Small Size Robocup (2002)

As the first robocup team of IUST we chose small size robocup.

In this competitions robots is controlled using a closed loop with a global camera placed on top of the court.

In order to have a smooth and flexible movement we chose this type of wheels which is called OMNI.

With three of these wheels we could move in any direction and rotate very easily.

The control board consists of three driver – one for each wheel – which could rotate each motor CW/CCW exactly with the input speed by using PWM method.

A wireless board feeds the input date for the control board and a transmitter is attached to the COM port of the server computer.