SumoBOT

DEPONE, JAMES ALEXANDER ELNAR, HEM LOCK

Electronics Engineering Department Electronics Engineering Department
Institute of Electronics Engineering Philippines Institute of Electronics Engineering Philippines

GERONIMO, FREDERICK NIETES, ANGELA BIANCA

Electronics Engineering Department Electronics Engineering Department
Institute of Electronics Engineering Philippines Institute of Electronics Engineering Philippines

PANTALUNAN, CINDY
Electronics Engineering Department
Institute of Electronics Engineering Philippines

Abstract— Many of the wireless-controlled robots using Bluetooth will be using on the project with the help of
RF modules. RF module short for the radio-frequency Bluetooth module where this module received the data from
module is a small electronic device used to transmit and Android phone and sent it to the controller, which is the
receive radio signals between two devices. In this project Arduino. The Arduino will transmit the data that makes the
with the use of Android mobile phone for robotic control, motor driver operates for the motors included in the project.
the user needs to turn on the Bluetooth in the mobile, With this, the Robot can freely move in any direction with the
which controls the Robot. The Robot has a Bluetooth use of Bluetooth in the Android mobile phone.
module which receives the commands and gives it to the
Arduino to control the motors. From then on, the
microcontroller transmits the signal to the motor driver to II. OBJECTIVES
operate the motors. The team aims to design a robot that can be operated
using the Bluetooth feature present. The design shall be made
I. INTRODUCTION
given the following considerations:
Robots are always an exciting topic for every student
and DIYers. But what is Robot? A robot is a machine,  The controlling of the Robot is done wirelessly
especially one programmable by a computer which is capable through Android mobile phone;
of carrying out a complex series of actions automatically.  The Android smartphone is used as a remote control
Robots can be guided by an external control device of the for the Robot and;
control may be embedded within. A robot has a movable  The Robot can be made to move in all directions.
physical structure, a motor of some sort, a sensor system, a
power supply and a computer which is the brain that controls
all of these elements.
The project is all about a robot-sumo with the use of
an Android mobile phone. Android is a software stack for a III. METHODOLOGIES
mobile device that includes an operating system, middleware With the set objectives, the team will design a robot
and critical applications. Android boasts a whole array of controlled by a Bluetooth application using on an android
connectivity options like Wi-Fi, Bluetooth and wireless data mobile phone. Arduino Uno must be prepared and the
over a cellular connection. But on this project, Bluetooth will program of the codes to synchronize with the Bluetooth
be using that serves as the controller of the Robot. Bluetooth is feature to be put in place. After which, the assembly and the
an open standard specification for a radio frequency, shortage programming features were done to complete the project.
connectivity technology that promises to change the face of
computing and wireless communication. As indicated
A. Conceptual Framework The sketch is saved with .ino extension. Any operations like
verifying, opening a sketch, saving a sketch can be done using
the buttons on the toolbar or using the tool menu.

Sumo Bot The line follower sensor has two sensors that can detect
controlled by white surfaces and dark surfaces. It works by emitting infrared
Bluetooth light and recording how much is reflected. If a lot is indicated,
feature it can be deduced that the surface is close to a white surface,
and if not, then the surface is dark or is not near any surface.

