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This pcb holds the color sensors and motor drivers. it also connecs to the motors.
https://github.com/ableTI/robotica/
https://mendelcollege.nl/ontdek-je-talenten/robotica-en-beta/
Sites:
Software engineer: Abel Tim
10810@mendelcollege.nl
10498@mendelcollege.nl
Team:
Hardware engineer: Jorn Schouten
General : Nathanaël den Hertog
10832@mendelcollege.nl
Contact info:
Software
Software:
There are two codes for this robot becouse there are two microcontrollers on the robot.
-The camera's code is written in python. The code is written so that you can select the goal collor using input from a dip switch. After you select the goal collor it will detect it and output where the goal is reletive to the robot in degrees. This is send to the teensy using a uart connection.
-The teensy's code is written in loops of a few microseconds. At the start of each loop it will garther all incoming data first. This is the sensor data from IR seekers, compas data and color sensor data. It also collects the data from the camera about where the goal is located. After it has collected the data it will first check the color sensors if it is on a line and needs to move back. After that it will check if it has the ball using one of the IR seekers. If it has then it will go towards the goal using the camera data. If it does not have the ball it will go towards the ball using the other IR seekers.
IR seekers
We use the TSSP 4038 IR recievers to locate the ball.
Camera
We use openmv H7 to find the goal.
Motors
We are using the pololy metal gearmotors to move the robot.
Upper PCB
We designd the upper pcb to hold most of the microchips and the IR seeksers.
Lower PCB
This pcb holds the color sensors and motor drivers. it also connecs to the motors.
Color sensors
We are using the TCS34725 color sensors to detect the lines on the ground.
Teensy
We are using the teensy 4.1 as main microconrtoller that directs all components.
Netherlands - dutch
Sponsors::
Abstract:
We are a team of three members for a school in the Netherlands named Mendelcollege. We shared the rolles so that one only doing coding en design the electricas schems, one is doing the mechanical design of the robot, and one is doing a bit of both worlds.
The team on the dutch championship.
Left: Jorn
Middel: Nathanaël
Right: Abel
Teensy code
SETUP:
Define all ports and create variables
-Start serial connection with OpenMV canmera and with a posibly connected computer
-Start I2C connection with the port multiplexers
-Start serial connection with OpenMV canmera and with a posibly connected computer
-Connect unconected pins to ground
-Configure IR sensors
LOOP
collect sensor data
-gather IR sensor data
-select color sensor N and gather its extract color from data
6x
-collect location of the goal from openMV
-Read compas data
Print all data to serial port for debuging.
Do the color sensors see a line?
YES
NO
Move back.
Is the robot in posesion of the ball?
YES
NO
Do we see the ball?
NO
YES
move towards the ball
Have we seen the ball in the last 10 loops?
NO
Start spinning whilst moving on the field
Is our front aimed towards the goal?
YES
NO
Turn towards the goal.
Move towards the goal.
YES
Continue last direction.
Teensy
OpenMV
Color Sensors
I2C multiplexer
Motor Driver
Motor
Port Multiplexer
Port Multiplexer
IR sensors
Motor encoder
buzzer
compas
dip switch