13 files changed, 3349 insertions, 55 deletions
diff --git a/CODE/CODE.ino b/CODE/CODE.ino
index 0db480a..5f04f5c 100644
--- a/CODE/CODE.ino
+++ b/CODE/CODE.ino
@@ -98,6 +98,10 @@ MAKE_TYPE_INFO( short )
 void setup() {
   Serial.begin(9600);
   Serial1.begin(19200);
+  
+  //connect unconected pins to GND
+  pinMode(40, INPUT_PULLUP);
+  pinMode(41, INPUT_PULLUP);
 
   // Initialize first MCP23017 with I2C address 0x20
   if (!mcp1.begin_I2C(mcp1ADDR)) {
diff --git a/IMU_comp/IMU_comp.ino b/IMU_comp/IMU_comp.ino
new file mode 100644
index 0000000..40d99b6
--- /dev/null
+++ b/IMU_comp/IMU_comp.ino
@@ -0,0 +1,32 @@
+//https://www.pololu.com/product/2862
+#include <Wire.h>
+#include <LIS3MDL.h>
+
+LIS3MDL mag;
+
+char report[80];
+
+void setup()
+{
+  Serial.begin(9600);
+  Wire.begin();
+
+  if (!mag.init())
+  {
+    Serial.println("Failed to detect and initialize magnetometer!");
+    while (1);
+  }
+
+  mag.enableDefault();
+}
+
+void loop()
+{
+  mag.read();
+
+  snprintf(report, sizeof(report), "M: %6d %6d %6d",
+    mag.m.x, mag.m.y, mag.m.z);
+  Serial.println(report);
+
+  delay(100);
+}
diff --git a/lower_connection_schema.pdf b/lower_connection_schema.pdf
index 704a16c..5092bf1 100644
--- a/lower_connection_schema.pdf
+++ b/lower_connection_schema.pdf
diff --git a/motordriver/motordriver.ino b/motordriver/motordriver.ino
index 35d6885..0fd30e7 100644
--- a/motordriver/motordriver.ino
+++ b/motordriver/motordriver.ino
@@ -1,4 +1,8 @@
 //moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni
+
+
+#include <Adafruit_MCP23X17.h>
+
 // motor one
 int enA = 33;
 int in1 = 2;
@@ -195,8 +199,7 @@ void turn(int speed){
   digitalWrite(in6, LOW);
 }
 
-void moveohmi(int speed, int direction)
-{
+void moveohmi(int speed, int direction){
   turnoff();
   double dirrad = (direction*71) / 4068;
   dirA = 1.047198-dirrad; 
@@ -209,8 +212,7 @@ void moveohmi(int speed, int direction)
   Bmove(spdB);
   Cmove(spdC);
 }
-void beddermoveohmi(int speed, int direction)
-{
+void beddermoveohmi(int speed, int direction){
   turnoff();
 
   double dirrad = (direction*71) / 4068;  
diff --git a/motordriver/nomultiplexer/nomultiplexer.ino b/motordriver/nomultiplexer/nomultiplexer.ino
new file mode 100644
index 0000000..d2800a8
--- /dev/null
+++ b/motordriver/nomultiplexer/nomultiplexer.ino
@@ -0,0 +1,192 @@
+//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni
+//https://www.pololu.com/product/2997
+//https://www.pololu.com/product/4861
+//
+// motor one
+int m1penA = 1;
+int m1enB = 2;
+int m1pwm1 = 3;
+int m1pwm2 = 4;
+int m1encA = 13;
+int m1encB = 14;
+// motor two
+int m2enA = 5;
+int m2enB = 6;
+int m2pwm1 = 7;
+int m2pwm2 = 8;
+// motor three
+int m3enA = 9;
+int m3enB = 10;
+int m3pwm1 = 11;
+int m3pwm2 = 12;
+
+int sp = 160;
+
+double dirA = 0.00;
+double dirB = 0.00;
+double dirC = 0.00;
+double spdA = 0.00;
+double spdB = 0.00;
+double spdC = 0.00;
+double dirrad = 0.00;
+
+void setup()
+{
+ // set all the motor control pins to outputs
+ pinMode(m1enA, OUTPUT);
+ pinMode(m1enB, OUTPUT);
+ pinMode(m2enA, OUTPUT);
+ pinMode(m2enB, OUTPUT);
+ pinMode(m3enA, OUTPUT);
+ pinMode(m3enB, OUTPUT);
+
+ pinMode(m1pwm1, OUTPUT);
+ pinMode(m1pwm2, OUTPUT);
+ pinMode(m2pwm1, OUTPUT);
+ pinMode(m2pwm2, OUTPUT);
+ pinMode(m3pwm1, OUTPUT);
+ pinMode(m3pwm2, OUTPUT);
+
+ pinMode(m1encA, INPUT);
+ pinMode(m1encB, INPUT);
+}
+
+void Amove(int sped){
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enA, LOW);
+  sp = abs(sped);
+  if (sped < 0) {
+    Serial.print("back");
+    analogWrite(m1pwm1, sp);
+    digitalWrite(m1pwm2, LOW);
+  } else {
+    Serial.print("forward");
+    digitalWrite(m1pwm1, LOW);
+    analogWrite(m1pwm2, sp);
+  } 
+  Serial.println(sp);
+}
+void Bmove(int sped) {
+  Serial.print("moving B ");
+  if (sped < 0) {
+    digitalWrite(in3, LOW);
+    digitalWrite(in4, HIGH);
+    Serial.print("back");
+  } else {
+    digitalWrite(in3, HIGH);
+    digitalWrite(in4, LOW);
+    Serial.print("forward");
+  } 
+  Serial.print("with speed: ");
