This project presents TonyBot, a two-wheeled mobile robot based on Arduino, controllable via Bluetooth through an Android app. The robot is designed to move in multiple directions thanks to two DC motors and offers a simple and intuitive interface for remote control.<\/span><\/p>\n <\/p>\n TonyBot features multiple modes, including manual driving, line following, and a dance mode, where the robot performs random pre-programmed movements to music. Additionally, it includes a fun interactive game mode, allowing users to actively play with the robot through the app interface.<\/span><\/p>\n Microcontroller:<\/span><\/p>\n Motor Control:<\/span><\/p>\n Communication:<\/span><\/p>\n Power Supply:<\/span><\/p>\n Sensors:<\/span><\/p>\n Output Devices:<\/span><\/p>\n Actuators:<\/span><\/p>\n Structure and Assembly:<\/span><\/p>\n We started the robot design on the basis of a pre-bought chassis containing a chassis plate, DC motors with gearboxes and wheels, a caster wheel, battery box, a switch and some mounting material.<\/span><\/p>\n Tonybot is based on Arduino code. It defines TonyBot\u2019s physical behavior in response to commands received via Bluetooth. It controls motors, servos, sensors, LEDs, and a buzzer for various operating modes, including movement, line following, dancing, and playing a game.<\/span><\/p>\n Upon startup, it greets the user by reproducing a melody similar to \u201cHELLO\u201d and displays \u201cHI\u201d on the matrix.\u00a0<\/span><\/p>\n Bluetooth communication is handled using the SoftwareSerial library. Tonybot continuously listens for specific characters sent from the mobile app, and each character triggers a specific behavior such as movement, switching modes, or starting music playback.<\/span><\/p>\n Motor and servo control is achieved through four digital output pins used to manage two DC motors, with PWM applied to control their speed. Additionally, two servo motors (one for each arm) are initialized and allow Tonybot to move its arms when instructed. The standard arm movement is to open and close it.<\/span> In Line Following Mode, Tonybot reads analog input from a line sensor to detect surface color. Before use, the user calibrates the white and black thresholds through the app. During operation, Tonybot adjusts the speed of its motors based on the color detected, following a formula simulated in a course laboratory, where motor speeds are modulated depending on whether the sensor detects black or white, or in between. This allows Tonybot to autonomously follow a black line on a white surface with real-time corrections.<\/span><\/p>\n Dance Mode enables Tonybot to perform coordinated dances in sync with one of three predefined melodies: \u201cMemories\u201d by Maroon 5, \u201cHappy Birthday,\u201d and a piece by Beethoven. When a song is selected, Tonybot executes a random movement routine involving arm servos and LED matrix animations. Music is<\/span> played using timer interrupts, which ensure non-blocking playback on the buzzer so that other components can operate simultaneously.<\/span><\/p>\n In Game Mode, Tonybot transforms into an interactive game bot that displays various shapes\u2014square, triangle, diamond, and heart\u2014on the LED matrix. The user must correctly respond to each shape. If the user misses one, Tonybot stops the game and displays a sad face on the matrix. If the user correctly identifies four shapes in a row, Tonybot celebrates by playing a joyful sound and showing a smiling face on the LED display.<\/span><\/p>\n Ultrasonic obstacle detection is implemented using a sensor that measures distance in front of the robot. This feature helps prevent collisions and can automatically stop the robot if an object is detected too close, whether in manual control or line following mode.<\/span><\/p>\n The mobile app was developed using MIT App Inventor and is structured as follows:<\/span><\/p>\n To move Tonybot, the directional buttons must be held down, while the arm buttons work with a single press.<\/span> <\/p>\n Demos<\/b><\/p>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/bella-1-300x200.jpg\")
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Design 3D<\/b><\/h2>\n
Robot construction and connections<\/b><\/h2>\n
Functions<\/b><\/h2>\n
![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/h-300x225.jpg\")
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\n<\/span>Movement commands such as forward, backward, left, right, and diagonals are implemented by combining motor directions and speeds accordingly.<\/span><\/p>\nApp<\/b><\/h2>\n
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\n<\/span>The home screen allows the user to connect their smartphone to Tonybot via Bluetooth. Pressing the “BT” button initiates a search for available Bluetooth devices. Once connected, the Bluetooth icon will no longer display the “X”, indicating a successful connection. At this point, the list of functional modes will become visible. A “Home” button to return to the main screen at any time after the selection.<\/span>![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/nobt-300x138.jpg\")
![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/home-300x138.jpg\")
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\n<\/span>When Remote Control Mode is selected, a control interface appears featuring 11 buttons:<\/span><\/p>\n\n
\n<\/span>Additionally, there is a toggle switch labeled “Buttons”, which is enabled by default. When this switch is turned off, the robot can be controlled using the phone\u2019s accelerometer. In this mode, the user can steer Tonybot by simply tilting the smartphone in different directions.<\/span><\/p>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/bottoms-300x138.jpg\")
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\n<\/span>When Line Following Mode is activated, the first required step (if not already completed) is to calibrate the white and black threshold levels using two dedicated buttons\u2014one for each color. Once calibration is complete, Start and Stop buttons will appear. After placing Tonybot over a black line, pressing Start will make it follow the line automatically.<\/span><\/li>\n<\/ul>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/nolines-300x138.jpg\")
![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/lines-300x138.jpg\")
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\n<\/span>When Dance Mode is activated, three buttons appear on the screen, each corresponding to a different song. The songs, in order, are <\/span>“Memories”<\/span><\/i> by Maroon 5, <\/span>“Happy Birthday”<\/span><\/i>, and a piece by Beethoven. When a button is pressed, Tonybot performs a dance with the selected track.<\/span><\/li>\n<\/ul>\n![\"\"](\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/dance-300x138.jpg\")
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\n<\/span>When Game Mode is activated, the game starts immediately. Four shape buttons are displayed: a square, a triangle, a diamond, and a heart. The user interacts with these shapes as part of the game. Pressing the “Restart” button resets the game and starts it again from the beginning.<\/span><\/li>\n<\/ul>\n\n