Codigo del MVP by R2D2-Robobot · Pull Request #3 · RoBorregos/Soccer-Vision-2026

R2D2-Robobot · 2026-03-04T19:53:12Z

No description provided.

Bahena05 · 2026-03-07T02:09:43Z

lib/constantes/constantes.h

+
+const uint8_t selectPins[3] = {16, 15, 14};  // S0, S1, S2 Pines de seleccion
+const uint8_t muxPins[4] = {A6, A7, A9, A14}; // Pines de salida MUX
+
+// Receive signals


Variable names should be understandable for its name

I already changed it to must understandable names

Bahena05 · 2026-03-07T02:10:17Z

lib/constantes/constantes.h

+const uint8_t RECEIVE_BNO = 's';
+const uint8_t RECEIVE_BALL_ANGLE= 'c';
+const uint8_t RECEIVE_BALL_DISTANCE = 'd';
+const uint8_t RECEIVE_GOAL_ANGLE = 'g';
+const uint8_t RECEIVE_GOAL_DISTANCE = 'k';
+const uint8_t RECEIVE_LINE_ANGLE = 'r';
+


Are you using this ?? If not, then remove it from your repo

lib/motor/motor.h

Bahena05 · 2026-03-07T03:03:35Z

lib/motores/motores.cpp

+: motor1(pwm_pin1, in1_1, in2_1),
+  motor2(pwm_pin2, in1_2, in2_2),
+  motor3(pwm_pin3, in1_3, in2_3),
+  motor4(pwm_pin4, in1_4, in2_4)
+{}


Name each object as front left, front right, back left, back right for you to know which motor are you refering to

Bahena05 · 2026-03-07T03:04:45Z

lib/motores/motores.cpp

+void Motors::StopMotors()
+{
+    motor1.StopMotor();
+    motor2.StopMotor();
+    motor3.StopMotor();
+    motor4.StopMotor();
+}
+
+void Motors::MoveForward()
+{
+    motor1.MoveForward();
+    motor2.MoveForward();
+    motor3.MoveBackward();
+    motor4.MoveBackward();
+}
+
+void Motors::MoveRight()
+{
+    motor1.MoveForward();
+    motor2.MoveBackward();


As this is a robot with an omnidirectional base, I don't see the necessity of having this functions

Could be useful for debug and pin control, just be careful with motor names and positions to avoid confusion.

We used them for debug mainly, everytime we made a change in electronics, useful to fix if a wheel is turning the other way its supposed to

Bahena05 · 2026-03-07T03:57:10Z

src/main.cpp

+    motorss.MoveMotorsImu((int)ang, Speed, 0);
+
+  //If ball not seen with FCamera Mcamera is used
+  } else if (m_open_ball_seen) {


m_open ball???? understandable names

Bahena05 · 2026-03-07T03:57:26Z

src/main.cpp

+  } else if (m_open_ball_seen) {
+    Serial.print("Ball seen in mirror");
+    Serial.println(m_ball_angle);
+    if (m_ball_angle > 45.0f) {


magic numbers

Changed some of them, there are a few that are not completely defined as fully functional, will continue to work on them on new branch

Bahena05 · 2026-03-07T04:04:16Z

src/main.cpp

+      double m_ang = m_ball_angle + 15.0;
+      motorss.MoveMotorsImu((int)m_ang, 90, speed_w);
+      Serial.println("Moving right");
+    } else if (m_ball_angle < -40.0f) {
+      double m_ang = m_ball_angle - 15.0;
+      motorss.MoveMotorsImu((int)m_ang, 90, speed_w);
+      Serial.println("Moving left");
+    }


magic numbers, variable names

Bahena05 · 2026-03-07T04:06:22Z

platformio.ini

+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:teensy41]


change environment name to main

Bahena05 · 2026-03-07T04:06:45Z

platformio.ini

+	adafruit/Adafruit BusIO
+	adafruit/Adafruit BNO055
+	servo
+	wire


Why there's no environment for the motor test code??

