## Timestamp

*Timestamp*

7/11/2025 13:00:59

## Team Name

*What is your team's name?*

Autobots

## League

*What league do you participate in?*

Lightweight League

## Country

*Where are you from?*

Brazil

## Contact

*If other teams have questions about your robot, now or in the future, what email address(es) can we publish along with this document for people to reach you?

(You can put in multiple email addresses, like multiple team members, an email for the whole team or both. Feel free to share other ways of communication like Discord handles)*

N/A

## Social Media

*Team Social Media Links (if you have any)*

N/A

## Team Photo

*Upload a photo of your whole team with your mentor and robots

Note: This is not mandatory and will be published along with your TDP if you choose to upload something*

![](images/15Dt1uJWrGVHDZxsGrI7hQQ7vC2bKjceG.jpg)

## Members & Roles

*What are the names of the team members and their role(s)?*

João Henrique Pinheiro Cunha: Programming
Antônio Riera Astolfo IV: Mounting, Soldering, Assembling
Pedro José Ferraz Gondim: Circuit and PCB Design
Adler Teixeira Ferro Pereira: Mentor

## Meeting Frequency

*How often did your team meet?
(e.g. 90 minutes once per week or a day every weekend.)*

2 hours once per week

## Meeting Place

*Where did you meet to work on your robot?
(e.g. a robotics room at school, at some other place, one of your homes, school library etc.)*

Robotics room at school

## Start Date

*When did your team start working on this year's robot?*

April 2025

## Past Competitions

*Which RoboCupJunior competitions have you competed in and in which leagues?*

CBR 2024: Lightweight League

## Mentor Contribution

*Which parts of your work received the most contribution from your mentor?*

PCB Manufacture

## Workload Management

*How did you manage the workload?*

N/A

## AI Tools

*Which AI tools did you use?*

N/A

## Robot1 Overall

*Robot 1 Overall View*

![](images/1XauNdSCOPtcqSLWN_5J6uqRbADnja0ZU.jpg)

## Robot1 Front

*Robot 1 Front view*

![](images/15oJeiZ5Y9qyHW9ZyP86xucjSJXYNxCmv.jpg)

## Robot1 Back

*Robot 1 Back view*

![](images/1-s17T-jveA-gRZ_rAWf5NMs783hAegym.jpg)

## Robot1 Top

*Robot 1 Top View*

![](images/1LLZqZ1oFaiRLwDBYfkwi09DtMFLPlSOQ.jpg)

## Robot1 Bottom

*Robot 1 Bottom View*

![](images/1TgOdG1s8psEnHt9v9IdjEJ92W9Cz1RFw.jpg)

## Robot1 Right

*Robot 1 Right View*

![](images/11cH7ZDvzGWntM1Sly2Gq4k4i0vjCZcli.jpg)

## Robot1 Left

*Robot 1 Left View*

![](images/10b-EN8yjPXlX38ILu1lithC5sAR-duck.jpg)

## Positioning & Movement

*How do you find your position inside the field and how do you use that position to move your robots around?*

N/A

## Robot2 Overall

*Robot 2 Overall View*

![](images/1s7YQiPgBhbhTxSznahqAa90eoJffeFr4.jpg)

## Robot2 Front

*Robot 2 Front view*

![](images/1lpcbM9izTjXeYV_0aqWBV9BU15JrSpFO.jpg)

## Robot2 Back

*Robot 2 Back view*

![](images/1BrXdE8OFkXipIX48e7YvKCqqqErH98K0.jpg)

## Robot2 Top

*Robot 2 Top View*

![](images/1kcqxCJg6EgXtHXr_-UG--3UlklezcMYZ.jpg)

## Robot2 Bottom

*Robot 2 Bottom View*

![](images/1L7Wr1LLcgkjtfVqFM7XieTbepVHqyWHL.jpg)

## Robot2 Right

*Robot 2 Right View*

![](images/1dZJYGVBtk6A2g3a9DMLtNlEkWnETcCZJ.jpg)

## Robot2 Left

*Robot 2 Left View*

![](images/1YIYcudNY9JC1tKcJjOTKAQ2Kzg3Pbv60.jpg)

## Mechanical Design

*How did you design the mechanical parts of your robots?*

We used previous designs as reference and Cadsoft EAGLE to design everything.

## Build Method

*How did you build your design?*

Everything was handmade, self manufactured. The circuits, using thermal transfer and FeCl3 for corrosion. The rest of the structure using resin and grinding tools.

## Motors & Reason

*How many motors have you used and why?*

4 motors for movement, 1 motor for dribbler. 
Using 4 motors for directions, we have more strength and speed on every vector.

## Kicker Design

*If your robot has a kicker, explain how you designed and built the mechanics of the kicker*

N/A

## Dribbler Design

*If your robot has a dribbler, explain how you designed and built the mechanics of the dribbler.*

We added the dribller without planning to have one, so we used a free space, a small dc motor controlled by a TIP122 transistor and connected to a printer bearing.

