What is robokeeper-firmware?

Robokeeper is a project that turns a phone and a small microcontroller into an automatic robotic goalkeeper for a mini goal. An Android app watches a camera feed, uses OpenCV to track the color of a ball as it moves toward the goal, and works out where the ball will cross the goal line. It sends that target angle over Bluetooth to an ESP32 board, which turns a servo motor to swing a keeper arm into place and block the shot. To set it up, you need an ESP32 development board with Bluetooth, a high speed servo motor strong enough to move quickly, a lightweight paddle or keeper arm attached to the servo, a dedicated power supply so the servo does not reset the ESP32 during fast movements, and an Android phone mounted above the goal looking down the field. The ESP32 firmware is uploaded through the Arduino IDE after installing the ESP32 board package and the ESP32Servo library. The Android app is installed from the project's releases page. Using it is meant to be simple: pair the phone with the ESP32 over Bluetooth, open the app, tap the ball on the camera preview so the app learns its color, and start shooting. The app predicts where the ball will cross the line using a regression model, either linear or quadratic, and streams the angle to the servo in real time. Extra features described in the project include a color based zoom control from one to three times to frame the pitch better, an on screen 3D style visualizer that draws the predicted ball path and shows where it is expected to land, and a debug panel showing live frame rate, processing delay, servo commands, and the numbers behind the prediction. The project is a hobby hardware build combining a mobile app, computer vision, and embedded firmware, aimed at hobbyists who want to build their own automated goalkeeper for small scale games.