Embedded C++ firmware for Groton School’s VEX V5 competition robots, built on the PROS real-time operating system. Across the 2024–25 and 2025–26 seasons I layered a hand-rolled Kalman filter and pose-estimation pipeline — using Eigen — on top of LemLib’s odometry for more precise localization than it provides out of the box.
The current season adds skills runs, red- and blue-side match autonomous routines, a tuned driver-control loop with driver-assist features, and an LVGL touchscreen interface on the V5 brain for routine selection and diagnostics.
As team captain I also drove the program’s transition from a club to an official school sport, and led the first team from the school to reach the Massachusetts State Championship.