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       y="100.63959"
       id="text1853"><tspan
         sodipodi:role="line"
         id="tspan1851"
         x="152.955"
         y="100.63959"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">IR seekers</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"
       y="112.34783"
       id="text1857"
       transform="translate(-47.533085,-3.120458)"><tspan
         x="194.47379"
         y="112.34783"><tspan
           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">We use the TSSP 4038 IR </tspan></tspan><tspan
         x="194.47379"
         y="119.40338"><tspan
           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">recievers to locate the </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan
           style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">ball.</tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="159.54375"
       y="148.32965"
       id="text1853-1"><tspan
         sodipodi:role="line"
         id="tspan1851-8"
         x="159.54375"
         y="148.32965"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Camera</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"
       y="112.34783"
       id="text1857-9"
       transform="translate(-47.656793,47.411533)"><tspan
         x="194.47379"
         y="112.34783"><tspan>We use openmv H7 to </tspan></tspan><tspan
         x="194.47379"
         y="119.40338"><tspan>find the goal.</tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="242.85855"
       y="99.498093"
       id="text1853-1-2"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0"
         x="242.85855"
         y="99.498093"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Motors</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"
       y="112.34783"
       id="text1857-2"
       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"
         y="119.40338"><tspan>metal gearmotors to </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan>move the robot.</tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="239.00046"
       y="151.38217"
       id="text1853-1-2-3"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7"
         x="239.00046"
         y="151.38217"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Upper PCB</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"
       y="112.34783"
       id="text1857-2-9"
       transform="translate(37.069932,46.470682)"><tspan
         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>
    <text
       xml:space="preserve"
       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"
       x="153.38248"
       y="202.24332"
       id="text1853-1-2-3-2"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2"
         x="153.38248"
         y="202.24332"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Lower PCB</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;stroke-width:0.264583"
       x="189.50746"
       y="215.60909"
       id="text2175"><tspan
         sodipodi:role="line"
         id="tspan2173"
         x="189.50746"
         y="215.60909"
         style="stroke-width:0.264583" /></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"
       y="112.34783"
       id="text1857-9-9"
       transform="translate(-50.229119,96.881312)"><tspan
         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
         x="194.47379"
         y="133.51448"><tspan>to the motors. </tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="234.62903"
       y="197.36482"
       id="text1853-1-2-3-2-6"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2-1"
         x="234.62903"
         y="197.36482"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Color sensors</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"
       y="112.34783"
       id="text1857-2-9-9"
       transform="translate(28.376655,94.980955)"><tspan
         x="194.47379"
         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
         x="194.47379"
         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>
    <text
       xml:space="preserve"
       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"
       x="47.430138"
       y="237.15703"
       id="text1853-1-2-3-2-6-3"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2-1-1"
         x="47.430138"
         y="237.15703"
         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"
       x="194.47379"
       y="112.34783"
       id="text1857-7"
       transform="translate(-161.22468,135.7739)"><tspan
         x="194.47379"
         y="112.34783"><tspan>We use the MinIMU-9 v6 </tspan></tspan><tspan
         x="194.47379"
         y="119.40338"><tspan>Gyro as a compas. This </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan>is a backup to locate the </tspan></tspan><tspan
         x="194.47379"
         y="133.51448"><tspan>goal in case the camere </tspan></tspan><tspan
         x="194.47379"
         y="140.57004"><tspan>does not work.</tspan></tspan></text>
    <text
       xml:space="preserve"
       id="text2471"
       style="line-height:1.25;font-family:sans-serif;font-size:5.64444444px;white-space:pre;shape-inside:url(#rect2473);" />
    <text
       xml:space="preserve"
       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"
       x="217.65178"
       y="56.762501"
       id="text1853-1-2-3-2-6-3-0"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2-1-1-3"
         x="217.65178"
         y="56.762501"
         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"
       y="112.34783"
       id="text1857-2-6"
       transform="translate(8.5901481,-45.504323)"><tspan
         x="194.47379"
         y="112.34783"><tspan>We are using the teensy </tspan></tspan><tspan
         x="194.47379"
         y="119.40338"><tspan>4.1 as main </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan>microconrtoller that </tspan></tspan><tspan
         x="194.47379"
         y="133.51448"><tspan>directs all components.</tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="109.05659"
       y="245.6022"
       id="text1853-1-2-3-2-1"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2-0"
         x="109.05659"
         y="245.6022"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Port multiplexer</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"
       y="112.34783"
       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
         x="194.47379"
         y="119.40338"><tspan>MCP23017 as a IO </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan>expander</tspan><tspan> becouse the </tspan></tspan><tspan
         x="194.47379"
         y="133.51448"><tspan>teensy does not have </tspan></tspan><tspan
         x="194.47379"
         y="140.57004"><tspan>enough ports. </tspan></tspan></text>
    <text
       xml:space="preserve"
       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"
       x="307.57828"
       y="73.705849"
       id="text1853-1-2-3-2-1-3"><tspan
         sodipodi:role="line"
         id="tspan1851-8-0-7-2-0-2"
         x="307.57828"
         y="73.705849"
         style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">I2C multiplexer</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"
       y="112.34783"
       id="text1857-9-9-6-0"
       transform="translate(117.19611,-26.669306)"><tspan
         x="194.47379"
         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
         x="194.47379"
         y="119.40338"><tspan>pca9548a as i2c </tspan></tspan><tspan
         x="194.47379"
         y="126.45893"><tspan>multiplexer becouse the </tspan></tspan><tspan
         x="194.47379"
         y="133.51448"><tspan>color sensors do not </tspan></tspan><tspan
         x="194.47379"
         y="140.57004"><tspan>have customisable i2c </tspan></tspan><tspan
         x="194.47379"
         y="147.6256"><tspan>addreses and thus need </tspan></tspan><tspan
         x="194.47379"
         y="154.68116"><tspan>to have a device that </tspan></tspan><tspan
         x="194.47379"
         y="161.73671"><tspan>lets us read them all. </tspan></tspan></text>
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