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Ghidorah.
1) This video shows the scoring mechanics of Ghidorah. The robot was capable of scoring on all levels of the reef, could score algae in both scoring locations, and could deep climb in less than 5 seconds.
The Context.
As programming lead for FRC 7157, I was responsible for creating precise software for 4 degrees of freedom.
The Problem.
Much of production time was spent optimizing the physical mechanics of the robot, so I had to program the robot from the ground up in less than 2 days before our last competition of the season.
The Solution.
After tuning the PID constants by adjusting velocity and acceleration constraints, I was able to motion profile all subsystems to less than 1 degree of error.
The Outcome.
The robot was able to compete with elite top 1% teams and won the Sustainability Award at the Orange County Regional. I was also able to log every major action on the robot and had a robust 2 coral autonomous setting.
Image 2) This visual shows the robot shooting algae in the netting area to reduce scoring time by ~15%.
Image 3) The snippet above shows the climbing behavior of the robot lifting off the ground with the mechanism's degree of freedom and touch-it-own-it cage collector.
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