## CAD Files

*CAD design files*



## Mechanical Innovation

*Mechanical Innovation*

The whole PCB is what we are most proud of. Every aspect of it, desingning, manufacturing and soldering the components, troubleshooting and adapting things, it was quite a challenge.

## Mechanical Photos

*Photos of your mechanical designs highlights*

![](images/1wNxBwa1adw3kNIQJukgC-vx3EwnIT4OK.jpg)

## Electronics Block Diagram

*Provide us with a block diagram of your robot's electronics*

![](images/1yje7pjrVWrKWC9Q-IRXqGKdgW34kGqpl.png)

## Power Circuit

*How does your power circuits work?*

We use a LiPo Battery of 7.4V to supply everything, regulated to 5V / 3V3 in order to power the sensors.

## Motor Drive Circuit

*How do you drive your motors? Explain the circuits you use for that*

We use a VNH5019 for every motor.

## Microcontroller & Reason

*What kind of micro controller or board do you use for your robot? Why did you decide to use this part for your robot? If you have more than 1 processor, explain each one separately.*

We use Arduino DUE for controlling everything in the robot, becuase of the PWM outputs and many GPIO Pins for upgrades.

## Ball Detection

*How does your ball detection sensors and/or camera[s] work?*

We use a HiTechnich IRSeeker To detect the position of the ball.

## Line Detection

*How does your line detection circuits work?*

We use a green led and a LDR sensor to detect light reflection. There are 4 sensors, each one detecting a direction.

## Navigation/Position Sensors

*What sensors do you use for navigation and how are these sensors connected to your processor? What sensors do you use to find your position in the field? What about the direction your robot faces?*

We use a GY-26 Compass to control the robots position. By comparing the actual state of the compass with a previous saved value, we make the robot always front-forward.

## Kicker Circuit

*How do you drive your kicker system? How does the circuit make the kicker work?*

N/A

## Dribbler Circuit

*How does your dribbler system work? What components and circuits did you use to drive it?*

Everytime the ball is detected in front of the robot, the Dribbler starts running and stops when the ball changes position or a white line is detected.

## Schematics

*Schematics of your robot*

![](images/1pxQt8ueNpxJ_jdC5IWK3fQqK_wDpeiLx.jpg)

## PCB

*PCB of your robot*

![](images/160DdtQqwUhdFc2cn6zX8RofjxzckW9C1.jpg)

## Innovation

*Innovations*

N/A

## Circuit Photos

*Photo of your circuit boards highlights*

![](images/1W1JYY8AleCQm6JUanbnYMgGcTXqlSbeq.jpg)

## Motor Control

*How do you use your processor to move your motors?*

We check the position returned by the IRSeeker and move the robot to the direction behind that position, in order to face the ball. We made a function to control the 4 motor controllers at once.

## Ball Detection Method

*How do you find where the ball is? How do you read the data from the ball detection sensors or camera?*

We read the position returned by the IRSeeker.

## Ball Catch Algorithm

*How does your algorithm work to catch the ball? Is there a difference between your robots in how they move towards the ball? Explain the differences.*

The robots work with the same algorithm.

## Line Algorithm

*How does your robot find the lines to stay inside the field? What algorithms do you use to avoid going out of bounds?*

Everytime a LDR value changes greatly, means a line was found. The robot stops and moves in the opposite direction to return to field.

## Goal Algorithm

*What algorithms do you use to score goals? How do you use your kicker and dribbler to handle the ball?*

Go forward and release the ball stopping the dribbler when the line is detected.

## Defense Algorithm

*What algorithms do you use to avoid the opponent team scoring? How do your robots defend your own goal?*

N/A

## Robot Communication

*Do your robots communicate with each other? How do you use this communication to your advantage?*

N/A

## Innovation2

*Innovations*

N/A

## GitHub Link

*GitHub link*

N/A

## BOM

*Bill of Materials (BOM)*

[https://drive.google.com/open?id=1N0UDKbdxbTft2OFwXqv2R1JF7YNNt6nl](https://drive.google.com/open?id=1N0UDKbdxbTft2OFwXqv2R1JF7YNNt6nl)

## Cost

*How much did it cost you to build your robots?*

We used materials provided by the school.

## Funding

*How did you gathered the funds to build the robots?*

100% School

## Affordability

*How affordable was it to compete in RoboCupJunior Soccer?*

5

## Answer Check

*Have you checked all of your answers?*

Yes!

## Publication Consent

*We publish TDPs and posters during or after the competition as described in the beginning*

Yes, we acknowledge everything submitted in the above form can be published.

## Email Address

*Email Address*

adminntes@sacramentinasconquista.com.br

## TDP File

*TDP File Upload (Not required)*



## Extra Column

*Column 67*