FIRST Tech Challenge · Team 2845
FTC Robotics
I rebuilt the team’s Java architecture and wrote the autonomy stack: localization, vision, PID navigation, and a data-driven launcher.
Team captain 2024–2026 · programmer 2022–2026 · FIRST Dean’s List Semi-Finalist
Java · Android · OpenCV · PID
Command framework
The code splits into OpModes, Subsystems, Commands, and Utilities. Commands run in sequence or in parallel, so intake, turret, and drivetrain can move together in autonomous. Newer teammates start on commands and OpModes; the harder hardware interaction stays in subsystems. That split doubled the number of people committing in 2025–26.
Localization
Two-wheel + IMU odometry is accurate on simple moves and wrong on complex ones — the IMU updates too slowly. Three-wheel odometry is the reverse: better in the moment, more drift over time. I ran both: a third pod for the hard motions, periodic IMU correction so error does not accumulate, and a fallback to two-wheel + IMU if a pod dies. That pose feeds a PID point-to-point navigator.
Vision
HSV masks, contour filters, and geometric constraints find game elements and estimate pose relative to the robot. For team-prop detection I designed the prop as a solid cube so a square bounding box is a real filter, not a hope. AprilTags handle approach and scoring. In 2025–26, drivetrain aiming failed under defense; we added a turret and aimed at the back corner of the goal — the target that stayed consistent.
Launcher model
Launch velocity is a fit: AprilTag image area against measured distance, then a natural-exponential curve for flywheel speed. Color and distance sensors on the spindexer track which slots are full so the intake only runs when an empty slot is in position — the mechanical intake could run over 1,000 RPM without jamming the indexer.
Results
- 2022–23Control Award · Florida State
- 2023–24R.O.B.O.T. Leage Winning Alliance Captain · Florida State Championship
- 2024–25R.O.B.O.T. Leage Winning Winning Alliance Captain · Florida State Championship
- 2025–26R.O.B.O.T. Leage Inspire Award 1st Place and Winning Alliance Partner · Winning Alliance Partner · Florida State Championship
2026 design video
Five minutes on the turret, custom bearing, aiming, and how the software was structured so more people could work in it. Recorded for a scholarship; the last line mentions WPI — I went to CMU.