A second NodeMCU ESP8266 ran the remote control, reading from two joysticks and several buttons and transmitting commands over Wi-Fi to the robot. A single NodeMCU ESP8266 handled Wi-Fi communications with the controller and base-station and broadcast instructions over SPI to a Teensy 2.0, which directly controlled the motors for driving and weapon control, ran a health-bar and team-color display, and powered the healing LED and weapon sensors. The electrical design for the robot involved coordinating interactions between two microcontrollers, three motors, and an array of sensors. We were able to overcome this limitation by adding a piece of foam around the hit sensor to prevent this rotation, as can be seen in some of the later photos. The pin-joint mechanism that connected the hit-sensor to the weapon allowed it to rotate on impact, rather than depress the switch. Our weapon extended relatively slowly, limiting the usefulness of the scissor mechanism it was much easier to strike by leaving the weapon somewhat extended and driving at the target. The Maxon motor that drove the scissor mechanism, on the flipside, was too slow. The jerkiness that results from this power also threatened to flip the robot on multiple occassions. While this power made climbing ramps effortless, it made the driving motion hard to control due to the high speed produced even at the lowest inputs, as can be seen in the videos below.

The Maxon motors used for the wheels were too powerful for the robot design.

Our design was generally successful and competed quite effectively, but it suffered from several drawbacks: A single Maxon motor on top powered a scissor extension mechanism to function as a вЂњspearвЂќ for striking other robots. Two Maxon motors powered two front wheels via Kevlar driving belts for differential drive steering, while a caster at the back provided support. The body of the robot was built from laser-cut ABS plates, with standoffs providing separation and mounting locations for the various electronic components. The mechanical design for the robot was done largely by Terry Kientz, the director of the GRASP PERCH machine shop, who was finishing his MSE in robotics at the time by taking this course.

Battlebit controls