RoboCup 2018 Rescue Line

Programmes for 2018 RoboCup Rescue Line (Hwa Chong's Team Poivre)
Final rank: Probably the last few teams
Rules for RoboCup Rescue Line 2018 can be found here.
NXT was programmed using NXC as it was easier to code the communication between the nanos and the NXT.
WARNING: The code has yet to be tidied up and there is a huge lack of comments. Be ready for sphagetti code.

Description of the robot

Our robot comprises 1 NXT and 2 Arduino Nano

• Arduino Nano 1 (masternano) Consists: 5 LDRs
  The LDRs were used for line tracing.
• Arduino Nano 2 (nanoultra) Consists: 1 Ultrasonic Sensor (HC-SR04), 1 Compass (CMPS11, lots of issues :( )
  The compass is to allow us to detect the tilt (to let us know if the robot is on a ramp) and to detect its angle (to determine if there is a corner in the Evacuation Zone).
• NXT: 2 HiTechnic NXT Color Sensor V2, 1 NXT Light Sensor , 3 NXT Motors
  The 2 Color Sensor were used to detect the green junction, while the light sensors were used to detect the entrance of the Evacuation Zone. 2 motors were used for manouvering and the last motor were used in the attachment to collect the balls.

Communications between the Arduino Nanos and NXT

Arduino Nano 2 communicates with Arduino Nano 1 via Serial, with Nano 2 being the slave and Nano 1 being the master. Nano 1 will then compile the readings from both Arduino Nanos which will then be sent via I2C to the NXT. Additionally, the 2 Color sensors communicates with the NXT via I2C. Using the values from the sensors, NXT will alter the movement of the robot accordingly.

Files

• Programmes
  • "masternano" contains the code for Arduino Nano 1
  • "nanoultra" contains the code for Arduino Nano 2.
  • "measurethresh.nxc" is used to measure the threshold of the LDRs
  • "see sensors.nxc" allowed us to view all the sensor readings at once.
  • The code used for the different runs are titled respectively.
• Images
  • Images of the playfield used in Run 1 and Run 2
  • Top, side and back view of the robot