Our robots we made in 2017 used the same sensors and motors from 2016. Our 2017 robots have a better frame, better programming, extra actuators and extra sensors. Notable things include:
We used 3D printed parts on our robots in 2017 for various purposes. One such purpose is housing the infrared sensors. This allowed us to easily slot them into holes which made aligning and setting them up easily. This also allowed us to limit the angle of light allowed.
Below is a video of the construction of our robots for the 2017 competition.
The kicker was made of:
We used a pixy camera. This was used to collect information about the goal's locations. The data was gotton off the camera over I2C and then code got the largest block of the goal's colour location and size. The goal's location and size on the camera was used to line the robot up with the goal and kick when close if the robot possesed the ball.
A laser gate of 2 lasers was used in combination with a forward-facing infrared sensor on the lower level (under the kicker) to decide when the robot has the ball.
Multiple processors were used to reduce interference and allow for more pins. This allowed us to use an Arduino Nano to control the kicker and motors. We then used I2C to communicate between the Nano and the central Arduino Mega 2560 processor.
We used a backfacing IR sensor to know if the ball was behind the robot to prevent it from knocking it backwards and scoring own goals. We also used a IR sensor to detected if a ball was in the capture zone, placed under the kicker.
As in 2017 we used TSOP4840s they are a lot harder to use compared to the TSOP31140s. But can have significantly more range. The TSOP4840's range decreases rapidly after power up, to around 50cm, 3+ metres on power up. (compared to the TSOP31140s which does the opposite). This mean they are required to be reset around every 10 milliseconds to be usable.
The frame was made of a combination of plastic and metal, a list of main parts is:
4 ultra sonic sensors (facing front, back, left and right) were used over the 2016 robots 2 (front and back), this allowed us to tell which quadrant of the field the robot is in. This is important for making sure the robot moves away from the white line, as it will also allow a robot to move back over the white line as well using just one colour sensor.