This season, I emphasized the software design process of brainstorming, simulating, testing, and iterating. Consequently, I created a physically-accurate differential gear simulation, as well as a Pure Pursuit and airplane trajectory simulation. These allowed for an easier iteration process once our subteam had access to the hardware. I also created a custom multithreading system to optimize sensor poll times and fleshed out the lookahead point based Pure Pursuit path following algorithm for fast and easy curved trajectory planning. This year, we ended up placing 1st in the NorCal championships and winning (software) Control Award 2nd at the World Championships.
