https://github.com/ramondeleonca/mechaleague-bot
https://github.com/ramondeleonca/mechaleague-bot
Last synced: 4 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/ramondeleonca/mechaleague-bot
- Owner: ramondeleonca
- License: lgpl-2.1
- Created: 2024-11-07T15:58:42.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2024-12-30T17:52:07.000Z (6 months ago)
- Last Synced: 2025-01-11T06:49:24.250Z (5 months ago)
- Language: C
- Size: 32.6 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
MechaLeague Robot
The open source ESP32 and Arduino based robot platform for the Mecha League competition
Read the whitepaper here
https://www.figma.com/slides/AWmnqagFZSoyzxdnBp5D1x/MechaLeague-Robot-Whitepaper?node-id=1-266&t=clcfMGteuZ0O0do1-1
# Roadmap
## Onward
- Make this a more accessible competition
- Build a cheap starter-bot for anyone to join
- Make the code extremely easy to understand (more declarative)
## Current state
- Solved high battery consumption
- Implemented DRV8871s successfully for all motors
- Switched to a custom-build Power Distribution Board (looking to manufacture it as a PCB)
- Successfully implemented control with a PS5 Controller
- Started writing Mechalib for seamless control with all modules (Motor controllers, I2C Multiplexers and other IO) as well as field communication
- Started CAD and building mechanisms for the next season's starter bot
[You can browse the main code for this state of the project here](https://github.com/ramondeleonca/MechaLeague-Bot/blob/fa9dd77d7594459f29f9386272432d25a3bafdb5/src/impl/tests/ps5_mecanum/ps5.h)
## December 2024
- Solve high battery consumption
- Control the robot using only the ESP32
- Use a gamepad instead of RemoteXY
- Use more powerful DRV8871 motor controllers
- Implement encoders for odometry and more accurate control
- Implement gyroscopes and accelerometers
- Use a more well-suited power distribution board
[You can browse the main code for this state of the project here](https://github.com/ramondeleonca/MechaLeague-Bot/blob/fa9dd77d7594459f29f9386272432d25a3bafdb5/src/impl/tests/ps5_mecanum/ps5.h)
## November 2024
- Get the original Arduino with an L293D driver shield controlling the robot
- Make this control modular (allow other MCUs to control it over UART)
- Calculate the correct wheel speeds using **Mecanum Drive Kinematics**
- Make an ESP32 use this control interface (UART)
- Build some code to drive it using [RemoteXY](https://remotexy.com/) (mobile phone app control)
[You can browse the main code for this state of the project here](https://github.com/ramondeleonca/MechaLeague-Bot/blob/403864bea0e7e071c8703e8508ac226923234764/src/impl/tests/remotexy/remotexy.h)