Project

# Title Team Members TA Documents Sponsor
12 4-Wheel-Drive Invertible Ant-Weight Battlebot
 Haoru Li
Ziheng Qi
Ziyi Wang
 Zhuoer Zhang design_document1.pdf
proposal1.pdf
# Ant Weight Battlebot
Team Members:
- Ziyi Wang (zw67)
- Ziheng Qi (zihengq2)
- Haoru Li (haorul2)

# Problem

For ant-weight battlebots, 3D-printed materials introduce significant vulnerabilities. Though many robots can effectively defend strikes, they are prone to "turtling" and may lose mobility when flipped. Under the competition rule, losing mobility will quickly lead to knockout. When inverted, weapon systems such as vertical spinners may rotate in an ineffective direction or lose engagement with the opponent entirely, significantly reducing combat effectiveness. Preserving weapon functionality in both orientations remains a critical challenge for ant-weight combat robots. In addition, sudden high-impact collisions can introduce transient power spikes and voltage fluctuations in the power distribution system, which may disrupt onboard electronics, or cause overall system instability during operation.

# Solution

We want to design a invertible 4-Wheel-Drive battlebot with vertical drum spinner. According to our investigation, vertical drum spinner is an ideal weapon choice as it is rigid and can effectively flip opponents. To solve the problem of "turtling," the robot uses a symmetric chassis with wheel diameters exceeding the total chassis height, ensuring traction regardless of orientation. And bigger wheels also allow the battlebot to function even after flipped and the vertical rollercan change its direction as well. To address the cognitive load of inverted driving, we integrate an onboard IMU that automatically detects a flip and remaps the motor control logic in the firmware, making the transition seamless for the operator.
To ensure electrical stability and prevent brownouts, the custom PCB utilizes a decoupled power architecture. We isolate the high-current weapon system from the sensitive logic rails using a high-efficiency switching regulator and a large bulk capacitor array. The robot is divided into three primary subsystems: Power Management, Control & Sensing, and Drive & Weapon Actuation.

# Solution Components

## Subsystem 1: Power Management and Distribution
Provides stable, isolated power delivery to all robot subsystems while meeting the 24V maximum battery voltage requirement. Detail specifications awaits to be put on based on selection of motors.

## Subsystem 2: Control and Communication
Function: Receives operator commands, processes IMU orientation data, and generates appropriate motor control signals with automatic inversion compensation.

*Components:*

* Microcontroller: ESP32-WROOM-32D module with integrated WiFi/Bluetooth
* Part: Espressif ESP32-WROOM-32D
* IMU Sensor: 6-axis accelerometer and gyroscope module
* Part: InvenSense MPU-6050 (GY-521 breakout module)
* Interface: I2C communication at 400kHz

Firmware Logic:

Continuously poll IMU at 100Hz to determine Z-axis orientation
If Z-acceleration indicates inversion (threshold: -8 m/s² to -10 m/s²), apply 180° phase shift to drive motor PWM signals fit the pose change.
Maintain weapon control polarity regardless of orientation
Implement exponential response curve on drive inputs for fine control

## Subsystem 3: Drive Train
Provides four-wheel independent drive with sufficient torque for pushing and maneuverability.

Components:
* 4 Drive Motors with expected weight of ~10g each

## Subsystem 4: Weapon System
Vertical drum spinner delivering kinetic energy impacts to destabilize and damage opponents.

Performance Targets:

Weapon tip speed: 150-200 mph (conservative for material constraints)
Spin-up time: <3 seconds to operating speed
Subsystem

## Sybsystem 5: Chassis and Structure
Provides impact-resistant housing for all components while maintaining invertible geometry and meeting weight requirements.


# Criterion For Success

1. The total weight of the battlebot should always remain below 2 lb. And the robot should execute a complete motor shutdown within 2 seconds once triggered by software or hardware switch.

2. Logic systems (ESP32, IMU) must maintain operation during weapon spin-up and simulated impact loads. And communication should stay on.

3. The robot can work as expected: move according to PC inputs and do not need manual adjustment; weapon spinning vertically; shutdown in time according to PC commands; self-adaptive when flipped (mobility and weapon functionality)

4. The chassis and mounting structures must withstand repeated weapon engagement and collisions without structural failure.

BarPro Weightlifting Aid Device

Patrick Fejkiel, Grzegorz Gruba, Kevin Mienta

Featured Project

Patrick Fejkiel (pfejki2), Kevin Mienta (kmient2), Grzegorz Gruba (ggruba2)

Title: BarPro

Problem: Many beginner weightlifters struggle with keeping the barbell level during lifts. Even seasoned weightlifters find their barbells swaying to one side sometimes. During heavy lifts, many people also struggle with full movements after a few repetitions.

Solution Overview: BarPro is a device that straps on to a barbell and aids the lifter with keeping the barbell level, maintaining full repetitions and keeping track of reps/sets. It keeps track of the level of the barbell and notifies the lifter with a sound to correct the barbell positioning when not level. The lifter can use the device to calibrate their full movement of the repetition before adding weight so that when heavy weight is applied, the device will use data from the initial repetition to notify the lifter with a sound if they are not lifting or lowering the barbell all the way during their lift. There will be an LCD screen or LEDs showing the lifter the amount of repetitions/sets that they have completed.

Solution Components:

Subsystem #1 - Level Sensor: An accelerometer will be used to measure the level of the barbell. If an unlevel position is measured, a speaker will beep and notify the lifter.

Subsystem #2 - Full Repetition Sensor: An ultrasonic or infrared distance sensor will be used to measure the height of the barbell from the ground/body during repetitions. The sensor will first be calibrated by the lifter during a repetition with no weight, and then that calibration will be used to check if the lifter is having their barbell reach the calibrated maximum and minimum heights.

Subsystem #3 - LED/LCD Rep/Sets Indicator: LEDs or a LCD screen will be used to display the reps/sets from the data measured by the accelerometer.

Criterion for Success: Our device needs to be user friendly and easily attachable to the barbell. It needs to notify the lifter with sounds and LEDs/LCD display when their barbell is not level, when their movements are not fully complete, and the amount of reps/sets they have completed. The device needs to work smoothly, and testing/calibrating will need to be performed to determine the minimum/maximum values for level and movement positioning.