Mechatronics: MOBA Bot
In my first foray into robotics, my graduate-level Design of Mechatronic Systems course tasked us with designing and building remote controlled robots to play a MOBA-inspired game in 4v4 teams.
The robot would be piloted through UDP connected controllers (also of our own design) and would fight using visual and audio cues, such as speakers and flashing lights.
Robot and Nexus status, health, and attacks were measured and constantly updated through UDP protocol communication with a central score keeping computer.
The first team to "destroy" the opposing team's Nexus would win the match.
Competition rules mandated that each robot must:
- Be controlled over wifi using UDP protocol communication sent to the central score keeper.
- Attack using an actuated arm which includes a visual cue to signify a successful hit
- Detect specific frequencies of light that would "heal" the robot during the match
- Receive UDP packets from the central scorekeeper and shut down all functionality if central score keeper determines the robot is "dead"
Our robot had two final design configurations: A fast, maneuverable robot featuring a simple 1 degree of freedom actuating arm and a slower, 3 degree of freedom, long arm equipped version of the robot that could take advantage of range rather than speed.
Specific design considerations for the maneuverable configuration of the robot included ensuring proper balance to maintain adequate traction, responsive turning, and increased resistance to tipping over required by the aggressive play-style of this configuration. Additionally a protective shell needed to be created to prevent damage to the electronics while ramming and receiving hits in "close combat".
Design considerations for the long-arm version of the robot included maintaining a stable center of mass to prevent falling over while attacking in full extension, optimizing for more complex communication between controllers and robot for the 3 degree of freedom arm, and designing for increased power consumption due to additional components.
Much of the challenge of this project was designing and building the complex circuitry required for the various sensing, actuating, and display systems of the robot within a very confined space (approximately 4.5" x 6"). To the left are some examples of our circuit designs.
Highlights include a clever microcontroller-free implementation of a combined hit sensor and flashing LED and speaker indicator. Shut-off of this system during "death" was controlled using a MOSFET driven by the final LED in our LED bar health display.