Soccer bot - Gregorianos

My team is called "Gregorianos". We are a group of high school students from Guadalajara, Mexico, who got together to develop two different autonomous, omnidirectional robots meant to participate in the RoboCup competition, in the Soccer Lightweight category. Basically, each team brings two robots no larger than 22cm diameter, and no heavier than 1.1kg, so that they play a soccer match against the robots of another team. The ball used emits IR light, so that it can be easily detected, and white lines in the field mark the play area.

Our current robots are made of 3 main stages. The first and lowest has a secondary microcontroller (ESP32), photoresistors that we use as line sensors, as well as LEDs to even out the light they receive. The second stage houses the main electronics, such as the motors (JoinMax 3561), main microcontroller (another ESP32), ultrasonic sensors, voltage regulators, 11.1v Lipo battery, and motor drivers (BTS7960). The third stage contains a custom IR detector with 360° detection, as well as a magnetometer for orientation purposes. The two robots are identical to each other, but one is meant to be used as a defender, while the other moves all around the field and scores goals. All PCBs and structures were designed and built by us (with some help from our mentors)

These are the third generation of soccer robots we have designed, and are hoping to participate in this year's RoboCup competition in France, next July.

Attached: A video of us testing the ball tracking algorithms with the previous generation of robots, in preparation for a national tournament (We won first place!)