Additional Projects

FPGA Stewart Platform

Developed a 6 DOF Stewart Actuator programmed in MIPS Assembly Language running on an FPGA board executing a Verilog built CPU implementation.

CPU implemented support for linear algebra operations, algebraic calculations, and trigonometry, in addition to other MIPS ISA requirements.

Boomerang

Solo submission to 2020 F4 Rolling Rampage CADathon. All subsystems designed in Onshape and Rendered in Fusion360.

3 HP Differential power swerve drivetrain, flywheel shooter, pneumatically actuated gripping arms, continuously adjustable shooting hood, pneumatic intake, pneumatic internal feeding system, 3 stage cascading lift powered by shifting gearbox. Entirely custom designs.

Anhinga

Submission to InspireNC CADathon (2020).

Dual deployed intakes, swerve drivetrain, side belt feeders, central belt hopper to dual flywheel shooter, 2 stage telescoping lift, virtual 4-bar-linkage climbing system

Differential Swerve V2

Concept design testing packaging concepts for a differential swerve system in modern FRC. Total power output of 3 HP.

Low Rollers - Mini Bot

Designed as a mobile foam ball collection and shooting system. Equipped with computer-vision assisted continuously adjustable turret and shooter head for precise shot positioning. Powered by Arduino Mega and Raspberry Pi 3. Programmed using C/C++.

Stewart Platform

6 DOF Stewart Platform designed to actively balance a marble on a plate through closed loop control.

Marble tracking enabled through Raspberry Pi powered computer vision. Plate actuation managed by 6 independent servo motors.

Additional Mini-Bots

Neighbors of the swamp (left) consists of a rolling ball intake mounted on a 4-bar linkage actuation system that travels with a turreted single stage lift. Nested 4-bar climbing system to lift onto a platform (below)

Ironical (right) consists of dual-wheel intake mounted on 2 stage telescoping lift and x-drive train.