First Tech Challenge: #9889 Cruise Control

Pure Pursuit

In my second year I created an odometry system that tracked the robot’s position on the field using dead wheels. From that known position, I developed a version of a path-following algorithm called Pure Pursuit. Pure Pursuit allows smooth movement between multiple points so the robot can follow a continuous path around objects. After working out the math, I built a simulator in Python that showed a working version before I implemented the algorithm on the robot.

Match Code

I used this algorithm to create many programs where the robot controlled itself autonomously for the first thirty seconds of the match. During my last year I took it further: because Pure Pursuit only needs the points to move through, I built a system that let me program a custom autonomous routine within 30 seconds — a complete path while talking to the alliance partner at the field, without a computer. That same season, I created an algorithm that aligned with the scoring poles using a webcam. The robot could adjust its position even if the pole or the robot was pushed away.

Driver Assist

I programmed algorithms and state-based controllers to help the drivers every year: automatically grabbing objects, placing and scoring them, and aligning the robot on parts of the field using sensors. The entire robot could be controlled with a couple of buttons. Manual functions lived on a second controller that was rarely used but kept as a backup.

Results

During those five years we qualified for worlds four times, and played two of them — Rover Ruckus and Power Play; the other two were cancelled because of Covid-19. In Power Play we played on the #4 seed alliance in eliminations and made it to divisional finals after upsetting the #1 seed alliance. Later we played at the Maryland Tech Invitational as the #3 seed alliance captain out of the 40 best teams in the world. Teams were small: Power Play had 10 students, the largest of those years; every other season had five or six.