CONTROL SYSTEMS
PID loops and motion profiling controlled drivetrain and mechanism movement, allowing the robot to move precisely while respecting the limits of real hardware.
JUICE 16236 · FTC ROBOT SOFTWARE
Juice Robotics
As software lead for FTC Team 16236, I directed and wrote much of the competition code—built around reliable closed-loop control, autonomous navigation, and sensor processing for high-stakes match play.
Highlighted details
AUTONOMOUS MOTION
Custom path-following tools—including PID2Point and an in-house Pure Pursuit implementation—gave autonomous routines a flexible foundation for navigating the field.
SENSOR PROCESSING
Kalman filtering and other sensor-processing techniques improved the quality of noisy measurements used for localization, control, and match-critical decisions.
VISION TARGETING
A custom EasyOpenCV pipeline detected purple and green game pieces, using blob size and relative position to choose a target and plan an intercept path for multi-piece intake.
LOCALIZATION
Two dead-wheel odometry and an IMU fed a dedicated coprocessor for continuous field-relative pose estimates, while AprilTags provided absolute relocalization when visible.
ROBUST CAPTURE
An Arducam global-shutter camera replaced a rolling-shutter webcam to reduce motion distortion during fast target acquisition. Limelight MegaTag2 supplied high-precision AprilTag pose estimates.
Software focus
JavaFTC SDKPID controlMotion profilingPure PursuitKalman filtersEasyOpenCVAprilTags