Soccer Infrared 2026
Team members
Eduardo Mateo Murillo Andrade - Electronics
Luis Alfonzo Ramírez Cepeda - Mechanics
Andrés Rodríguez Cantú - Programming
Aaron Leonardo Flores de León - Programming
Rodrigo Bahena Sánchez - Project Manager
Abstract
Our two robots, Colibri (Striker) and Ajolote (Defender) autonomously detect an IR-emitting ball, track goals by colour, navigate within field boundaries, and coordinate offensive and defensive roles without any human intervention. The electronics are built around a Teensy 4.1 main controller connected to five custom PCBs, an omnidirectional three-motor drive base, a 15-receiver IR ring for ball tracking, and a Pixy 2.1 camera for goal detection. The codebase is fully modular, using a cosine-based motion library and cascaded moving-average filters for stable sensor readings.
Our codebase is modular, organized into libraries for each hardware and software component. Robot movement is achieved through cosine-based functions. IR ball detection uses the width under the pulse wave as a kernel to normalize the angle. Photoresistors analyze the rate of change between current and previous measurements to be compared to a specific baseline, if it surpasses it, it automatically detects it as if being on line. Likewise, if this were to decrease and surpass a certain threshold, then it will detect it as green.
