Armor Robotics 9143 · Team captain, software lead · 2025-01 to 2025-06
Team 9143 Competition Robots
Two robot codebases: a Phoenix 6 swerve drivetrain with a dual-NEO elevator and three-Limelight pose fusion.
The A robot runs a Phoenix 6 swerve drivetrain on a 30 inch square frame with mixed SDS MK4i and MK4n modules, Kraken X60 drive and steer motors, CANcoders, and a Pigeon 2. On top sits a dual-NEO elevator with closed loop height control in inches and a pivoting arm that finds its angle off an absolute encoder.
Discipline Breakdown
What This Was, per Discipline
Swerve kinematics, closed loop elevator height control in inches, absolute encoder homing, and MegaTag2 pose estimates fused into odometry from three cameras.
Two Java codebases on Phoenix 6 and REVLib, maintained across WPILib versions.
Drivetrain and mechanism design on a 30 inch square frame with mixed SDS MK4i and MK4n modules.
CAN bus layout, motor controller addressing, sensor wiring, and the harness behind both robots.
Three Limelights fuse MegaTag2 pose estimates into odometry. Game piece detection runs off a CANrange rather than a beam break, which survives a collision better.
The B robot shares the drivetrain and adds a KitBot roller and a pivoting ground intake that holds position under closed loop control. Both codebases are kept current with each year of WPILib and vendor libraries.
Links