The robot sees everything that happens on the field via the Full HD camera (is located a meter above the playing field), where the players are, where the puck is and makes decisions.
It sends control commands to the mechanical part, first to the Arduino Mega controller via the USB port, the controller sends signals to the motor drivers, and those to the motors, which set the players in motion.
In total, on each side of the field we have 6 players, a goalkeeper and 5 on the field.
Each of the 6 players is set in motion by a pair of motors, one for moving forward and backward in the field, and the second motor moves the player's club left and right. Movement can be very slow, and very fast for the dynamics of the game.
May, 13 2020