Thesis

A melty brain combat robot is an archetype of combat robot that utilizes its drive to spin the robot and adjusts the speed of the drive at certain intervals allowing it to translate across the field. In combat robotics you are provided a weight limit and this allows you to. put all of your weight into the weapon making it one of the most complex types of robots and the theoretically most powerful.

Precedents:

currently our precedents is this one guy that has released lots of documentation about melty brain theory and this repo that has open source software to run melty brains which we will use a s reference while we write our own.

How melty drive functions:

Math!:

Output: 0-360 deg

(current angle)

Output of stick: x,y value

Create a vector from 0,0 to x,y from controller

gets angular velocity and plots it over time to get the current direction the robot is facing

`

Compare values, have an offset to allow the motors to react as it will only face the heading for a short amount of time

θz​(t)=θz​(0)+∫ωz​(t)dt

where:

• θz​(t) is the current angle of the Z-axis relative to an initial reference.
• ωz​(t) is the angular velocity measured by the gyroscope.
• θz​(0) is the initial angle at t=0.

Math!:

linear velocity = difference in motor speed

linear distance = integration of velocity

V

T

next steps

Integrate the IR sensor with the accelerometer to get accurate readings of position.