Project Onyx
Welcome to my Senior Design Project Homepage!
This project is a culmination of my high school career and is intended to showcase my skills in Electrical Engineering, Computer Science, and Mechanical Design.
Please feel free to explore the various sections of the website to learn more about the project!
- Bryce Dreyer
My project is to build a robot that I have designed and to play a "game" which I created.
Both the robot and the game take inspiration from FIRST FRC, but this robot is not intended to be compliant with FRC rules and regulations
If you are intrested in learning more about FIRST, then click the following link
You can also compare a game design to FRC's 2024 game
The Game
"Ocean Rescue" is an FRC-like game where robots need to "rescue" the "passengers" off a burning ship, and place them safely on a nearby desert island.
- Two alliances of three robots each play on their half of the field.
- No interaction between the two sides are allowed.
- Robots begin the game behind the centerline and may be preloaded with three flame retardant agent cells (FRACs).
- The purpose of the game is to rescue as many of the passengers as possible on the flame-engulfed ship.
- Passengers must be carefully picked up from the boat (cannot be crushed and heads must remain attached to bodies) and shuttled safely across to the island where they must be placed standing in order to gain the maximum amount of points.
- To keep the flames at bay robots must apply FRACs by shooting or inserting them into the holes of the ship's hull.
- If FRACs are not applied expediently the fire continues to grow, once it reaches the maximum level displayed by the gauge all points henceforth are halved.
- Passengers who are knocked down into the ship are lost and therefore not scoreable.
Mechanical Design
The following link will walk you through the use of the Autodesk Fusion plugin. It's well worth watching if you aren't already familiar with the various tools that are available to explore the design!
Swerve Drive Design
The Swerve Drive is the main component that drives the robot. The high-level concept is similar to designs used by FRC teams, but for this project a novel planetery-gear based system was designed. Click the link to explore this part of the design further!
Chassis Design
The Chassis is the base of the robot. The Swerve Drives are all anchored to this, as are all the electrical components as well as the robotic arm. Click the link to explore this part of the design further!
Robotic Arm Design
The Robotic Arm has 4 degrees of freedom, allowing it to perform the task at hand with precision. Click the link to explore this part of the design further!
Electrical Design
Brushless DC Motor Controller
A custom Brushlesss DC Motor Controller board was designed using a TI DRV8032 driver
System Motherboard
A Motherboard was designed to create an integrated system and to make the connectivity between the Orange Pi 5 Pro, Tang Nano 9k FPGA, and additional peripherals more simple to manage
Link coming soon
FPGA Design
FPGA Subsystem
Click the link to view the High-level Architectural Specification (HAS) of the FPGA Subsystem:
Micro-Architectural Specifications
Click the links below to view the MAS document for each part of the subsystem:
Software Design
Orange Pi Software
Click the links below to view the different parts of the Orange Pi Software Design.
Links coming soon for:
Overall Design
ESP32 Interface
FPGA Interface
Camera Interface
Neural Network
ESP32 Software
Click the link below to view the ESP32 software.
Link coming soon
General Project Info
Click the following links to view general information about the project.
Git Repository
The FPGA Verilog, ESP32 C++, and Orange Pi Python code can be found here
Project Log
The daily progress for this project can be found here
Project Bill of Materials (BOM)
The materials and costs of the project can be found here.
Glencoe High School, Hillsboro, Oregon
About Me
I'm a High school Senior, class of 2025 at Glencoe High School in Hillsboro, Oregon. I'm planning to study Electrical Engineering in college.