Result of French Robotic cup 2018

This year was amazing for the team. We were a bit late and came with a non finished bot, but we managed to finish the bot 30 minutes before the finals !

We got the bot validated for the cup with the big bot able to build 2 towers of 4 cubes, and the small one pushing the bee and open the panel.

For the first qualification game we played against CRoC Team, unfortunately for us, their bot went directly on our big one and collide, making it stop working. The small one was still able to push the bee and open water distributors, but there were to path to go to panel switch. Final score 113 to 0 for us, placing us at the 12th place of ranking.

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The second game was against Rob’Otter. We were a bit lucky, building 2 towers respecting the color pattern without detecting it. We won 195 to 95, and got 7th place.

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Third game was against IUT Cachan CRAC. Their bot didn’t avoid our big one, breaking it’s arm. We lost 140 to 157, and went down to 8th place.

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Fourth game was against IUT GEII Toulon, their bot was not able to start, we won 206 to 0 and got 5th place.

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For the fifth game we worked hard to get the color pattern detection working, using a cell phone. We played against ENSIM’Elec and won 284 to 121. We made the third best score of qualifications with 284 points after RCVA team which made the two best scores, and got 4th place of ranking !

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Being in the top 16 teams made us qualified for finals ! But very good teams were on our path !

The first final game was against A.I.G.R.I.S team, the same one as previous year who kicked us out of final. It was nice to play again witch them. The bot did the job very well, we only failed score estimation: we build the towers with color pattern, but didn’t estimate that it was build. And the bot thought A.I.G.R.I.S team closed the switch of panel, which was not the case. So we didn’t made 284 points again, but won the game, and got qualified for quarter of final.

 

Quarters of final was against ESEO Angers team. They were fast, and came to our side rapidly, messing up the table. There were a lot of bot avoidance without any touch, bot worked well. Unfortunately we lost the game.

But that’s not the end ! We came back on stage one more time to receive one of the 4 special awards. We received the award of the collaboration, as we are a team spread on 3 different locations in France, at Toulouse, Belfort and Strasbourg. It was not easy to deal with the distance, we had more tests to do of each part of bots to be able assemble bots one week before the cup and at the cup. We were very short of time, as we finished last update on the bot 30 minutes before the finals, and we played almost all games without having tested bot together before the games. But all unit tests and simulations were great as we only found very few bugs during the games. Integration of all parts was very clean, due to well tested part before.

Thanks again to all volunteers, Planet Science and sponsors making this great event possible.

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Electronics progress

We received and welded electronic cards. Previous years we etched and drilled PCB at home, but this year we anticipated more and were able to order them on the internet.

This year we have new one for the Raspberry PI to supply CAN bus needed electronic and some connectors. We were previously using BeagleBone, switching to PI was not very hard as they both run on Debian Linux, programs are the same and as we handle IO on a dedicated card with a Nucleo, we only need CAN bus for cards communication. CAN bus is not native on PI as it was on BeagleBone, but adding a MCP2515 does the job.

For actuators and power supply we took the one from last year with small adaptation for this year to support a stepper motor and brush-less motor, still using Nucleo F303RE. Micro controller program almost stay the same, we only have to adapt actuator moving sequences for this year.

And we re-use last year motor card, doing bot moving control with PID controllers and odometry. This card is made of a STM F303, with motor H-Bridge, rotary encoder connector, CAN bus communication.

Silicon on pliers

Thanks again to Jérôme who this year helped us again with silicon. This year we covered pliers with silicon to improve cube catching efficiency. We improved process from last year, and got a better result and it was easier to make.

Fabrication des pneus

Un grand merci à Jérôme qui nous a fabriqué l’an dernier des pneus en silicone sur mesure. Ils adhèrent très bien, et la technique est très complémentaire de l’impression 3D et bien dans l’esprit du DIY fait à la maison.

Et en bonus ils nous assure le service après vente avec la vidéo !

Results of French Robotic Cup 2017

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The bot did great this year ! We made many tests before the cup and came with a well stabilized and reliable project, so that we finished 7th of 142 validated teams and 198 registered teams in qualification phase and got our place for final phase. Unfortunately, we lost against A.I.G.R.I.S. Birds team in round of sixteen.

Validation step

The first thing was to get our bot validated for the contest. The bot was ready, beacons worked well, and even in an extremely polluted radio frequency environment, the WiFi was okay so everything passed well.

So we had almost 20 hours free before the first game. We took this time to increase the reliability of the bot with some improvements. The big bot was far to be finished, and would force the small bot to start from the back start zone and makes it loose much time, so we cancelled the big bot.

And then Sidney arrived at midnight with a quite interesting challenge: build a new bot with the spare parts he brought, the frame he did the day before, and the electronics that were planed for the big bot. Everything was quite straightforward, the programming needed only 20 minutes with a few modifications of the code of the other bot. So 10 hours later we got it validated too. It was able to win 2 points by pushing a module.

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Bots principle

The originally planed small bot became the big one, and was focused on modules. It had to catch modules on the table and release them in the dedicated zone. It also did the funny action.

The new small bot was a bit too young to do very impressive actions, and we didn’t take the risk to rewrite the WiFi stack to handle two bots, so bots didn’t know about the position of other bots. So we kept the small one as far as possible from the big one, and just focused on pushing the module close to the start zone.

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Games

The first game was against Projet&Tech’ team. Almost everything was great, just the last module fell on the side so the bot couldn’t catch it. Projet&Tech’ had a great bot designed to make a lot of points, but they had some issues. They won their place for the final in next games, so congratulations to them.

We won 87 to 35 and got the 6th place.

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The second was against Space Crackers NG, winners of the previous year cup. We did the same as previous game, Space Crackers NG’s bot experienced some issues on the avoiding system so the bot was programmed to shut down.

We won 87 to 55, and got the 5th place.

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The 3rd game was against Club Robot INSA Rennes team. We almost got the 6th module, but we missed less than one second.

We won 87 to 84 and kept the 5th place.

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The 4th game was against Altantronic. We experienced our first real problem: a module was dropped above the release zone and blocked the release of the last module.

We won 77 to 47 but dropped to the 8th place.

The 5th game was against Robotaix team. The bot did its job, and was not perturbed at the end by Robotaix bot which came really close, but as the path stayed clear it just slowed down, and continued.

We won 97 to 93 and got the 7th place.

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We are qualified for the final ! The first one in 4 years of OpenSaBot participation.

Final

For the final we met A.I.G.R.I.S Birds team. They were 11th in qualification, but with an impressive project which had several issues in terms of reliability, so the suspense was huge.

They did a great game, started by releasing modules outside the release zone. Then, their bot came to our side and our bot changed its plans to adapt to the situation and carry on its game, but that was not enough as A.I.G.R.I.S Birds’ bots were able to catch an impressive quantity of elements. Our small bot didn’t start, as well as the phone filming this game. But we have no regrets as the bot gave the best it could do with a nice avoiding by adapting the strategy from other games.