Discipline

Controls

Closed loop control, swerve kinematics, odometry and pose estimation, sensor fusion, AprilTag localisation, and autonomous path planning.

3 projects, strongest first

A state-based WPILib 2026 Java template with full AdvantageKit deterministic replay.

Two robot codebases: a Phoenix 6 swerve drivetrain with a dual-NEO elevator and three-Limelight pose fusion.

A complete off-season FRC game, designed end to end: manual, field CAD, drawings, and vision layout.