Pishnam
Document register
- Poster1 pagePublished
- Presentation videoYouTubePublished
- Bill of materials2 pagesPublished
- Team description paper1,008 KBPublished
- Engineering journalNot shared
- Source code681 KB · GitHubPublished
Sharing each document is the team's decision. “Not shared” means this team chose not to publish it, or did not submit one — not that it is missing from the archive.
In their words
Pishnam is an autonomous robot built for the RoboCupJunior Rescue Line challenge and engineered with minimal reliance on ready-made modules. Every electronic board was custom-designed in Altium Designer, and every structural and mechanical part was modelled from scratch in SolidWorks and produced by FDM 3D printing, covering the full path from design to fabrication. The control software is written in C++ for deterministic speed and reliability. The robot follows the line, detects intersections and the evacuation zone reflective silver using an array of 39 infrared sensor pairs in addition to 4 pairs that assist in detecting victims and obstacles, recognizes green intersection markers and the evacuation point colors with three APDS-9960 color sensors, measures wall clearance and obstacles with VL53L1X time-of-flight sensors, and maintains orientation with a CMPS14 inertial compass. Motion and rescue actions are driven by ten Dynamixel servo motors — six XC430 and four XL330 — coordinated by an ESP32-S3-WROOM-1 microcontroller, with all sensors and actuators integrated across ten team-designed circuit boards. What sets Pishnam apart is the depth of its custom integration: the mechanical, electronic, and software subsystems were each designed in-house and tuned together, yielding a compact, robust platform that performs reliably across the line-following, victim-rescue, and evacuation tasks.
Poster
1 page, rendered as images so they load quickly. This document has no text layer — the words in it are part of the image.
Presentation video
Hosted on YouTube. The player loads only when you press play.
Bill of materials
Read the text of this document — 800 words
Name of the Total Cost Total Cost ($)
Team name: Pishnam Local Currency Local Currency U.S.A. Dollars
ౘಎ 2,565,710,193 ౘಎ $1,480.07
Unit cost (Local Unit cost (USA Total Cost (Local Total Cost (USA
# Component Part name Autor Source Quantity
Currency) Dollars) Currency) Dollars)
1 PCB Boards Custom Made Mohammadamin Arabi/Kosar Madar www.kosarmadar.com 1 90,000,000 ౘಎ $53.89 90,000,000 ౘಎ $53.89
2 Cables Flat Cable Chehreh Electronic www.chehrehelec.com 1 4,000,000 ౘಎ $2.40 4,000,000 ౘಎ $2.40
3 Headers Header TS Amphenol www.chehrehelec.com 40 74,700 ౘಎ $0.04 2,988,000 ౘಎ $1.79
4 Capacitor 100nF, 22uF,10uF,2200uF(SMD & DIP) Saba Khazan www.javanelec.com 200 11,400 ౘಎ $0.01 2,280,000 ౘಎ $1.37
5 Resistors 2.2K,100,330,1K,0,220,5.6K,10K,4.7K,3.9K BI Technologies www.javanelec.com 400 8,400 ౘಎ $0.01 3,360,000 ౘಎ $2.01
