🤖 Autonomous Multi-Mode Robot (RC / Line Follow)

This project features a multi-mode robot controlled via a mobile application (Bluetooth) and capable of autonomous, stabilized line following.

🎮 Try it Live! (Correction Logic Test)

This simulation demonstrates the robot's logic for stable line following. You can test the autonomous behavior by pressing the green sensor buttons.

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✨ Modes & Features

The robot cycles between two main modes via the Mode Switch Button (D12):

Mode	Control Method	Primary Logic
RC Mode	Bluetooth (Joystick X/Y/P)	Direct control of motor speeds based on joystick coordinates.
Line Follow	Autonomous	Smart Correction System: Calculates how far the robot is from the center of the line to apply smooth, proportional motor speed adjustments, ensuring high-speed stability.

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🛠️ Hardware Requirements

• Microcontroller: Arduino Uno
• Driver: L298N Motor Driver
• Comms: HC-05/HC-06 Bluetooth Module
• Ground Sensors: 3x IR Line Sensors (L/C/R)

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🔌 Hardware Pinout (Arduino UNO)

Component	Arduino Pin	Description
Left Motor	D5 (DIR), D7 (PWM)	Left wheel control.
Right Motor	A0 (DIR), A2 (PWM)	Right wheel control.
Left Line Sensor	A3	Left sensor input.
Center Line Sensor	A4	Center sensor input.
Right Line Sensor	A5	Right sensor input.
Mode Button	D12	Toggles between RC and Line Follow modes.
Left LED	D10	Turn indicator.
Right LED	D11	Turn indicator.
Bluetooth (TX/RX)	D3/D2	SoftwareSerial communication.

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📱 Mobile Application Installation (MIT App Inventor)

The control application is provided as an MIT App Inventor file (.aia), pre-configured to send the correct Bluetooth protocol to the Arduino.

1. Download and Import the .aia File

1. Download the application file : RC_SUMO_Controller.aia (File to be provided separately).
2. Access MIT App Inventor : Go to ai2.appinventor.mit.edu.
3. Import the project : Click on Projects > Import project (.aia) from my computer and select the provided file.

2. Connect and Protocol Details

1. Generate the APK : In App Inventor, click Build > Android App (.apk file) and install the resulting file on your Android smartphone.
2. Connect Bluetooth : Pair your phone with the HC-05/HC-06 module (pairing code is typically 1234 or 0000).
3. App Protocol : The app sends a synchronized 5-byte packet at 9600 baud to control the robot:

Position	Data Type	Value Range	Role
1	Sync Marker	255	Required start marker for packet synchronization.
3	Axis X	$0$ to $250$	Lateral direction control (Joystick Left $\leftrightarrow$ Right).
4	Axis Y	$0$ to $250$	Speed control (Joystick Forward $\leftrightarrow$ Reverse).
5	Power P	$0$ to $100$	Maximum speed limit (Slider/Curser).

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📄 License

MIT License - Copyright (c) 2024 simonet4