All of the completed components sitting on the game-board next to our goal

Final Competition- Robosoccer

With the final Robosoccer being due on 12/22, our design and implementation needed to be finished and ready for competition on this date.  Needless to say, we smoked the competition, winning by a score of 2-1 that was really never as close as the score indicated.  The final report for this project is listed as […]

Controller Redesign

The controller code for the game has been completely redesigned and is now based on 1 accelerometer and 2 buttons.  The two buttons handle throttle and reverse,  while the accelerometer is used for turning purposes.  What this allows for is for the user to have tactile feedback for his throttle, and not have to work […]

Robosoccer- Rebooted

Robosoccer- Rebooted

Black electrical tape used to mark off goalie boxes, goal-kick zones for offense and defense, midfield, and zones for both offense and defensive interaction.

The goalie is designed with a 3pi robot, connected to a firefly node via serial port, with an array of LED's on top, diffused by a ping pong ball.

Goalie Robot

The goalie robot has been designed with a removable LED identifier, created with three LED’s and a half-ping-pong ball dome to diffuse the light.  The goalie will be autonomously controlled by the CMU Cam, wirelessly, and will patrol the front of the goal, and seek out balls when they enter the goalie box.

Beam and vice used to mount the cmucam and firefly node above the board

New CMUCam Mount

The High Hide is gone, sadly, however we have found a new, and practical mount for the CMUCam and associated firefly node.  Each of these will extend from the work benches to either side of the field.  They are placed high enough such that they can see about 40% of the board, however they are […]


Because of the difficulties experienced with using CMUCam as an overhead environment monitor, the structure of the project has changed to play more to the strengths of the camera.  The game will now be played as follows: 2 soccer players per team, controlled wirelessly via Firefly nodes and accelerometer-based controllers 1 soccer goalie, using the […]

More CMUCam Exposure Register Info

More CMUCam Exposure Register Info

Register 24- rw: AEC Auto Exposure White Pixel Ratio Registers 24 and 25 together control the AEC target values for image brightness. For a brighter image, increase register 24 and decrease register 25. For a darker image, decrease register 24 and decrease register 25. AEW<7:0>- used to calculate the white pixel ratio. OV7620 AEC algorithm […]

CMU Cam Low Level Register Info:

CMU Cam Low Level Register Info:

This register info may be necessary for changing the exposure settings on the CMUCam.  It seems you need to modify its low level registers in order to change the exposure settings.  Despite using ultrabright LED’s and diffusing them with half-pinpong ball coverings, the tip of the LED is still too bright.  This issue could possibly […]

Gameboard Boundary Identification

This function might be useful in identifying the boundaries of the gameboard.  It could create a mask that we can use to identify what coordinates are valid and what coordinates are not valid.  Could also be useful because we could use the function to calibrate the gameboard mask every run and adapt the valid and […]

2 Robots Working

Because we refactored the code to treat the robots as objects, it was a cinch to add in a second robot, and we are now tracking 2 robots (green and blue) while we experiment with the LED’s and their effectiveness at color detection.  It will be a simple matter to expand from 2 to 6 […]