This project focuses on the implementation of sensor boards and motor drivers onto the UQ RoboRoos, soccer playing robots. The RoboRoos have previously developed soccer playing robots in ’98 that participated in the RoboCup ’98 small size league in Paris. The purpose of this project is to help create totally autonomous robots that will win the RoboCup ’99 competition in Stockholm.
The sensor board design used in the RoboRoos ’99 is an IR proximity sensor design configured in Diffuse Mode. The sensor boards were prototyped in ‘98 but were not thoroughly tested or implemented into the ’98 design. The mechanics of the robots have allowed for sensor boards but problems arose with the removal of the batteries. Lighter clips with less spring tension were designed and implemented for a more efficient battery removal solution.
The motor driver design for the ’98 RoboRoos suffered a problem know as shootthrough current. This shoot-through current is the current generated when the power supply line is shorted with the ground line (momentarily) when switching the MOSFETs. The current is quite large effectively spiking the power supply to the processor and communication system while reducing the battery life substantially. The motor drivers were redesigned and implemented producing effectively no shootthrough current, allowing optimal performance from the robot.