java

robotics programming

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shoot-on-the-move and autonomous code for my team’s FTC robot

details

Sep 2025 – May 2026

  • derived a shoot-on-the-move solver that projects robot state forward across system latency, then binary searches time of flight to solve turret heading and flywheel RPM
  • built an autonomous framework that allowed us to write new programs in seconds
  • integrated Limelight AprilTag relocalization behind a staleness gate to correct odometry drift mid-match
  • modeled turret torque and flywheel spin-up to size the shooter motor and gearing