and share a common ground only where the schematic requires it.
Inspect every joint
Check continuity, polarity, adjacent shorts, and loose connections before the first power-up.
Open all source diagrams and build views 2 visuals
Confirm the hardware-only control path.
This project does not include firmware in the source. The circuit itself provides the required behaviour.
How to connect
- Match every controller label to the circuit view and source pin map.
- Join grounds before signal wires when separate low-voltage supplies are used.
- Keep motors, relays, pumps, and other loads on a suitable driver and external supply.
Common mistakes
Reversed VCC/GND, board-label versus GPIO-number confusion, missing common ground, and charge-only USB cables.
Troubleshoot
Disconnect loads, continuity-test one path at a time, then test with a current limit.
Software preparation
No IDE, board package, library, or firmware upload is required for this project.
If you add a programmable controller as an extension, document its pin map separately.
How to upload code
The original design is implemented entirely in hardware, so proceed after verifying the circuit and supply.
Assemble, deploy, test, and troubleshoot.
Use the complete source notes in build order, then pass the final checks before calling the project finished.
Build in functional stages
- Power and regulation
- Controller or processing stage
- Inputs and sensors
- Outputs and loads
- Enclosure and strain relief
Power up safely
- Inspect unpowered continuity first
- Apply the lowest safe current limit
- Measure supply rails before signals
- Add one load at a time
- Record expected and actual results
Work from simple to complex
- Confirm power, ground, polarity, and orientation
- Compare each pin with the source
- Test inputs separately from outputs
- Replace only one variable at a time
- Power off before every correction
Follow the documented instructions.
These notes come from this project's source and remain in their original order.
Project overview
Project build noteArduino and LM393 Sensor (H206)
Throughout human history, robots have gradually made our lives easier. Starship has already deployed six wheeled robotic food delivery vehicles on the UK's roads, smartly avoiding motorists to reach their destinations. All mobile robots that navigate within the environment need to be aware of their own position and orientation with regard to the environment. Fig. Prototype of Mobile Robots using Arduino A variety of technologies can be used to accomplish this, including GPS, RF Triangulation, Accelerometers, and Gyroscopes. All of the techniques have their own advantages, so each is unique in its own way. Here we will be reading speed and distance from the Arduino microcontroller using the simple and readily-available LM393 speed sensor. By using these parameters, the robot will be able to gain an understanding of its current status in the real world and, as a result, navigate safely.
Required Components
Project build noteArduino Nano 16x2 LCD module L298N H-Bridge Motor Driver Analog Joystick H206 Sensor LM393 Speed Sensor
Circuit Diagram
Project build noteHere is the circuit diagram for this speed and distance sensing robot. A L298N H-Bridge Motor Driver module drives two DC motors powered by the Arduino Nano as the Robot's brain. Both the Joystick and the H206 speed sensors are used for controlling speed, direction, and angle of the bot, while the Joystick and second speed sensor are used to measure distance, speed, and angle of the bot respectively. Displayed in the LCD 16x2 module are the measured values. LCD contrast can be adjusted by the potentiometer
connected to it, and the resistor is used to limit the current flowing through the LC’s backlight. This 7.4V Lithium cell is used to power the whole circuit. Its 12.0V pin is connected to the Motor driver module. Once the motor driver module is connected to the Arduino, +5V is regulated by the voltage regulator, which powers the LCD, Sensors, and Joystick. Using Ariana’s digital pins 8,9,10, and 11, the Motor can be controlled. In order to control the motor's speed, PWM signals must be provided to the positive terminal of the motor. We have a PWM capable pin which corresponds with pin 9 and an analog pin A2, which is read from the Joystick. When a gap in the grid plate is detected by the H206 sensor, it will generate a trigger. Both the triggers (output pins) from both boards are connected to External interrupt pins 2 and 3 of the Arduino board since they should not always be read accurately to calculate the correct speed and distance. I assembled my bot like the following, with the circuit board mounted on the chassis and the speed sensor installed as explained, after the connections were made, it looked like this.
You built Speed, Distance and Angle Measurement for Mobile Robots using Arduino and LM393 Sensor (H206).
You followed the full workflow from understanding the mission to testing the finished project. That is a real engineering achievement - well done.
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