/IEEE-2019

Primary LanguageC++

Boberto: 2019 IEEE Open Competition Robot

Boberto was a robot developed by six students of LAR-UFRN (https://github.com/lar-ect). The competition consisted in proposing, developing and manufacturing a robot able to solve a portuary challenge.

2019 IEEE Open was a part of LARC (Latin American Robotics Competition) and happened in Rio Grande, RS, Brazil. The robot described here accomplished the second place, but is also currently the two-time Brazilian champion in the category.

The main goal was deposit as much containers as possible in a enviroment with a simulation of two ships (one blue and other green) and one train (red). Each container had a different pontuation. The team with the greatest score would win the challenge.

Boberto was able to:

  1. Identify and advance to a container zone;
  2. Choose a container to pick and check its color;
  3. If it consisted in a Blue/Green container, grab it and go to the ship zone;
  4. If it consisted in a Red container, ignore it and keep moving to the next pile;
  5. Come back and do it all over again;

The official document of the competition can be found here.

The students that composed the team of LAR-UFRN were:

Using PlatformIO Cli

  • Installing
user@computer:~$ sudo python -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/develop/scripts/get-platformio.py)"
  • Uploading the code
user@computer:~/IEEE-2019 $ pio run -t upload --upload-port=/dev/ttyUSB0

Arduino Mega Schema

arduinoMega

Boberto Pinout

Stepper motor

Port Pin
Dir 52
Step 50
Enable 13

H Bridge 1

Port Pin
Claw_DC 1 11
Claw_DC 2 12
Motor 2.1 9
Motor 2.2 10

H Bridge 2

Port Pin
Back Left 2 7
Back Left 1 8
Back Right 2 6
Back Right 1 5

H Bridge 3

Port Pin
Front Right 1 45
Front Right 2 4
Front Left 1 46
Front Left 2 44

Encoders

Port Pin
Back Left 3
Back Right 2
Front Right 18
Front Left 19