The four robots all fitting in the starting blockWhereas most people make one (sometimes two) robots for MIT's annual competition, I decided to make four. They all function autonomously and cooperate to share the game board's space.
They are programmed in C++ using the PlatformIO SDK. Implemented is a control state machine (sensor input, driving motors and wireless communications) and a dozen wrappers around peripherals (so that everything has a clean object-oriented interface).
The four robots all fitting in the starting block
Some specialized features of two of the robots
Overview of the gripper design for robot #3