Robocup Soccer Open 2025
Electronics
Edwin Manuel Camarillo Montero
Mechanics
Angela Leticia Rosales Díaz
Programming
Emil Winkler Partida @emilwinkp
Juan Pablo Briñez Corzo @brinez-juan
Features
Github
🤖 Processing Breakdown: - Teensy 4.1: Organices data recolected and processed by camara, phototransistors, BNO, and manages them for core logic and movement. - OpenMV: Camaras with algorithms for ball and both goals detection using computer vision.
🎮 Movement Cotrol: Used 2 PID for a smother control ensuring a precise movement:
- Translational PID: Guides robot to the ball or goal with camara.
- Angular PID: Corrects the direction of the robot with angular velocity correction.
- Dribbler PID: Adjust robot movement for a soft approach to the ball with the robots front.
- Ominidirectional movement: Omnidirectional movement using 4 wheels with 90 degree separation.
⚽Ball detection: Image processing for pixel mapping using LAB values and merged blobs tracking to determine ball distance and angles in a [180, -180] angle normalization.
🥅Goal detection: Using merged blobs to encapsulate goal in a rectangle with a corresponding center used as reference for distance and angle measurements.