+  int sp = abs(sped);
+  analogWrite(enB, sp);
+  Serial.println(sp);
+}
+void Cmove(int sped) {
+  Serial.print("moving C ");
+  if (sped < 0) {
+    digitalWrite(in5, LOW);
+    digitalWrite(in6, HIGH);
+    Serial.print("back");
+  } else {
+    digitalWrite(in5, HIGH);
+    digitalWrite(in6, LOW);
+    Serial.print("forward");
+  } 
+  Serial.print("with speed: ");
+  int sp = abs(sped);
+  analogWrite(enC, sp);
+  Serial.println(sp);
+}
+
+void turnoff(){
+  Serial.println("stop");
+  analogWrite(enA, 0);
+  analogWrite(enB, 0);
+  analogWrite(enC, 0);
+  digitalWrite(in1, LOW);
+  digitalWrite(in2, LOW);
+  digitalWrite(in3, LOW);
+  digitalWrite(in4, LOW);
+  digitalWrite(in5, LOW);
+  digitalWrite(in6, LOW); 
+}
+void forward(int speed){
+  Serial.println("forward");
+  analogWrite(enA, speed);
+  analogWrite(enB, speed);
+  analogWrite(enC, speed);
+  digitalWrite(in1, LOW);
+  digitalWrite(in2, LOW);
+  digitalWrite(in3, HIGH);
+  digitalWrite(in4, LOW);
+  digitalWrite(in5, HIGH);
+  digitalWrite(in6, LOW);
+}
+void turn(int speed){
+  Serial.println("turn");
+  analogWrite(enA, speed);
+  analogWrite(enB, speed);
+  analogWrite(enC, speed);
+  digitalWrite(in1, HIGH);
+  digitalWrite(in2, LOW);
+  digitalWrite(in3, HIGH);
+  digitalWrite(in4, LOW);
+  digitalWrite(in5, HIGH);
+  digitalWrite(in6, LOW);
+}
+
+void moveohmi(int speed, int direction){
+  turnoff();
+  double dirrad = (direction*71) / 4068;
+  dirA = 1.047198-dirrad; 
+  dirB = 3.141593-dirrad;
+  dirC = 5.235988-dirrad;
+  spdA = speed*sin(dirA);
+  spdB = speed*sin(dirB);
+  spdC = speed*sin(dirC);
+  Amove(spdA);
+  Bmove(spdB);
+  Cmove(spdC);
+}
+void beddermoveohmi(int speed, int direction){
+  turnoff();
+
+  double dirrad = (direction*71) / 4068;  
+  Serial.println(dirrad);
+  //vector ontb in x en y
+  double x = sin(dirrad)*speed;
+  double y = cos(dirrad)*speed;
+  Serial.println((String)"x:"+x+" y:"+y);
+  spdA = -0.5*x - sqrt(3)/2*y;
+  spdB = x;
+  spdC = -0.5*x + sqrt(3)/2*y;
+  Amove(spdA);
+  Bmove(spdB);
+  Cmove(spdC);
+
+  Serial.println(spdA);
+  Serial.println(spdB);
+  Serial.println(spdC);
+  Serial.println();
+  Serial.println();
+}
+void loop()
+{
+  delay(1000);
+  turnoff();
+  beddermoveohmi(255, 0);
+  delay(1000);
+  turnoff();
+  Amove(255);
+  delay(1000);
+  turnoff();
+  Bmove(255);
+  delay(1000);
+  turnoff();
+  Cmove(255);
+  delay(1000);
+  turnoff();
+  turn(254);
+  delay(1000);
+}
diff --git a/pcb_boven/pcb_boven.pro b/pcb_boven/pcb_boven.pro
index 152769c..0b90d6d 100644
--- a/pcb_boven/pcb_boven.pro
+++ b/pcb_boven/pcb_boven.pro
@@ -1,4 +1,4 @@
-update=22/05/2015 07:44:53
+update=Thu Jun 20 20:04:17 2024
 version=1
 last_client=kicad
 [general]
@@ -31,3 +31,13 @@ NetIExt=net
 version=1
 LibDir=
 [eeschema/libraries]
+[schematic_editor]
+version=1
+PageLayoutDescrFile=
+PlotDirectoryName=
+SubpartIdSeparator=0
+SubpartFirstId=65
+NetFmtName=
+SpiceAjustPassiveValues=0
+LabSize=50
+ERC_TestSimilarLabels=1
diff --git a/pcb_boven/pcb_boven.sch b/pcb_boven/pcb_boven.sch
index b27d1c1..771cb94 100644
--- a/pcb_boven/pcb_boven.sch
+++ b/pcb_boven/pcb_boven.sch
@@ -4,13 +4,13 @@ EELAYER END
 $Descr A3 16535 11693
 encoding utf-8
 Sheet 1 1
-Title ""
+Title "Upper_pcb"
 Date ""
 Rev ""
-Comp ""
-Comment1 ""
-Comment2 ""
-Comment3 ""
+Comp "Mendelcollege"
+Comment1 "For more info email 10810@mendelcollege.nl"
+Comment2 "https://github.com/ableTI/robotica/"
+Comment3 "https://mendelcollege.nl/ontdek-je-talenten/robotica-en-beta/"
 Comment4 ""
 $EndDescr
 $Comp
diff --git a/pcb_boven/pcb_boven.sch-bak b/pcb_boven/pcb_boven.sch-bak
index 960a626..b27d1c1 100644
--- a/pcb_boven/pcb_boven.sch-bak
+++ b/pcb_boven/pcb_boven.sch-bak
@@ -791,40 +791,8 @@ Wire Wire Line
 Connection ~ 8200 2375
 Connection ~ 8700 5825
 Wire Wire Line
-	8750 5425 4975 5425
-Wire Wire Line
-	4975 5425 4975 7700
-Wire Wire Line
-	4975 7700 5025 7700
-Wire Wire Line
 	5025 8100 4800 8100
 Wire Wire Line
-	5025 7800 4950 7800
-Wire Wire Line
-	4950 7800 4950 5300
