Overview
Developed autonomous and drivetrain software for FRC Team 3683 over three years, working on autonomous scoring, vision-based alignment, and swerve drive control.
Autonomous Scoring
Developed autonomous scoring system using PID control, motion profiling, and Limelight vision to navigate the field and score game pieces without driver input.
In 2025, our autonomous scoring averaged approximately 2× the national average, making autonomous scoring a significant competitive advantage.
Swerve Drive Control
Implemented the swerve drive controller in Java, using a multithreaded architecture to isolate blocking encoder reads from the control loop.
This allowed the drivetrain control loop to run consistently at 250 Hz, making control responsive and stable control during matches.
Team Recognition
In 2025, our team finished 2nd in Canada out of 194 teams and 34th worldwide, earning a place at the World Championship. Reaching that level was a major milestone for a team that had not made the Provincial Finals in over a decade.
Stack
- Java
- WPILib
- Limelight
- PID control
- Computer vision