PALB IV
PALB IV was the fourth robot we built for RoboCup. We played with it in the 1on1 league at the German Open on the Hannovermesse in 2007.More pictures of PALB IV
History
Because PALB III didn't score often enough (explained in PALB III), we decided to built a new robot between the qualification in Magdeburg and the German Open in Hannover.But we didn't have enough time to optimize the hardware, nor the software noticeably.
Hardware
Electronic:- 1 Mainboard with AT91RM920, OS: Linux
- 1 Sensor board with ATmega32, OS: Self-made
- 3 Motor boards with ATtiny2313, OS: Self-made
Dribbler:
- Mouse wheel
- Omnidirectional Wheels with Faulhaber motors
- Electromagnetic, 12V
- 16 Infrared Sensors + 1 Light barrier
- 3 Ultrasonic-Distance Sensors, 1 Compass Sensor,
Software
Due to the lack of time, our Software was as raw as before: PALB IV followed the ball, turned with help of the compass sensor in kind of the right direction of the opponent's goal, tried to get to the middle with the 3 ultrasonic distance sensors and shot. So in the end, it shot kind of randomly, when it thought, that it was in the right position.Another problem was, that it lacked a strong kicker, so it wasn't able to shoot across the whole field.