FRC 7520 • MineKee Robotics

FRC robots are 125-lb machines competing in high-impact matches with high-speed autonomous routines. As Chief Engineer and Lead Programmer, I directed mechanical design, CAN electrical architecture, and the complete software control stack across a 60+ student team—leading our school to its first two consecutive FIRST Championship qualifications in Houston.

Systems Engineering & Control Highlights

• Deterministic Log-Replay (AdvantageKit): Structured our Java codebase around deterministic I/O layers. By recording all sensor and CAN bus inputs every 20ms to binary logs, we could replay real competition matches in the WPILib simulator to isolate software bugs within minutes of walking off the field.
• Multi-Camera Vision Localization: Deployed coprocessor cameras running PhotonVision to track 3D AprilTags across the arena. Fused asynchronous 60fps camera poses with 250Hz wheel odometry and Pigeon 2.0 gyro data using an Unscented Kalman Filter for sub-inch field positioning during auto.
• Swerve Drivetrain Control: Tuned velocity and azimuth feedback/feedforward loops ($k_S, k_V, k_A, k_P$) across 8 Kraken X60 brushless motors on a high-bandwidth CANivore CAN-FD network.
• Voltage Sag Compensation: Implemented dynamic voltage compensation in our motion profile controllers to maintain consistent elevator and shooter speeds even when main battery voltage dipped from 12.8V to 8.5V under peak 300A drive acceleration.

Community & Open Source

We actively document our mechanical designs and software for the wider FIRST robotics community:

• Published full CAD models and documented build threads on Chief Delphi for our 2024, 2025 offseason, and 2026 (Oasis) competition seasons.
• Mentored junior students in Onshape parametric CAD, sheet metal design, electrical safety, and modern object-oriented Java robotics programming.