-Wire Wire Line
-	4950 5300 8275 5300
-Wire Wire Line
-	8275 5300 8275 5125
-Wire Wire Line
-	8275 5125 8750 5125
-Wire Wire Line
-	8750 5225 8325 5225
-Wire Wire Line
-	8325 5225 8325 5350
-Wire Wire Line
-	8325 5350 4925 5350
-Wire Wire Line
-	4925 5350 4925 7900
-Wire Wire Line
-	4925 7900 5025 7900
-Wire Wire Line
-	7225 8600 8475 8600
-Wire Wire Line
-	8475 8600 8475 5325
-Wire Wire Line
-	8475 5325 8750 5325
-Wire Wire Line
 	7350 7300 8100 7300
 Wire Wire Line
 	7425 7400 8075 7400
@@ -1201,4 +1169,24 @@ F 3 "~" H 3575 7100 50  0001 C CNN
 $EndComp
 Wire Wire Line
 	4500 6025 7275 6025
+Wire Wire Line
+	4925 6700 4925 5350
+Wire Wire Line
+	4925 5350 8550 5350
+Wire Wire Line
+	8550 5350 8550 5525
+Wire Wire Line
+	8550 5525 8750 5525
+Wire Wire Line
+	4925 6700 5025 6700
+Wire Wire Line
+	8750 5625 8525 5625
+Wire Wire Line
+	8525 5625 8525 5375
+Wire Wire Line
+	8525 5375 4950 5375
+Wire Wire Line
+	4950 5375 4950 6800
+Wire Wire Line
+	4950 6800 5025 6800
 $EndSCHEMATC
diff --git a/pcb_onder/pcb_onder.pro b/pcb_onder/pcb_onder.pro
index 152769c..8c5dc78 100644
--- a/pcb_onder/pcb_onder.pro
+++ b/pcb_onder/pcb_onder.pro
@@ -1,6 +1,6 @@
-update=22/05/2015 07:44:53
+update=Thu Jun 20 20:07:36 2024
 version=1
-last_client=kicad
+last_client=eeschema
 [general]
 version=1
 RootSch=
@@ -31,3 +31,13 @@ NetIExt=net
 version=1
 LibDir=
 [eeschema/libraries]
+[schematic_editor]
+version=1
+PageLayoutDescrFile=
+PlotDirectoryName=
+SubpartIdSeparator=0
+SubpartFirstId=65
+NetFmtName=
+SpiceAjustPassiveValues=0
+LabSize=50
+ERC_TestSimilarLabels=1
diff --git a/pcb_onder/pcb_onder.sch b/pcb_onder/pcb_onder.sch
index db82ace..c7f9381 100644
--- a/pcb_onder/pcb_onder.sch
+++ b/pcb_onder/pcb_onder.sch
@@ -4,13 +4,13 @@ EELAYER END
 $Descr A3 16535 11693
 encoding utf-8
 Sheet 1 1
-Title ""
+Title "Lower pcb"
 Date ""
 Rev ""
-Comp ""
-Comment1 ""
-Comment2 ""
-Comment3 ""
+Comp "Mendelcollege"
+Comment1 "For more info: 10810@mendelcollege.nl"
+Comment2 "https://mendelcollege.nl/ontdek-je-talenten/robotica-en-beta/"
+Comment3 "https://github.com/ableTI/robotica/"
 Comment4 ""
 $EndDescr
 $Comp
diff --git a/pcb_onder/pcb_onder.sch-bak b/pcb_onder/pcb_onder.sch-bak
index bae3a48..db82ace 100644
--- a/pcb_onder/pcb_onder.sch-bak
+++ b/pcb_onder/pcb_onder.sch-bak
@@ -85,7 +85,7 @@ Wire Wire Line
 Wire Wire Line
 	5750 4050 5750 4150
 Wire Wire Line
-	1400 4125 1400 5950
+	1400 4125 1400 4650
 Wire Wire Line
 	975  4050 975  6850
 Wire Wire Line
@@ -604,10 +604,10 @@ Connection ~ 6525 7200
 Wire Wire Line
 	6525 7200 6325 7200
 $Comp
-L Device:R i2c_res
+L Device:R i2c_res1
 U 1 1 666C9452
 P 6400 7475
-F 0 "i2c_res" H 6470 7521 50  0000 L CNN
+F 0 "i2c_res1" H 6470 7521 50  0000 L CNN
 F 1 "R" H 6470 7430 50  0000 L CNN
 F 2 "custom:resistor" V 6330 7475 50  0001 C CNN
 F 3 "~" H 6400 7475 50  0001 C CNN
@@ -656,8 +656,6 @@ Connection ~ 4075 4050
 Wire Wire Line
 	4075 4050 5750 4050
 Connection ~ 3975 4125
-Wire Wire Line
-	3975 4125 5650 4125
 $Comp
 L tb9051ftg:TB9051FTG motor_driver3
 U 1 1 66365747
@@ -683,7 +681,7 @@ $EndComp
 Wire Wire Line
 	1400 4125 2325 4125
 Wire Wire Line
-	3975 4125 2325 4125
+	3975 4125 3225 4125
 Connection ~ 2325 4125
 Wire Wire Line
 	2325 4125 2325 4150
@@ -742,4 +740,21 @@ Wire Wire Line
 	8100 5850 8100 4800
 Wire Wire Line
 	8100 4800 7950 4800
+Wire Wire Line
+	1575 4650 1400 4650
+Connection ~ 1400 4650
+Wire Wire Line
+	1400 4650 1400 5950
+Wire Wire Line
+	3225 4650 3225 4125
+Connection ~ 3225 4125
+Wire Wire Line
+	3225 4125 2325 4125
+Wire Wire Line
+	4900 4650 4900 4125
+Wire Wire Line
+	3975 4125 4900 4125
+Connection ~ 4900 4125
+Wire Wire Line
+	4900 4125 5650 4125
 $EndSCHEMATC
diff --git a/poster.svg b/poster.svg
new file mode 100644
index 0000000..2303fb4
--- /dev/null
+++ b/poster.svg
@@ -0,0 +1,3041 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
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+   viewBox="0 0 420.0 297.0"
+   version="1.1"
