Tyran — Dual-Mode Autonomous Robot

Tyran — Dual-Mode Autonomous Robot

A versatile Arduino-based mobile robot capable of autonomous navigation (line following + destination searching) and manual Bluetooth control with a servo gripper. Designed for flexibility, expandability, and educational robotics projects.

🚀 Features 🔹 Autonomous Mode

Line following using 5 channel IR sensors

Destination detection logic

🔹 Manual Mode

Bluetooth HC-05 remote control

Servo-controlled gripper (2× SG90) for picking and placing

Smooth proportional motor speed control

🔹 Display System

OLED screen for:

Real-time status feedback

Current mode

Signals to the user

🧠 System Overview

Tyran operates in two switches modes:

Mode Description Autonomous Follows line path, searches for specific patterns/destinations, executes defined tasks. Manual Controlled via Bluetooth app; joystick-like movement + gripper control. 🔧 Hardware Used Component Description Arduino UNO Main microcontroller L298N Motor Driver Drives dual DC motors OLED 128×64 Display system HC-05 Bluetooth module SG90 Servo × 2 Gripper mechanism 18650 Battery ×5 Power supply 2-Wheel Motor Chassis Base platform IR Sensors Line tracking 🪛 Pin Connections

(Adjust according to your code — here is a template)

Motor Driver (L298N) Function Arduino Pin ENA 3 IN1 12 IN2 11 IN3 7 IN4 6 ENB 5 Bluetooth HC-05 HC-05 Pin Arduino Pin TX 8 / SoftwareSerial RX RX 9 / SoftwareSerial TX Servos Servo Pin Gripper Servo 1 12 Gripper Servo 2 4 OLED

▶️ How to Use

1. Install Required Libraries

SSD1306Ascii

Servo

SoftwareSerial (built-in)

2. Upload the Code

Open tyran_robot.ino → Select Arduino UNO → Upload.

3. Power the Robot

Use 3 × 18650 batteries for motor and arduino Use 2 x 18650 batteries for servo (through a proper holder + 5V regulator if needed).

4. Control Modes

Button A / Switch → Autonomous Mode

Button X / Bluetooth → Manual Mode

Use any Bluetooth controller app to send commands.

🖥️ Environment Setup & Installation

1. Install Arduino IDE

Download from the official Arduino website. Supports Windows, macOS, and Linux.

2. Install Required Libraries

Open: Arduino IDE → Tools → Manage Libraries

Install:

SSD1306Ascii

Servo

SoftwareSerial is built-in

3. Select the Correct Board

In Arduino IDE:

Tools → Board → Arduino AVR Boards → Arduino Uno

4. Select the COM Port

Tools → Port → COMx (Arduino Uno)

If not detected, install CH340 driver (for Uno clones).

5. Upload the Code

Clone/download this repository

Open ./code/tyran_robot.ino

Click:

✔ Verify

→ Upload

▶️ How to Use the Robot Autonomous Mode

Switch robot to autonomous

Robot will follow lines using IR sensors

OLED displays mode and debug info

Manual Mode

Pair phone with HC-05 (default PIN: 1234 or 0000)

Open any Bluetooth controller app

Control movement + servo gripper

🎥 Photo