In this post, we present DYOR Tyron, a robot with a sword and shield.

Brief Overview of Robot and Application:

 

Components for the General Setup:

• Metal sheet with additional sword and shield as arms
• Arduino Nano with its expansion board
• Powerbank
• Linetracker module (TCRT5000) based on light refelction of infrared light
• Ultrasound/Sonar sensor (HC-SR04) to detect obstacles and measure distances
• 2 x Servo 360° (continuous rotation) to control the wheel movement
• 2 x Servo SG90 (stepper rotation) to control arm movement
• Sound module (buzzer)
• OLED to display text or figures
• Rear-LEDs to generate different moods and atmospheres
• Bluetooth module HC-06 enables to communicate with an external device

All the mentioned components can be seen in the following figures of the assembled robot.

 

 

Application features:

The bluetooth module enables to communicate with an external device, such as a mobile phone to be remotely controlled. An android application was created with http://ai2.appinventor.mit.edu/, the icons for the application were retrieved from https://www.flaticon.com/ and the programming of the Arduino Nano was carried out with https://roboticafacil.es/facilino/blockly/Facilino.html. The functions of the android application will be explained in the following and are shown in the figure below with its correspoding numbers:

1. Connect/Disconnect device
2. Control movement of the robot base manually with arrows and stop-function
3. Move sword and shield
4. Change speed via slider between 10% and 100% with 10 discrete steps
5. Activate linetracking function to follow black line on white ground (app icon turns from black to blue when activated)
6. Activate obstacle avoidance: as soon as an obstacle is detected within 5cm the robot will stop and make a sound (app icon turns from black to blue when activated)
7. Control movement of the robot base with the internal gyroscope of the phone (app icon turns from black to blue when activated)
8. Play sound: short klick – peep, long klick – song
9. Cheering mode: Robot waves arms with flag of Valencia CF, plays ‘we are the champions’, displays ‘Valencia’ in the OLED and displays the spanish flag with the rear-LEDs (figures below)
10. Game of Thrones mode: Robot moves sword and shield together to make a metallic clash sound, plays ‘game of thrones theme’, displays ‘G O T’ in the OLED and turns the whole basse around

 

Overview Android Application:

 

Selected figures of Cheering mode: