Boberto: 2019 IEEE Open Competition Robot

Boberto was a robot developed by six students of LAR-UFRN (https://github.com/lar-ect). The competition consisted in proposing, developing and manufacturing a robot able to solve a portuary challenge.

2019 IEEE Open was a part of LARC (Latin American Robotics Competition) and happened in Rio Grande, RS, Brazil. The robot described here accomplished the second place, but is also currently the two-time Brazilian champion in the category.

The main goal was deposit as much containers as possible in a enviroment with a simulation of two ships (one blue and other green) and one train (red). Each container had a different pontuation. The team with the greatest score would win the challenge.

Boberto was able to:

1. Identify and advance to a container zone;
2. Choose a container to pick and check its color;
3. If it consisted in a Blue/Green container, grab it and go to the ship zone;
4. If it consisted in a Red container, ignore it and keep moving to the next pile;
5. Come back and do it all over again;

The official document of the competition can be found here.

The students that composed the team of LAR-UFRN were:

• Álvaro Portela (https://github.com/alvaropfn)
• Camila Barbosa (https://github.com/camilabga)
• Gabriel Vantuil (https://github.com/GabrielVantuil)
• Luiz Felipe Santana (https://github.com/LuizFelipeLemon)
• Richardson Santiago (https://github.com/vanluwin)
• Wendell Alves (https://github.com/wendellalves)

Using PlatformIO Cli

• Installing

user@computer:~$ sudo python -c "$(curl -fsSL https://github.com/platformio/platformio/develop/scripts/get-platformio.py)"

• Uploading the code

user@computer:~/IEEE-2019 $ pio run -t upload --upload-port=/dev/ttyUSB0

Arduino Mega Schema

Boberto Pinout

Stepper motor

Port	Pin
Dir	52
Step	50
Enable	13

H Bridge 1

Port	Pin
Claw_DC 1	11
Claw_DC 2	12
Motor 2.1	9
Motor 2.2	10

H Bridge 2

Port	Pin
Back Left 2	7
Back Left 1	8
Back Right 2	6
Back Right 1	5

H Bridge 3

Port	Pin
Front Right 1	45
Front Right 2	4
Front Left 1	46
Front Left 2	44

Encoders

Port	Pin
Back Left	3
Back Right	2
Front Right	18
Front Left	19