FRC Team 3501 — Firebots

I led the team as Software Lead for the 2025 REEFSCAPE season. I taught students how to use git to manage team code and established a CI pipeline with code reviews to improve team productivity. I also taught and invited mentors to teach control systems and using the subsystem architecture for programming.

I wrote the code for the autonomous portion of the match, building paths in both PathPlanner and Choreo, two of the more widely used auto libraries in FRC. I also wrote a custom controller that used motion profiles to bound acceleration in the x and y directions, which let autonomous reuse the commands we already had for teleop instead of a separate set written just for auto.

On the robot side, I wrote the subsystem code and tuned the PID gains for each subsystem until its mechanism held the setpoint we asked for. I also worked on the computer vision, using PhotonVision to detect the AprilTags placed around the field and feed those readings into the robot's pose estimate, correcting the drift that odometry accumulates over a match.