The above robot competed in the 2010 FIRST robotics competition. It's function can be generally described
as being able to play 3 on 3 soccer.
The robot senses through a variety of sensors.
- one infrared sensor (similar to a garage door sensor) that detects if the robot possesses a soccer ball.
- one encoder attached to the soccer ball firing mechanism which keeps track of the state of said mechanism.
- two encoders attached to two unpowered omni wheels which are used to keep track of the robot's x,y position (like a computer mouse)
- one gyro used to keep track of the robot's angular orientation
- one encoder used to keep track of the wheel orientation of the six-wheel-coaxial-swerve-drive modules
- more that I'm probably forgetting...
The robot plans
Although the robot is mostly tele operated, at the beginning of each match each robot has the opportunity to autonomously attempt to score soccer balls undefended. During this period of time the robot must first find a soccer ball, detect that it has one, find the goal, fire the ball, find another ball, etc. Planning is required to move from state to state.
The robot acts
It plays soccer...