I dont understand

Read soccer Lightweight 2025 documentation

Bahena05

Clean Pull request before asking for review

Bahena05 · 2026-03-19T17:59:48Z

lib/motores/motores.cpp

+void Motors::MoveMotor1() { front_left.MoveForward(); }
+void Motors::MoveMotor2() { front_right.MoveForward(); }
+void Motors::MoveMotor3() { back_right.MoveForward(); }
+void Motors::MoveMotor4() { back_left.MoveForward(); }
+


Understandable names. which motor are you moving ??

lib/Motors/motors.h

Bahena05 · 2026-03-19T18:01:35Z

lib/motores/motores.h

+    Motors(uint8_t speed1, uint8_t in1_1, uint8_t in2_1,
+           uint8_t speed2, uint8_t in1_2, uint8_t in2_2,
+           uint8_t speed3, uint8_t in1_3, uint8_t in2_3,
+           uint8_t speed4, uint8_t in1_4, uint8_t in2_4);


understandable names, which variable corresponds to each motor ??

Bahena05 · 2026-03-19T18:02:40Z

lib/PhotoMux/PhotoMux.cpp

understandable names, phototransistors , multiplexer, etc. You have two different things in the same class, separate mux and phototransistors

Bahena05 · 2026-03-19T18:03:25Z

lib/PhotoMux/PhotoMux.cpp

+// - Constructor: copy pin arrays and init defaults
+PhotoMux::PhotoMux(const uint8_t selectPins[3], const uint8_t muxPins[4]) {
+    memcpy(_selectPins, selectPins, 3);
+    memcpy(_muxPins, muxPins, 4);
+


understandable names

Bahena05 · 2026-03-19T18:47:17Z

src/main.cpp

+
+      if (m_ball_angle > 45.0f) {
+        motorss.MoveOmnidirectionalBase((int)(m_ball_angle + 30.0), 90, speed_w);
+        Serial.println("Moving right");
+      } else if (m_ball_angle < -40.0f) {
+        motorss.MoveOmnidirectionalBase((int)(m_ball_angle - 30.0), 90, speed_w);
+        Serial.println("Moving left");
+      } else {
+        Serial.println("Ball is behind");
+        motorss.MoveOmnidirectionalBase(120, Speed, speed_w);


Bahena05 · 2026-03-19T18:48:06Z

src/main.cpp

+      // Ball not seen anywhere — sweep side to side
+      if (millis() - last_time >= 1000) {
+        last_time = millis();


Ditto, magic number for time

Bahena05 · 2026-03-19T18:48:43Z

src/main.cpp

+        side = !side;
+      }
+


Side is not side ???

Bahena05 · 2026-03-19T18:49:08Z

src/main.cpp

+      if (side) {
+        motorss.MoveOmnidirectionalBase(-90, Speed, speed_w);
+      } else {
+        motorss.MoveOmnidirectionalBase(90, Speed, speed_w);
+      }


variable for angle movement

Bahena05 · 2026-03-19T18:49:52Z

platformio.ini

+	adafruit/Adafruit BusIO
+	adafruit/Adafruit BNO055
+	servo
+	wire


Read soccer Lightweight 2025 documentation

Codigo del MVP

e9d5b6d

R2D2-Robobot requested a review from emilwinkp March 4, 2026 19:53

Nuevas constantes

9abf7e8

R2D2-Robobot requested a review from Bahena05 March 7, 2026 01:57

Bahena05 requested changes Mar 7, 2026

View reviewed changes

R2D2-Robobot added 3 commits March 8, 2026 18:45

Few changes asked, still some left

045ec45

Phototransistors added to the code with corrections

c4799e3

More_canges_made

ce8c589

R2D2-Robobot requested a review from Bahena05 March 17, 2026 17:09

R2D2-Robobot added 2 commits March 17, 2026 14:43

Camera_as_function_again

c2f7754

Last commit before start working on keeper an atacker

a82b5e1

Bahena05 requested changes Mar 19, 2026

View reviewed changes

R2D2-Robobot added 6 commits March 19, 2026 13:10

Some changes requested 2

7342d73

Most changes requested are done

174a393

Prefinal v1

c19a9c6

Prefinalv2_PhotomuxNOTCHANGED4now

bcfae1e

EXCELENTCODE_ROBOTGOAL

dbca034

Code Ready to check for pr

0c1d0a7

R2D2-Robobot requested a review from Bahena05 March 22, 2026 02:04

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R2D2-Robobot commented Mar 4, 2026

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