The biggest project that I undertook during my time as software lead on team 3374 was the development code to run a swerve drive robot (an omnidirectional drive train in which all wheels are independently steered and driven). As a part of this project, we also worked to integrate systems for localization on an FRC field, create paths and trajectories for the swerve drive to follow, develop and test advanced driver control schemes, and integrate AprilTag identification into our preexisting vision systems. 

Swerve Code Base

Swerve Pico was a modification of our 2022 Competition robot as a test bed for our newly built and programmed swerve drive. This allowed us to adapt Pico's targeting systems developed for the 2022 season to be compatible with Swerve which laid the groundwork for later path-following algorithms that we would use both on our Swerve chassis and our 2023 competition robot. We debuted Swerve Pico at the 2022 Kendrick Castillo Memorial Tournament in Denver CO.

Yoshi was the robot that team 3374 designed for the 2023 FRC Season. During the 2023 season, I worked as the software team lead to completely revamp team 3374's code structure in order to implement more advanced automation, swerve path planning, and computer vision systems. Yoshi was also 3374's first competition robot that implemented a swerve drive and the ability to position control every element of the robot fully. Yoshi was the culmination of all of my work on team 3374, with an arm design based on the climbing mechanism and targeting system from Swerve Pico,  A drivetrain, vision, control schemes, and localization based upon our swerve development.