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+         style="font-size:4.23333px;fill:#3b4084;fill-opacity:1;stroke-width:0.264583">Hardware engineer: Jorn Schouten </tspan></text>
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+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">There are two codes for this robot becouse there are </tspan></tspan><tspan
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+</tspan></tspan><tspan
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+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">-The camera's code is written in python. The code is               </tspan></tspan><tspan
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+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">written so that you can select the goal collor using </tspan></tspan><tspan
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+         y="121.83581"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">input from a dip switch. After you select the goal </tspan></tspan><tspan
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+         y="125.36359"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">collor it will detect it and output where the goal is </tspan></tspan><tspan
+         x="25.996389"
+         y="128.89137"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">reletive to the robot in degrees. This is send to the </tspan></tspan><tspan
+         x="25.996389"
+         y="132.41914"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">teensy using a uart connection.
+</tspan></tspan><tspan
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+         y="135.94691"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">-The teensy's code is written in loops of a few </tspan></tspan><tspan
+         x="25.996389"
+         y="139.47468"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">microseconds. At the start of each loop it will </tspan></tspan><tspan
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+         y="143.00245"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">garther all incoming data first. This is the sensor </tspan></tspan><tspan
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+         y="146.53022"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">data from IR seekers, compas data and color sensor </tspan></tspan><tspan
+         x="25.996389"
+         y="150.05799"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">data. It also collects the data from the camera </tspan></tspan><tspan
+         x="25.996389"
+         y="153.58576"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">about where the goal is located. After it has </tspan></tspan><tspan
+         x="25.996389"
+         y="157.11353"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">collected the data it will first check the color sensors </tspan></tspan><tspan
+         x="25.996389"
+         y="160.64131"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">if it is on a line and needs to move back. After that it </tspan></tspan><tspan
+         x="25.996389"
+         y="164.16908"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">will check if it has the ball using one of the IR </tspan></tspan><tspan
+         x="25.996389"
+         y="167.69685"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">seekers. If it has then it will go towards the goal </tspan></tspan><tspan
+         x="25.996389"
+         y="171.22462"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">using the camera data. If it does not have the ball it </tspan></tspan><tspan
+         x="25.996389"
+         y="174.75239"><tspan
+           style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">will go towards the ball using the other IR seekers.  </tspan></tspan></text>
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+       x="152.955"
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+    <text
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+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+         x="194.47379"
