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
- Install Required Libraries
SSD1306Ascii
Servo
SoftwareSerial (built-in)
- Upload the Code
Open tyran_robot.ino → Select Arduino UNO → Upload.
- 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).
- Control Modes
Button A / Switch → Autonomous Mode
Button X / Bluetooth → Manual Mode
Use any Bluetooth controller app to send commands.
🖥️ Environment Setup & Installation
- Install Arduino IDE
Download from the official Arduino website. Supports Windows, macOS, and Linux.
- Install Required Libraries
Open: Arduino IDE → Tools → Manage Libraries
Install:
SSD1306Ascii
Servo
SoftwareSerial is built-in
- Select the Correct Board
In Arduino IDE:
Tools → Board → Arduino AVR Boards → Arduino Uno
- Select the COM Port
Tools → Port → COMx (Arduino Uno)
If not detected, install CH340 driver (for Uno clones).
- Upload the Code
Clone/download this repository
Open ./code/tyran_robot.ino
Click:
✔ Verify
→ Upload
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
