Black Copy: Back with Vengeance — Robowars '25

The sequel to my first sumo robot — upgraded with brushless motors, Teensy 4.0, ToF sensors, and proper state machine architecture.

Nov 2024 — May 2025

Personal • Competition

completed

Embedded C++Brushless MotorsVESCTeensy 4.0CADAdvanced 3D PrintingState MachineTime of Flight

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Overview

Black Copy returns — bigger, faster, and properly engineered. After learning the fundamentals with my first sumo robot, I rebuilt the concept from the ground up with serious upgrades across every subsystem.

This was one of two robots I entered into Robowars 2025. While Definitely Overkill went the computer vision route, Back with Vengeance focused on doing the fundamentals right: clean state machine logic, responsive sensors, and raw brushless power.

What Changed from Black Copy V1

Component	V1 (2024)	V2 (2025)
Motors	Brushed DC	Brushless with VESCs
Sensors	Analog IR	Digital Time-of-Flight
Controller	Arduino	Teensy 4.0
Code	Ad-hoc logic	Finite State Machine
Power	3s - 12v Lipos	6s - 24v LiPo with proper fusing

Technical Details

Mechanical

Refined CAD design in Fusion 360
Optimized weight distribution and low center of gravity
3D printed chassis with improved tolerances

Electronics

Brushless motors with VESC speed controllers
Time-of-Flight sensors for precise distance measurement
Teensy 4.0 for faster processing and better I/O
LiPo power system with proper fusing and power distribution

Software

Finite State Machine architecture for clean, predictable behavior
Embedded C++ with proper abstractions
Sensor fusion for opponent detection and tracking
Communication protocols: UART, SPI, I2C

What I Learned

Brushless motor control: Understanding VESC configuration, sensorless vs sensored FOC operation, and current limits
Power systems: LiPo battery management, fusing, and safe discharge rates
State machines: How to structure embedded code for maintainability and debugging
Iteration: The value of rebuilding a project with lessons learned