Robocup Soccer Open 2024

Code for Robocup Soccer Open 2024 participating with Roborregos

Authors

• @JocelynVelarde
• @Yair-Reyes

Features

📁 File Breakdown:

• ESP32: Organizes data exchange between the camera and Raspberry Pi Pico, prioritizing speed and data integrity.
• Main Logic: Handles core decision-making processes for the robot.
• Open MV: Contains algorithms for ball, goalpost, and line detection using computer vision.

⚽ Ball Detection: Leveraging a regression model and pixel mapping, we determine real-time ball distance and angle. Advanced image processing techniques like LAB values and multi-blob tracking enhance accuracy.

🥅 Goalpost Detection: Utilizing coordinate translation and cosine calculations, we precisely locate goalposts relative to the robot's position using color.

🛤️ Line Detection: Employing grayscale filtering and pixel counting, our algorithm identifies potential obstacles (lines) and navigates around them.

🎮 Robot Control: Integration of 2 PID controllers ensures stable performance:

• Omega PID: Maintains central orientation.
• Translational PID: Guides the robot towards the ball and goalpost.
• Kinematic Equations: Enable omnidirectional movement using 4 wheels.

Structure

ROBOCUP-SOCCER-OPEN-2024 
├─ Goalkeeper
│  └─ ESP32
│  └─ Pico
├─ Libs
│  └─ Bno
│  └─ Imu
│  └─ Motor
│  └─ Motors
│  └─ Photo
│  └─ PID
│  └─ Serial
│  └─ Transmission
├─ Striker
│  └─ ESP32
│  └─ Pico
├─ Test
├─ Vision
├─ .gitignore
├─ constants.h
└─ requirements.txt

Tools

Make sure to install the OpenMV IDE to upload the Vision files to the camera and to add the corresponding Arduino packages/libraries in your folder environment

• OpenMV IDE
• Simple MPU6050
• Wire
• Adafruit BNO055
• Adafruit ADS1X15

Documentation

Poster for competition

Install dependencies

Make sure to install the corresponding boards in your Arduino environment following the instructions.

1. Open Preferences using the menu bar:
   • Windows/Linux: File > Preferences
   • macOS: Arduino IDE > Preferences
2. Find the Additional boards manager URLs setting toward the bottom.
3. Click the button to the right of the text field to open the Additional Boards Manager URLs window.
4. Paste or remove URLs in the window. There should be one URL for each line.
5. Click OK to close the Additional Boards Manager URLs window.

Board packages can be found here:

• RP2040
• ESP32

To install python dependencies paste the following command in your cmd environment

pip install -r requirements.txt

Optimizations

optimizations

License

MIT