Contact software lead at gabriel@nakamoto.ca for any questions
- Won Innovation in Control Award at Durham ON Regional Competition for simulation and logging
- 4xCamera global pose estimation (2 Limelight 4s, 2 Photonvision cameras powered by 1 Orange Pi 5)
- Advantage Kit hardware/simulated I/O interfacing and logging
- MapleSim and WPILIB physically accurate motor simulation and advanced drivetrain sim
- Simple state machine subsystem management
- CTRE Swerve API for optimized odometry thread at higher freq
- Custom auto framework, fuses choreo trajectories and full PID drive to pose for smooth and accurate motion planning (Autos.java)
- Interpolatable lookup table turret tracking with iterative time of flight shoot on the move, raw doubles for reduced per-cycle object allocation (TurretCalculator.java)
- Subsystem current, power and energy logging over time for diagnostics (BatteryLogger.java)
- Idiomatic live tunable control gains with automatic hardware I/O (GenericTunableGains.java)