Our robot Harambe
Here you will find all the information about the individual subsystems of our Harambe.
The main function of the chassis is to ensure the locomotion by means of Omni Wheels. The chassis also provides space for the electronic components such as the battery and printed circuit boards. In addition, driving is also ensured once the robot has arrived on the track.
The DRV8841 boards are used to control the motors. The boards allow the control of two motors with one PWM. The locked-antiphase control is used. This allows the motors to move at the same speed in both directions. In addition, the motors are not energized at standstill.
For the power supply of our robot we were provided with two accumulators each. These supply 11.1 volts, 13000mAh and must be reduced by our electrical components on the desired voltages.
To assign accurate positions to our robot we use the reflective light barriers shown above. These detect differences in contrast and can provide feedback on the current position with floor markings placed on the playing field.
The brain of our Harambe is the MicroZed board. Here all components are controlled and values of the sensors are monitored.
The robot communicates with its partner robot via Bluetooth connection. This is generated by the WiFly module. The connection is essential for the existence of the project, since not only the position is queried via the connection, but also the start command for the merging of the pipe connections is given.