6 VL53L1X VL53L1X STMicroelectronics www.thecaferobot.com 14 7,500,000 ౘಎ $4.49 105,000,000 ౘಎ $62.87
7 APDS9960 APDS9960 Module AVAGO TECH www.thecaferobot.com 6 4,590,000 ౘಎ $2.75 27,540,000 ౘಎ $16.49
8 IR sensor IR_5M , IR_3M Besun Company www.chehrehelec.com 101 45,000 ౘಎ $0.03 4,545,000 ౘಎ $2.72
9 LED LED_SMD_1206 , LED_5M Stefan Hermann www.chehrehelec.com 22 9,900 ౘಎ $0.01 217,800 ౘಎ $0.13
10 Multiplexer 4052 , 4067 ,4051 Apex www.javanelec.com 21 2,310,000 ౘಎ $1.38 48,510,000 ౘಎ $29.05
11 Diode SS56, PESD5V0X1UB Jiangsu www.javanelec.com 7 153,200 ౘಎ $0.09 1,072,400 ౘಎ $0.64
12 Uploader FT232RL FTDI www.bahramkit.com 3 2,320,000 ౘಎ $1.39 6,960,000 ౘಎ $4.17
13 Transistors SS8050-G,BCP56, Jiangsu www.javanelec.com 11 272,000 ౘಎ $0.16 2,992,000 ౘಎ $1.79
14 Regulators AMS1117,LM2576 Adavanced Monolothic www.javanelec.com 7 2,910,000 ౘಎ $1.74 20,370,000 ౘಎ $12.20
15 Button Push Button Omron www.prjelec.com 8 21,500 ౘಎ $0.01 172,000 ౘಎ $0.10
16 Microcontoroller ESP32-S3-Wroom1-n16r8 Espressif System www.lionelectronic.ir 3 7,493,231 ౘಎ $4.49 22,479,693 ౘಎ $13.46
17 EEprom FM25CL64B-GTR Ramton International Corporation https://isee.sisoog.com/ 3 1,232,000 ౘಎ $0.74 3,696,000 ౘಎ $2.21
18 Switch Rocker Two Pin Big KCD3 www.eshop.eca.ir 4 107,000 ౘಎ $0.06 428,000 ౘಎ $0.26
19 Buzzer Buzzer 5V HCM1205X www.prjelec.com 4 221,000 ౘಎ $0.13 884,000 ౘಎ $0.53
20 Motor Header JST Header Japan Solderless Terminals www.eshop.eca.ir 19 47,000 ౘಎ $0.03 893,000 ౘಎ $0.53
21 Self Self 220uH Bourns www.javanelec.com 6 389,000 ౘಎ $0.23 2,334,000 ౘಎ $1.40
22 TFT TFT ST7735 Dlian Eastern Display Company www.thecaferobot.com 3 4,651,000 ౘಎ $2.79 13,953,000 ౘಎ $8.36
Foam EPVM & Custom Made(Fabricate by Amirfarhan
Wheel Form Foamiran/Amirfarhan Mohseni
23 Mohseni) www.foamiran.com 1 8,000,000 ౘಎ $4.79 8,000,000 ౘಎ $4.79
24 Compas CMPS14 Robo Electronics www.pishrobot.com 1 80,000,000 ౘಎ $47.90 80,000,000 ౘಎ $47.90
25 Battery Connector XT60 AMASS Electronics www.batoetc.com 6 672,550 ౘಎ $0.40 4,035,300 ౘಎ $2.42
26 Micro Switch MicroSwitch ODM/OEM www.chehrehelec.com 10 419,000 ౘಎ $0.25 4,190,000 ౘಎ $2.51
27 Drive Motors XC430-W240T Robotis www.pishrobot.com 4 210,000,000 ౘಎ $125.75 840,000,000 ౘಎ $502.99
28 Arm Motor XC430-W150T,XL330 Robotis www.pishrobot.com 1 309,900,000 ౘಎ $185.57 309,900,000 ౘಎ $185.57
29 Box Motor XC430-W150T Robotis www.pishrobot.com 1 210,000,000 ౘಎ $125.75 210,000,000 ౘಎ $125.75
30 Seprator Motor xl330-m288-T Robotis www.pishrobot.com 1 99,000,000 ౘಎ $59.28 99,000,000 ౘಎ $59.28
31 Gripper Motor xl330-m288-T Robotis www.pishrobot.com 2 99,000,000 ౘಎ $59.28 198,000,000 ౘಎ $118.56
32 Battery Gensa-1800-45C-11.1V Gensa www.modeliran.com 3 71,490,000 ౘಎ $42.81 214,470,000 ౘಎ $128.43
33 Printer Filament eSUN PLA+ Filament eSUN www.epackacademy.com 3 27,000,000 ౘಎ $16.17 81,000,000 ౘಎ $48.50
34 Connecting Parts Screws,Nuts, … Hassan Abad Local tool store 1 10,000,000 ౘಎ $5.99 10,000,000 ౘಎ $5.99
