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PRODUCT NAME	QUANTITY
Arduino	2 Buy Now
Bluetooth (HC-05)	2 or more (Depending on number of Slave devices you need)   Buy Now
IR Sensors	2 Buy Now
Male - Female Jumper wires	15 Buy Now
Auton Shield	2

SPduino:
 


Bluetooth(HC-05):

 
Auton Shield : 

SLAVE ROLE :
To configure the HC-05 as the slave role. Do the AT commands after entering your BT into the AT command mode.

[ Remember:
You should upload a program with Empty Void Setup and Void Loop function and then open your Serial Monitor to perform the AT Commands
NOTE :
 During AT Command modes, the TX of Bluetooth should be connected to TX of Arduino and RX of HC-05 should be connected with the RX f the Arduino ]

FUNCTION	COMMAND	RESPONSE	PARAMETER
Test	AT	OK	None
Restore Default	AT+ORGL	OK	None
Name	AT+NAME ?	OK	HC-05(Default)
Mode	AT+CMODE=0	OK	0- To Connect to specific BT address  1- To connect to any nearby open BT
Role Perform	AT+ROLE ?	OK	0 - Slave  , 1 - Master
Role Assign	AT+ROLE=0	OK	Work as Slave to Connect with the Master device
To know Address	AT+ADDR ?	OK	2015:43:234567 ( Will Vary for every BT Module )
Sync Speed	AT+UART =9600,0,0	OK	9600,0,0 (To Match with the Serial port of your computer)
Ready to Pair	AT+INIT	OK	None

After this is done, remember the address of your slave device.

MASTER ROLE :
Its time to configure the master devices. After following the below steps.

FUNCTION	COMMAND	RESPONSE	PARAMETER
Test	AT	OK	None
Restore Default	AT + ORGL	OK	None
Name	AT + NAME ?	OK	HC-05 (Default)
Role Perform	AT + ROLE ?	OK	0-Slave 1-Master
Role Assign	AT + ROLE=1	OK	Work as Master to connect to Slave
Sync Speed	AT + UART=9600,0,0	OK	38400,0,0 (Default)
Ready to pair	AT + INIT	OK	None
Connection Mode	AT + CMODE?	OK	0 - Connects to specified address 1 - Connects to any available address
Connecting	AT + BIND <addr>	OK	Type slave address to connect. addr - Address of Slave

Once both the Bluetooth modules are paired using AT commands, head on to the below steps ..

MASTER SIDE CONNECTION :

1. Mount the Auton shield on top of the SPduino.
2. Then Connect the IR sensors to the auton shield.
3. Connect the Master Bluetooth to the Auton shield as shown in the image below.
4. Then go ahead and upload the sample program given below.
5. Connect the Motors to the pins according to what you have assigned in the Code. 

SLAVE SIDE CONNECTION :

1. Mount the Auton shield on top of the SPduino.
2. Since, Slave just performs the task depending on the input read from Bluetooth, we do not require any sensors . However, if yo want to increase the robustness of slave and wish to enhance the features, go ahead and add sensors. ( This might require you to change the program, if sensors are added to Slave device.)
3. Connect the Slave Bluetooth to the Auton shield as shown in the image below.
4. Then go ahead and upload the sample program given below. 

The Sample program for the Master and Slave Bluetooth devices are as given below...

 Swarm robot - Master code 

Swarm robot - Slave code