An electric motor turns electricity into motion by exploiting

electromagnetic induction. The motor features a permanent
horseshoe magnet called a stator, and a turning coil of wire
Research of Materials and Writing the called an armature or rotor. The armature provided with a
Bluetooth components to program for the current by the battery is an electromagnet, and it experiences a
controlled Sumo prepare and to said featured force which makes it a spin.
Bot assemble Bluetooth
To control the DC motor, the Arduino Uno alone cannot
Figure 1. Conceptual Framework of the Robot-sumo controlled by a Bluetooth provide it with enough current, so a shield driver is needed.
For this application, an L293D shield is a driver board based
B. Theory of operation on the L293 IC, which can drive 4 DC motors, two stepper
motors and a servo motor.
The Arduino Uno is an open-source microcontroller board
based on the ATmega328. It has 14 digital input/output pins in Each channel of the L293D module has the maximum
which six can be used as PWM outputs, a 16 MHz ceramic current of 1.2A and doesn’t work if the voltage is more than
resonator, an ICSP header, a USB connection, six analogue 25V or less than 4.5V. The module is designed to fit the
inputs, a power jack and a reset button. This contains all the Arduino Uno, and while it is attached, six analogue pins
necessary support needed for a microcontroller. To get started, (which can also be used as digital pins), pin two and pin 13 are
they are simply connected to a computer with a USB cable or free for use. It is also possible to apply a separate power
with an AC-to-DC adapter or battery. supply to the shield, but it requires that the user disconnect the
jumper available on the shield.
Arduino UNO microcontroller can sense the environment
by receiving input from a variety of sensors and can affect its
surroundings by controlling lights, motors, and other
actuators. The microcontroller is programmed using the
Arduino programming language (based on Wiring) and the
Arduino development environment (based on Processing).

Fig 3. L293 motor driver with Line Sensors

Image Source: https://bit.ly/39dS05Y

IV. DESIGN EVALUATION

Fig 2. Arduino pin labels
A. Flowchart

Image Source: https://bit.ly/33Daagx The flow of the system starts with the line sensors, aptly place
on the front of the Robot. These two sensors indicate the robot
Programs written in Arduino are known as sketches. A basic position from left to right. The sensors will send signals to the
design consists of 3 parts: Arduino UNO, which will process it into four conditions. If the
Robot’s sensors both see black, they will reverse. If only the
1. Declaration of Variables left sensor sees black, it will turn left. If the right only sees
2. Initialization: It is written in the setup () function. black, it will turn right, and if they sense no obstruction, it will
3. Control code: It is written in the loop () function. move forward.
 Figure 6. Sumobot Schematic Diagram

Image Source: https://bit.ly/33GCsGJ

V. TESTING AND RESULTS

A. Materials

The materials, tools and equipment used by the proponents are

listed below.
• Two pcs. Line Follower Sensor
Figure 4. Sumobot Flowchart • Arduino Uno
• L293D motor driver shield
Image Source: https://bit.ly/2wt6mSI • Two pcs. DC Motor with gear
B. Block Diagrams • Smart robot chassis
• Two pcs. Wheels
The line follower sensors are the inputs that the Arduino • Connecting wires
Uno will process. The line sensor will be placed in front of the • 1pc 9V battery
SumoBot so that it can better detect if the SumoBot has gone
out of bounds and will send the appropriate signal to the • 4pcs Li-ion Battery
Arduino Uno. The Arduino Uno will then process the signal • Laptop
from the line sensor to adjust the movement of the DC motors. • Switch
• Soldering iron and solder
• Heat shrink

B. Testing

After gathering all the materials needed and uploading the

program to the Arduino Uno, the Robot was ready for testing.

Figure 5. SumoBOT block Diagram

Image Source: https://bit.ly/39f3d6m

C. Schematic Diagram
Since the L293D motor driver shield is connected to the
Arduino Uno by putting the protection on top of the Arduino,
the connections are made using the available pins on the shield.
The DC motors are connected to the available motor
connectors, the battery pack is connected to the power supply,
and the line follower sensor is connected to the analogue pins
Figure 6. Assembling the SumoBOT
and has a typical Vcc and ground connection.
Figure 7. Troubleshooting the SumoBOT

Figure 10. SumoBOT with team members

V. CONCLUSION
The team was able to achieve the desired objectives
for this project where we were able to feature a Bluetooth
controlled Sumo bot, learned the insights on using Arduino
Uno, and insights on Line Sensoring programming.

REFERENCES

Figure 8. Chasis making of the Sumobot https://en.wikipedia.org/wiki/Robot-sumo

https://en.wikipedia.org/wiki/RF_module
https://www.electronicshub.org/bluetooth-controlled-robot-
using-arduino/
https://papers.ssrn.com/sol3/papers.cfm?abstract_id=3353197
https://science.howstuffworks.com/robot.htm
https://www.pantechsolutions.net/bluetooth-based-robot-
control-using-arduino

Figure 9. Finished SumoBOT