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+           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">We use the TSSP 4038 IR </tspan></tspan><tspan
+         x="194.47379"
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+           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">recievers to locate the </tspan></tspan><tspan
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+         y="126.45893"><tspan
+           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">ball.</tspan></tspan></text>
+    <text
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+       style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583"
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+    <text
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+         x="194.47379"
+         y="112.34783"><tspan>We use openmv H7 to </tspan></tspan><tspan
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+    <text
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+       transform="translate(34.371519,-3.3009449)"><tspan
+         x="194.47379"
+         y="112.34783"><tspan>We are using the pololy </tspan></tspan><tspan
+         x="194.47379"
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+         x="194.47379"
+         y="126.45893"><tspan>move the robot.</tspan></tspan></text>
+    <text
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+       style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583"
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+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">upper pcb</tspan></text>
+    <text
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+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+         x="194.47379"
+         y="112.34783"><tspan>We designd the upper </tspan></tspan><tspan
+         x="194.47379"
+         y="119.40338"><tspan>pcb to hold most of the </tspan></tspan><tspan
+         x="194.47379"
+         y="126.45893"><tspan>microchips and the IR </tspan></tspan><tspan
+         x="194.47379"
+         y="133.51448"><tspan>seeksers. </tspan></tspan></text>
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+    <text
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+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+         x="194.47379"
+         y="112.34783"><tspan>This pcb holds the color </tspan></tspan><tspan
+         x="194.47379"
+         y="119.40338"><tspan>sensors and motor </tspan></tspan><tspan
+         x="194.47379"
+         y="126.45893"><tspan>drivers. it also connecs </tspan></tspan><tspan
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+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">color sensors</tspan></text>
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+       id="text1857-2-9-9"
+       transform="translate(28.376655,94.980955)"><tspan
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+         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
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+         y="119.40338"><tspan>TCS34725 color sensors </tspan></tspan><tspan
+         x="194.47379"
+         y="126.45893"><tspan>to detect the lines on </tspan></tspan><tspan
+         x="194.47379"
+         y="133.51448"><tspan>the ground.</tspan></tspan></text>
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+         y="46.05051"
+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">compas</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+       id="text1857-7"
+       transform="translate(-48.001458,-53.45184)"><tspan
+         x="194.47379"
+         y="112.34783"><tspan>We use the MinIMU-9 v6 </tspan></tspan><tspan
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+         y="119.40338"><tspan>Gyro as a compas. This </tspan></tspan><tspan
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+         y="126.45893"><tspan>is a backup to locate the </tspan></tspan><tspan
