The Magic Bombo mark 2 was created as my thesis project about modelling and controlling a mobile robot.
The main task is following a line using a standard PID controller.
It can also plan a path and tracking it, this task allowed me to optimize parts of the race course.

Unfortunately Pololu encoders allows to read only 12CPR on motor shaft, so odometry isn't perfect at high speed. On new model I solved this issue using AS5171A encoders. 
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Officine Robotiche 2016

This robot placed 3rd at Officine Robotiche 2016 Line Follower competition.

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MCU

Teensy 3.2 by PJRC
32bit ARM Cortex M4 by Freescale

MOTORS

Pololu - Sanyo
30:1 Micro Metal Gearmotor HPCB with extended shaft

COMMUNICATION

Removable XBee, ZigBee serial protocol

SENSORS

14 QRE1113GR
2 Pololu magnetic encoder

BATTERY

Competition setup:
Full power 2S 450mAh

Benchmark setup:
Full power 2S 1300mAh

Race Course Telemetry

Using odometry, I can rebuild race course at execution time.
It can be really useful to estimate controllers parameters.

Path planning and tracking

I studied path planning and trajectory tracking.
My weapon was to optimize trajectories.

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Contacts

Email: giovannididio.bruno@gmail.com 

Links

Github 

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