RCJ 2024 - Futbal - FC Benchwarmers
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FC Benchwarmers
School/Club: Hrvatsko Društvo za Robotiku
Contact: ivanmat319@gmail.com
Category: Soccer lightweight
Introduction
FC Benchwarmers is a Croatian team based in Zagreb that is competing in Soccer LightWeight category. The team consists of two members: Ivan Matošević a 4thgrade student at Ruđer Bošković Technical School in Zagreb and Goran Vukmanović a 4th-grade student at XV. Gymnasium in Zagreb. Both of us have several years of experience in robotics and have participated in RoboCup Junior competitions in the past.
Construction and Hardware
Robot parts
- Teensy 4.1 Microcontroller
- 4x Robotzone planetary gear motor 12V 730RPM
- 4x ML-R Motor Driver 1x50A
- ML-R IMU Orientation sensor
- MRMS IR ball finder
- 2x Ultrasonic Distance Sensor - HC-SR04
- Custom made PCB Main Board
- Custom made PCB Line sensor
3D models of robot
3D model of our robot made in Fusion 360
PCB designs
PCB boards made in EasyEDA Main board:
Software
Robots are programmed in ArduinoIDE with C++. Programs for robots are similar, but not identical because one robot dynamically calculates the angle between it and the ball and then multiples it by a set value which in return is his angle of a attack, meanwhile, the other robot uses a hybrid system that also calculates the ball angle, but will either multiply that value or move in a fixed pattern depending on a situation is. He will move dynamically when the ball is in the front and statically when it is in the back. This way we have an attack-oriented and a defense-oriented robot for optimal play.
