To prepare for next year, I decided to join an FTC team that I would be on for the 2026-2027 season. Initially I was gonna start after worlds but one thing led to another and I will be going to worlds with 6417 Blu Cru! I hope to prove myself to them and look forward to what's next!
I am currently working on software helping with tasks such as autos, turret aiming, and adjusting our shooter to shoot on the move! Our robot features a custom Pure Pursuit follower for our tank drive. Our robot's performance helped Blu Cru win the Inspire Award at the Chesapeake Regional Championship and earn recognition for building the world's only turreting triple shooter.
I joined 6417 Blu Cru mid-season as a software developer, jumping in to help push Dugtrio's capabilities ahead of the Chesapeake Regional Championship. My contributions focused on the autonomous period, vision-assisted turret aiming, and shooter-on-the-move adjustments — some of the most technically demanding systems on the robot.
Working with an experienced team like Blu Cru has been a huge learning opportunity. I've been contributing to a codebase at a level well above what I built with Mechanical Masterminds, and it's pushed me to grow fast. Going to worlds with them is something I'm incredibly grateful for.
Worked with Blu Cru's custom Pure Pursuit follower for their tank drive, deepening my understanding of look-ahead algorithms and how they differ from Bezier-based approaches like Pedro Pathing.
Learned to use the Limelight 3A's onboard neural network and pipeline tools to detect targets in real time, feeding data directly into the turret aiming system for accurate, vision-assisted shots.
Helped develop logic to aim the turret and adjust shooter speed dynamically while the robot is driving — a rare capability that requires tight integration between vision, odometry, and motor control.
Learned how to onboard into an existing codebase quickly, understand conventions set by others, and contribute meaningfully without disrupting what already works. A skill that translates directly to real-world software teams.
Explored how to combine encoder data, IMU readings, and vision inputs to maintain accurate robot state estimates — especially important for shooting on the move where timing and position are critical.
Preparing for the FIRST Championship in Houston has taught me what elite-level FTC preparation looks like — tighter code reviews, more rigorous testing, and working under real pressure with experienced teammates.
Everything powering Dugtrio's software — from vision systems to motion planning.
Dugtrio ready for competition
Inspire Award at Chesapeake Regional Championship
Blu Cru team at the Chesapeake Regional Championship
Autonomous run — Pure Pursuit in action
Turret aiming — vision-assisted triple shooter