Controls & Motor Control

D6374 BLDC on ODrive and VESC. Set up bare motor, 5:1 gearbox, and gearbox+flywheel configs. Tuned position, velocity, and integrator gains across them and watched how reflected inertia changed what the gains needed to be.

Lead programmer on a competitive VEX team. Wrote autonomous routines, PID-tuned drive and mechanisms, built state machines for match strategy. Four years of competition.