image/svg+xml
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.
Compas
We use the MinIMU-9 v6 Gyro as a compas. This is a backup to locate the goal in case the camere does not work.
Teensy
We are using the teensy 4.1 as main microconrtoller that directs all components.
Port multiplexer
We are using the MCP23017 as a IO expander becouse the teensy does not have enough ports.
I2C multiplexer
We are using the pca9548a as i2c multiplexer becouse the color sensors do not have customisable i2c addreses and thus need to have a device that lets us read them all.
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.