FRC 2024 Competition Robot

Jan 2024 - Apr 2024 Designed the end effector subsystem and also implemented code for it, acting as the project lead of the subsystem on the 2024 FRC Team 199 competition robot.

Engineering Contributions

• End Effector Design: Designed the end effector to allow manipulation of game pieces throughout all match cycles. Optimized roller geometry, compression, and material selection to maximize intake and outtake consistency while minimizing jamming under dynamic conditions. Integrated the mechanism within tight spatial constraints, ensuring seamless handoff between intake and scoring states while maintaining structural rigidity and serviceability.
• End Effector Programming: Developed and tuned closed-loop control systems for the end effector using PID to regulate intake and outtake velocities. Calibrated control parameters to adapt to varying game piece conditions, improving consistency in manipulation and reducing misfeeds. Coordinated sensor feedback and motor control logic to synchronize with other subsystems.