35 Wheels Custom Made Amirfarhan Mohseni 3D Printer 4 15,300,000 ౘಎ $9.16 61,200,000 ౘಎ $36.65
36 Robot Chassis Custom Made Amirfarhan Mohseni 3D Printer 2 18,700,000 ౘಎ $11.20 37,400,000 ౘಎ $22.40
37 Robot Handle & Holders Custom Made Amirfarhan Mohseni 3D Printer 2 5,100,000 ౘಎ $3.05 10,200,000 ౘಎ $6.11
38 Robot Box & Seprator Custom Made Amirfarhan Mohseni 3D Printer 2 10,020,000 ౘಎ $6.00 20,040,000 ౘಎ $12.00
39 Robot Arm & Grripers Custom Made Amirfarhan Mohseni 3D Printer 2 6,800,000 ౘಎ $4.07 13,600,000 ౘಎ $8.14
Name of the Total Cost Total Cost ($)
Team name: Pishnam Local Currency Local Currency U.S.A. Dollars
ౘഐ 0 ౘഐ $0.00
Cost (Local Cost (USA
# Name Software's Tool/Library Description Source Autor Currency) Dollars)
1 IDE Arduino Software's Tool Software https://www.arduino.cc/en/software/ Arduino.cc FREE FREE
2 Visual Studio Code Software's Tool Software https://code.visualstudio.com/download Microsoft FREE FREE
3 PlatformIO Software's Tool IDE(Extention) https://github.com/platformio/platformio-core Ivan Kravets
Software Freedom FREE FREE
4 Git Software's Tool Version control for managing functions https://git-scm.com/install/ Conservancy FREE FREE
5 Wire Library(Built_in) For I2C Connection https://github.com/espressif/arduino-esp32/tree/master/libraries/Wire Espressif Systems FREE FREE
6 SPI Library(Built_in) For SPI Connection https://github.com/espressif/arduino-esp32/tree/master/libraries/SPI Espressif Systems FREE FREE
7 WIFI Library(Built_in) For Wifi Uploading https://github.com/espressif/arduino-esp32/tree/master/libraries/WiFi Espressif Systems FREE FREE
8 VL53L1X-Arduino Library For controlling the VL53L0X distance sensor on Arduino https://github.com/pololu/vl53l1x-arduino Pololu FREE FREE
9 ArduinoOTA Library For Wifi Uploading https://github.com/espressif/arduino-esp32/tree/master/libraries/ArduinoOTA Espressif Systems FREE FREE
10 Adafruit_ST7735 Library For TFT initializing https://github.com/adafruit/Adafruit-ST7735-Library Adafruit FREE FREE
11 Adafruit_GFX Library For menu Displaying with TFT https://github.com/adafruit/Adafruit-GFX-Library Adafruit FREE FREE
12 Dynamixel2Arduino Library For Dynamixel motor controlling https://github.com/ROBOTIS-GIT/Dynamixel2Arduino ROBOTIS FREE FREE
13 Altium Designer Software For PCD Designing https://www.altium.com/altium-designer Altium FREE FREE
14 SolidWorks2025 Software For 3D Designing https://www.solidworks.com/ Dassault Systèmes FREE FREE
2 pages, rendered as images so they load quickly. The text above is the document's own, extracted from the PDF.
Team description paper
Shown as the original PDF, because this one is smaller that way and its text stays selectable and searchable.
Source code
The team's own source code, 681 KB. It is a download rather than part of this page, because a zip is something you open on your computer. It comes from GitHub, which some school networks block.