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style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">two microcontrollers on the robot.
</tspan></tspan><tspan
x="25.996389"
y="114.78025"><tspan
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
x="25.996389"
y="118.30803"><tspan
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
x="25.996389"
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
x="25.996389"
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
x="25.996389"
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
x="25.996389"
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
x="25.996389"
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>
<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="152.955"
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"></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"
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="161.54843"
y="46.05051"
id="text1853-1-2-3-2-6-3"><tspan
sodipodi:role="line"
id="tspan1851-8-0-7-2-1-1"
x="161.54843"
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"
x="194.47379"
y="112.34783"
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
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="237.22418"
y="43.541035"
id="text1853-1-2-3-2-6-3-0"><tspan
sodipodi:role="line"
id="tspan1851-8-0-7-2-1-1-3"
x="237.22418"
y="43.541035"
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(24.64506,-53.619511)"><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>expanter 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="15.94303"
y="215.07054"
id="text1853-1-2-3-2-1-3"><tspan
sodipodi:role="line"
id="tspan1851-8-0-7-2-0-2"
x="15.94303"
y="215.07054"
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(-174.43913,114.69539)"><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>
<text
xml:space="preserve"
style="font-size:8.10867px;line-height:1.25;font-family:sans-serif;fill:#7fad18;fill-opacity:1;stroke-width:0.380094"
x="80.350166"
y="23.574821"
id="text2763"><tspan
sodipodi:role="line"
id="tspan2761"
x="80.350166"
y="23.574821"
style="fill:#7fad18;fill-opacity:1;stroke-width:0.380094">Netherlands</tspan></text>
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