readme.md

AutoSumo Robot

Robot used in the AutoSumo arena. Remote controlled by the Bot Server using websockets.

flowchart TD
    web["🌐 Web Interface"] -->|uploads code| code-server[("💾 Code Server")]
    code-server -->|highlight data| web
    code-server -->|downloads code| bot-server["💻 Bot Server"]
    bot-server -->|highlight data| code-server
    bot-server -->|motor instructions| robot["🤖 Robot\n(this)"]
    robot -->|sensor data| bot-server
    tag-server["📷 Tag Server"] -->|apriltag positions| bot-server
    
    style robot stroke-width:2px,stroke-dasharray: 5 5,stroke:#3b82f6
    
    click web "https://github.com/AutoSumo/web"
    click code-server "https://github.com/AutoSumo/code-server"
    click bot-server "https://github.com/AutoSumo/server"
    click tag-server "https://github.com/AutoSumo/tag-server"

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demo.mp4

Hardware

• ESP32 used for communication and processing
• Dual H-Bridge motor driver chosen for size and efficiency
• Back-mounted rechargable battery
• Two DC motors for drive
• Two infrared line sensors mounted to the front of the robot
• Single-point LIDAR mounted to a servo with a 180 degree range of motion
• Two infrared tachometers (one for each wheel)

Robot body is fully 3D printed and assembled using M3 screws and nuts. Designed using Fusion 360.