## Timestamp

*Timestamp*

7/10/2025 14:01:07

## Team Name

*What is your team's name?*

MIDAS RBL

## League

*What league do you participate in?*

Open League

## Country

*Where are you from?*

México

## 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)*

midasrbl15@gmail.com

## Social Media

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

https://www.instagram.com/midas_rbl?utm_source=ig_web_button_share_sheet&igsh=MTdjMzdyaHZyc28ydg==

## 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*



## Members & Roles

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

Diego Patricio Bélmares Montoya: design mechanic and electronics
María del Pilar López Campas: electronics and PCB
Edgardo Valentín García Puente: programmer

## Meeting Frequency

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

Every day 7 hours ( except on Sunday)

## 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.)*

At school

## Start Date

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

November of 2024

## Past Competitions

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

none, it´s our first time

## Mentor Contribution

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

On some occasions, the compass data didn´t match the data, so we asked for help from our mentor, and he explained to us how it worked.

## Workload Management

*How did you manage the workload?*

We use WhatsApp to communicate about the robot and check what tasks were pending.

## AI Tools

*Which AI tools did you use?*

chat gpt

## Robot1 Overall

*Robot 1 Overall View*

![](images/1UVIpWKFXr89TSY3DfX57OtsSNIzvaq_U.jpg)

## Robot1 Front

*Robot 1 Front view*

![](images/1MVsLHL6iUMjea2IyvB1Fu9ojH1pZXPAd.jpg)

## Robot1 Back

*Robot 1 Back view*

![](images/1e_BoqbRxOROV7_zIZF-YYanSSaQD7q1e.jpg)

## Robot1 Top

*Robot 1 Top View*

![](images/1VgUPfSWRs7TXs7XpxNhUC_0pTMICO_pW.jpg)

## Robot1 Bottom

*Robot 1 Bottom View*

![](images/1xDnYLzeSDFt9OUA-uldnRgeQHfwMbO6B.jpg)

## Robot1 Right

*Robot 1 Right View*

![](images/1U8j-ChLRulkNJXLEEDWTSRbyLeHOymt7.jpg)

## Robot1 Left

*Robot 1 Left View*

![](images/1rRQHRQ25Bxx_Sn-YUqS4658vwj50cZ_x.jpg)

## Positioning & Movement

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

We use 2 ultrasonic sensors, one on the side and one at the back, and they have the function that when they do not see the ball, they return to the point marked by the ultrasonic sensors.

## Robot2 Overall

*Robot 2 Overall View*

![](images/1OV6V8UVCePPTIQzcSDNYYVllX4r-a_pJ.jpg)

## Robot2 Front

*Robot 2 Front view*

![](images/1M2n1pMCQ8w7qtGxUW0Y6volgh-BwJA0h.jpg)

## Robot2 Back

*Robot 2 Back view*

![](images/1RHWSZs81_WrEWaV66kUCSpGt1LLtND5k.jpg)

## Robot2 Top

*Robot 2 Top View*

![](images/1AUgwt_f-wIkDZG-Um2EpPzvdiLOtyhfH.jpg)

## Robot2 Bottom

*Robot 2 Bottom View*

![](images/1JSrQ8Iuzsu7kqDkSiu1unlQHEdV_K0tk.jpg)

## Robot2 Right

*Robot 2 Right View*

![](images/1LGIiQ-V2pS_R8XV-7SXcpnN8i3aqmYeA.jpg)

## Robot2 Left

*Robot 2 Left View*

![](images/1XBoAkx6tySTkbIESG01KrtkiN62uivU4.jpg)

## Mechanical Design

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

our designer uses fusion360 to create the mechanical parts that are adapted to the pcb and the space left after placing all the components and the wires he previously made, I consider the arrangement of the drivers to be different since they are positioned optimally to save space

## Build Method

*How did you build your design?*

for the pcb "JLCPCB" , For 3D printing, we use a 3D printer "PrusaSlicer MK3".

## Motors & Reason

*How many motors have you used and why?*

4 motors because its the better for the movement of the robot

## 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.*

N/A

## CAD Files

*CAD design files*

https://github.com/MidasRbl/midas

## Mechanical Innovation

*Mechanical Innovation*

the pieces that are adapted for the cards, since several prototypes and attempts were made to see which one fitted so that the drivers could fit in such a small space

## Mechanical Photos

*Photos of your mechanical designs highlights*

![](images/1j17ki_c_yaxil-wV5dgwl1FLjg8gvJb8.jpg)
![](images/1_D552MdYugdVG-WYU0HsAJ0A3L1Z6woj.jpg)
![](images/1_4QBBT9nDSVhQi48xQekWx2gn3p5qGWo.jpg)
![](images/1lbtHw9O_Uwg8eIreuTwZUS_mq0DrL-jZ.jpg)

## Electronics Block Diagram

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

![](images/1HdUoKAxjaxQd3u_NImBhgZAM4k20FgSX.jpg)

## Power Circuit

*How does your power circuits work?*

For the 5V motors and regulators, we power them with 7V; for the Teensy and the Pixy, we power them with the voltage output from the 5V regulator. The ultrasonic sensors, LED indicator, driver, and compass are powered with 3.3V coming from a 3.3V regulator, and those come from the 5V regulator.

