Introduction

At 6ix-Pac Robotics, our goal is to dominate the real-life PacMan competition at Harvard annually, facing off against top North American universities. Custom PCBs are crucial for our competitive edge, enhancing electronics efficiency and cleanliness. With a second-place rank at the UIUC mid-season PacBot competition, we prove our podium potential.

Our current goal is to build a Custom PCB for our Harvard competition in April 2024. We have a very promising design that allow us to extract the maximum potential from the sensors and navigate the maze efficiently.

Robot description:

The PCB serves as the interface for connecting sensors and the Raspberry Pi Compute Module 4. It facilitates connectivity for 4 TOF sensors and an IMU sensor, each linked via 4 breakaway header pins. TOF sensors are multiplexed due to identical i2c addresses, enabling toggling between sensors facing north, south, east, and west relative to the maze. The IMU sensor follows a similar connection method. Powered by a 3S battery, the PCB integrates a buck transformer to regulate voltage.

The utilization of Omni wheels enables movement in all four directions, with additional capabilities for clockwise and counterclockwise motion. Through recursive algorithmic calls, we leverage location data from the game engine for navigation. The IMU sensor ensures precise directional alignment, while TOF sensors regulate distance from walls. Motor speed diminishes as proximity to the wall increases, particularly when moving towards it, to prevent collisions. We maintain a safe distance from perpendicular walls to our direction of travel, optimizing maneuverability and safety during navigation.

A picture from our mid-season competition: