Grading and tasks

No adhesives (e.g. tape or glue) allowed on the robot.

Designs must be reviewed and approved by instructors before fabricating mechanical parts or before PCBs are ordered.

Designs can be submitted for review at any time.

Mechanical design must be created with Autodesk Fusion.

Electronics design must be in team’s repository.

Code must be reviewed and approved by instructors to complete the tasks.

Each task must be successfully completed 2 times in a row.

Multiple attempts allowed.

At Delta robotics rooms.

Robot needs to be properly assembled.

Mechanics assembled:

Electronics attached and working:

Design approved.

Thrower should technically be able to throw the ball.

At least one part must be designed to be milled in the lab.

CAM approved.

Parts fabricated.

At least one part milled in the lab.

Thrower assembled and attached to the robot.

Motor and ESC attached and working.

Motor speed can be controlled through mainboard.

Code running on robot’s PC.

Robot moves at least 1 meter on the court.

30 seconds per attempt.

Robot starts from the center of the court, facing its own basket.

1 ball on the opposing half of the court.

60 seconds per attempt.

Task is completed when the ball is in the middle of the camera’s horizontal field of view and the robot is not moving.

Robot starts from its corner of the court.

1 ball on the opposing half of the court.

Robot must stop if the ball is closer than 10 centimetres.

Instructor will move the ball when the robot gets closer than 10 centimetres to the ball.

Robot must follow the ball by simultaneously rotating and moving towards it.

Robot must use omnidirectional motion.

Task is completed when the robot is able to follow the ball.

Robot starts from its corner of the court.

60 seconds per attempt.

1 ball is placed by an instructor.

Task is completed when:

Robot starts from its corner of the court.

60 seconds per attempt.

1 ball is placed by an instructor.

Task is completed when the ball is thrown at least 1 meter towards the opponent’s backboard.

Refer to the robot basketball manager documentation.

Robot ID can be changed.

Robot reacts to referee signals that are targeted to it:

Robot correctly uses basket color from the signal’s info.

Robot retries to connect to basketball manager if connection is lost or has not been established yet.

Robot uses new mechanics.

Robot starts from its corner of the court.

60 seconds per attempt.

11 balls on the court.

Task is completed when a ball is thrown into the opponent’s basket.

Can be completed together with "Code works with new electronics" task.

Robot uses new electronics.

Robot starts from its corner of the court.

60 seconds per attempt.

11 balls on the court.

Task is completed when a ball is thrown into the opponent’s basket.

Can be completed together with "Code works with new mechanics" task.

Robot starts from its corner of the court.

Balls are placed according to basketball rules.

At least 3 points must be scored.

60 seconds per attempt.

Robot starts from its corner of the court.

Balls are placed according to basketball rules.

At least 5 points must be scored.

60 seconds per attempt.

5 balls inside the playing court.

6 balls outside the playing court.

Balls are placed by instructors.

Robot’s starting position will be selected by the instructors.

At least 2 points must be scored.

60 seconds per attempt.

60 seconds per attempt.

1 ball on the court placed behind the opponent robot.

Both robots are placed by the instructors.

When the robot finds the ball behind the opponent robot, the opponent robot moves between basket and the ball and remains there.

Task is completed when the ball is scored.

Images below illustrate the steps.

Keyboard or gamepad or similar controller.

Robot game logic can be started and stopped.

Robot can be moved manually.

Robot starts from its corner of the court.

60 seconds per attempt.

One ball at 10 centimetres from the opponent’s basket.

Another ball at the other corner of the backcourt.

Ball must be thrown from where it is located.

Task is completed when both balls are thrown into the opponent’s basket.

Robot starts from its corner of the court.

60 seconds per attempt.

1 ball is placed by an instructor at the backcourt.

Robot must grab the ball and move to the frontcourt.

Ball can only be moved by holding it.

Only 1 throw from the frontcourt is allowed.

Task is completed when the ball is scored from the frontcourt.

In team’s repository software branch and software/README.asciidoc file in AsciiDoc format.

Instructions on how to set up and run the code.

Used libraries and purpose of use.

A brief description of your game logic and overall code structure.

A block diagram of your game logic.

Design approved.

Wheels must be attachable to the motors.

Design approved.

Motors and wheels added to the assembly.

Design approved.

Camera added to the assembly.

Color sensor field of view pyramid added to the camera.

It’s recommended to align color sensor with the thrower. Color sensor is offset from the center of the camera.

Design approved.

Thrower attached to the chassis in the design.

Thrower should technically be able to throw the ball.

All "Ball thrower design completed" task requirements apply.

Throwing angle can be adjusted through the mainboard (for example with a servo).

All "Ball thrower design completed" task requirements apply.

Thrower designed to grab a ball, hold the ball while moving and release or throw the ball while holding.

Design approved.

Chassis for connecting all the parts.

Batteries attachable to chassis.

Electronics mounting:

Design that prevents balls from getting stuck against the robot. If the robot drives against the ball, the ball should roll away.

Complete design approved.

Robots’s maximum diameter must be 30 cm and maximum height 30 cm.

CAM approved:

All parts fabricated.

Parts do not need to be assembled.

All mechanical parts attached together.

No adhesives used.

Design approved.

Required functionality:

When using STM32 microcontroller and STM32CubeIDE or STM32CubeMX to do the pin assignments, add STM32CubeIDE project or *.ioc file to firmware branch in the team’s repository.

Design approved.

Requirements:

Same requirements as for "Mainboard schematic completed".

Design (schematic and layout) approved.

Same requirements as for "Motor driver schematic completed".

Design (schematic and layout) approved.

All components and wires soldered.

Assembled PCB(s) inspected by instructors and approved.

Firmware implements required functionality.

Firmware code hosted in team’s repository firmware branch.

Firmware code reviewed and approved.

Wheel and thrower motors can be controlled through the mainboard.

Wheel motors can be rotated in both directions.

Commands can be sent to the mainboard to change the throwing angle of a physical thrower.

Commands can be sent to the mainboard to grab, hold and release or/and throw a ball with a physical thrower or mechanism.

Attached either to the old robot or to the new robot.

Voltage regulator is connected and working between battery and thrower motor controller to ensure that changing battery voltage doesn’t affect thrower motor speed.

Attached either to the old robot or to the new robot.

Command(s) can be sent through mainboard:

Motor battery power switch works.

Power path control board works.

All documentation must be in your team’s repository with electronics design files.

Functionality and connector pinouts described in AsciiDoc format in electronics branch and in electronics/README.asciidoc file.

Schematic PDF file.

Components BOM in TSV (tab-separated values, *.tsv) format.

Gerber files in separate directory.

Same requirements as for "Mainboard documented" task.

In team’s repository firmware branch and firmware/README.asciidoc file in AsciiDoc format.

Format and description of the data that can be sent to and received from mainboard.

Either test robot or new robot qualifies according to basketball rules:

Robot needs to properly react to referee commands.

New robot or test robot qualifies according to basketball rules.

Must be reviewed and approved by instructors.

In team’s repository documentation branch and README.asciidoc file.

In AsciiDoc format.

In English.

Names of the team members.

See: Writing documentation

No grades if not completed.

Requirements from the "Team documentation started" task also apply here.

README.asciidoc sections:

10 minutes per team.

Overview of the robot.

Talk about your experience.

No grades if not completed.

Return parts, but keep robots assembled.

No grades if parts are not returned.

Refer to handed out equipment table.