## Motor Drive Circuit

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

We activate the motors through a programming that uses two digital pins and a PWM per driver; with the digital pins we control the direction in which the motor rotates and with the PWM the speed at which it moves. The driver is connected to the 3 pins that go to the Teensy 4.1, the VIN 7V, GND, and 3V.

## 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.*

The Teensy 4.1 has better processing and helps us save space on the PCB, has a large number of pins, a large amount of memory, just like the Teensy 4.0 it also saves space, features a fast processor, and efficient power consumption.

## Ball Detection

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

the pixy has a function to detect colors called color connected components.

## Line Detection

*How does your line detection circuits work?*

We have 32 photoresistors and 32 LEDs that form a circle on the lower plate, we have 2 multiplexers and each one drives 16 signals from the photoresistors to the Teensy 4.0, we calibrate each photoresistor so that it marks 1 if it is white and 0 if it is not.

## 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?*

To detect the ball we use Pixys 2.0 and 2.1, for positioning on the field we use ultrasonic URM09, for line detection we use photoresistors, for orientation we use a CMPS14 compass, to connect the cameras we use SPI SS and analog connections, for the ultrasonic sensors we use analog connections, for the multiplexer we use analog and digital pins, for the compass we use I2C connection. In robot 2, it is oriented forward using the compass, while robot 1 has the difference that when the ball is in front, it positions itself with a camera that sees the goal, and when the ball is not in front, it positions itself using the compass.

## 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?*

N/A

## Schematics

*Schematics of your robot*



## PCB

*PCB of your robot*

![](images/1ugmHGpXfJaEgYn0MJj0vi1K0S9GmykC5.jpg)
![](images/1daETcjxckPirkrmqzm1g_qMuiLZmGMlt.jpg)

## Innovation

*Innovations*

the PCB boards, the cards, and the arrangement of the drivers between the 2 boards to save space since it was something different and complicated

## Circuit Photos

*Photo of your circuit boards highlights*

![](images/17-7df5l9GdTDcHXxEr2WnRPTZ3g-2TuV.jpg)
![](images/1NEbz7KrQqeNYXW1Xgf6NCfSSDiLo6cnE.jpg)
![](images/1tXLOZQXYcIpfzRNvOojOUC2RSzdSrdKh.jpg)
![](images/1norItH4CQWF1hl5UQVnlxE2xjfOsRuMS.jpg)
![](images/1ATvniefiQjjeoU8806VbZcKNATQPI4qj.jpg)

## Motor Control

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

A code that works with zeros and ones is downloaded to the processor to direct which way to move. It also has a PWM so that all the motors have a similar speed.

## Ball Detection Method

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

The Pixy is connected to a servo motor with a fixed angle of 90 degrees. We made 5 sections with the 180 degrees of the servo motor. In addition, there is a formula to detect if it is far or near. This helps the camera's precision to be more efficient.

## 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.*

N/A

## 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?*

By calibrating each photoresistor, we mark one if it is white and 0 if it is not white, then we divide the circle formed by the photoresistors and we make combinations of lines to have sections and know which side to go to, we pass that data to the main processor in which some lines are combined and the actions for detection are carried out in each of them.

## Goal Algorithm

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

N/A

## Defense Algorithm

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

When one robot has the ball, the other robot must be defending in a neutral position. When the robot that had the ball no longer sees it, the other must see it and change.A code that works with zeros and ones is downloaded to the processor to direct which way to move. It also has a PWM so that all the motors have a similar speed.

## Robot Communication

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

N/A

## Innovation2

*Innovations*

Servo camera is the function in which we follow the ball in a way with 5 sections of the servo motor since there is a division of 180 degrees also add a function to know if the ball is far or near, this helps us so that the robot makes more optimal decisions for the positioning of the ball, this data is sent to the main processor and the main processor gives the order of the movements of the motors so that the robot moves making the movements when following the ball efficient, these movements have a section of subroutines in which it is facilitated so that the code is shorter, faster and easier

## GitHub Link

*GitHub link*

https://github.com/MidasRbl/midas

## BOM

*Bill of Materials (BOM)*

[https://drive.google.com/open?id=1CICYidS8fjJvYUYnsAt1Q80xDravL5eo](https://drive.google.com/open?id=1CICYidS8fjJvYUYnsAt1Q80xDravL5eo)

## Cost

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

Robots 1500USD Experiments 1000USD Environment 1000USD

## Funding

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

70% sponsors 20% school 10% government

## Affordability

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

4

## 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*

opensoccer7@gmail.com

## TDP File

*TDP File Upload (Not required)*



## Extra Column

*Column 67*