Inverted Mecanum Drives Robotic Table Soccer

Two threadless leadscrews with opposite "thread" directions. Brushless motor control of the drives. Linear and rotational magnetic encoders.

Description

To control the player on the shaft it needs to be move in a linear direction as well as rotate. I've seen other robotic table soccer systems, they are attach to the end of the shaft and are about as large as the table soccer itself.

This design leaves the shaft's ends free and the drives are 60mm wide and can be embedded in the sides of the table.

If the drives rotate in the same direction the shaft rotates. If the drives are opposite, the shaft moves side to side. Uses custom PSOC4 brushless controller from a previous project.

Custom magnetic rotation absolute encoder (linear independent) with 4 hall effect sensors and CORDIC controller.

Custom multi-pole magnetic linear encoder (rotation independent) with 4 hall effect sensors and CORDIC controller.

Files

drive_mini.MOV

quicktime - 2.51 MB - 03/26/2020 at 16:44

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Project Logs

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CORDIC

Paul Gould • 03/26/2020 at 16:48 • 0 comments

Read ADC

    aa1 = ADC_SAR_GetResult16(0u);
    bb1 = ADC_SAR_GetResult16(1u);
    cc1 = ADC_SAR_GetResult16(2u);
    dd1 = ADC_SAR_GetResult16(3u);

Do CORDIC Calculation

int cordic(int32 aa, int32 bb, int32 cc, int32 dd)
{
    int hor, ver;
    hor = aa - cc;
    ver = bb - dd;
    double abs_val_sq = (hor * hor) + (ver * ver);
    double inv_amp = 1.0 / (sqrt(abs_val_sq));
    double hor_f = ((double)hor) * inv_amp;
    double ver_f = ((double)ver) * inv_amp;
    double hor_s = asin(hor_f);
    double ver_s = acos(ver_f);
    double ang_r = 0.0;
    double ang = 0.0;
    int ang_cordic=0;
    
    if (hor_s>0)
    {
        if (ver_s > pid2)
            ang_r = ver_s + (pi-hor_s);
        else
            ang_r =  ver_s + hor_s;
    }
    else
    {
        if (ver_s > pid2)
            ang_r = pi + (pi - ver_s) + (pi - hor_s);
        else
            ang_r =  pi + pi + (pi - ver_s) + (pi + hor_s);
    }
    
    ang = ang_r * rad_deg;
        
    if (abs_val_sq > 100000) // good (Todo crc or party)
    {
        ang_cordic = (int)(ang_r * rad_12); // | 0x8000;  
    }
    else // bad
    {
        ang_cordic =  ((int)(ang_r * rad_12));
    }
    return (ang_cordic);
}

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Discussions

jackwilsonj672 wrote 09/03/2023 at 19:08

This innovative design for controlling the player on the shaft in a robotic table soccer system is quite impressive. It addresses the challenge of achieving both linear and rotational movement efficiently. The use of custom components like the PSOC4 brushless controller, magnetic rotation absolute encoder, and multi-pole magnetic linear encoder demonstrates a high level of engineering sophistication.

What's particularly interesting is how the drives are incorporated into the sides of the table, leaving the shaft's ends free. This approach not only saves space but also allows for a more seamless and immersive gameplay experience.

you can also see my work for soccer https://socceriate.com/soccer-players-with-number-11/

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Inverted Mecanum Drives Robotic Table Soccer

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Files

drive_mini.MOV

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CORDIC

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