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+         y="133.51448"><tspan>goal in case the camere </tspan></tspan><tspan
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+         y="140.57004"><tspan>does not work.</tspan></tspan></text>
+    <text
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+       id="text2471"
+       style="line-height:1.25;font-family:sans-serif;font-size:5.64444444px;white-space:pre;shape-inside:url(#rect2473);" />
+    <text
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+       style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583"
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+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">teensy</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
+       x="194.47379"
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+       id="text1857-2-6"
+       transform="translate(24.64506,-53.619511)"><tspan
+         x="194.47379"
+         y="112.34783"><tspan>We are using the teensy </tspan></tspan><tspan
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+         y="119.40338"><tspan>4.1 as main </tspan></tspan><tspan
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+         y="126.45893"><tspan>microconrtoller that </tspan></tspan><tspan
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+         y="133.51448"><tspan>directs all components.</tspan></tspan></text>
+    <text
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+       style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583"
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+         x="109.05659"
+         y="245.6022"
+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">port multiplexer</tspan></text>
+    <text
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+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+       id="text1857-9-9-6"
+       transform="translate(-77.146342,145.11477)"><tspan
+         x="194.47379"
+         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
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+         y="126.45893"><tspan>expanter becouse the </tspan></tspan><tspan
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+         y="140.57004"><tspan>enough ports. </tspan></tspan></text>
+    <text
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+       style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583"
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+         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">i2c multiplexer</tspan></text>
+    <text
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+       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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+       id="text1857-9-9-6-0"
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+         x="194.47379"
+         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
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+         y="119.40338"><tspan>pca9548a as i2c </tspan></tspan><tspan
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+         y="126.45893"><tspan>multiplexer becouse the </tspan></tspan><tspan
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+         y="133.51448"><tspan>color sensors do not </tspan></tspan><tspan
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+         y="140.57004"><tspan>have customisable i2c </tspan></tspan><tspan
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+         y="147.6256"><tspan>addreses and thus need </tspan></tspan><tspan
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+         y="154.68116"><tspan>to have a device that </tspan></tspan><tspan
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+         y="161.73671"><tspan>lets us read them all . </tspan></tspan></text>
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+  </g>
+</svg>
diff --git a/upper_connection_schema.pdf b/upper_connection_schema.pdf
index 490a60f..c598008 100644
--- a/upper_connection_schema.pdf
+++ b/upper_connection_schema.pdf