SteelHacks 2020, 3rd Place

Recycle Rewards, Prototype Lead (2020)

                        
// ARDUINO CODE FOR SMART RECYCLER
// Sets the display screen up
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
char letters[26] = {'a', 'b', 'c', 'd', 'e', 'f','g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'};
char scanMe[21] = {'S','c','a','n',' ','m','e',' ','f','o','r',' ','R','e','w','a','r','d','s','!'};

// setup code: code to run once
void setup() {
    
    // SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
    if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3C for 128x32
    Serial.println(F("SSD1306 allocation failed"));
    for(;;); // Don't proceed, loop forever
    }
    

    // Set the digital pins to recieve input from ultrasonic sensor
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    Serial.begin(9600);
    
}

// loop code: code to run in a loop while recycler is operating
void loop() {
    // Draws the "Recycle Rewards" Logo and invert the colors
    display.clearDisplay();
    display.invertDisplay(true);
    drawIcon();
    display.display();      

    // Sending a pulse to the trigger pin to poll the ultrasonic sensor
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);

    // recieves signal from ultrasonic and translates into distance in (cm)
    duration = pulseIn(echoPin, HIGH);
    distance = duration *0.034/2;

    // testing print
    Serial.println(distance);

    // if something has dropped in the recycler
    if (distance < 10){
    // clear the display
    display.clearDisplay();

    // generates a psuedo-random number using a fluctuating empty analog input
    randomSeed(analogRead(0));

    // declares a char[] that is stored with a random string of 8 letters
    char buf[10];
    for(int i = 0; i < 8; i++){
        buf[i] = letters[random(0,26)];
    }
    
    // the point value associated with recycling is appended to the end of the string
    buf[8] = '5';
    buf[9] = '0';
    
    // declares qrcode object from library, and encodes buf[] into a byte array 
    // corresponding to the qr code it encodes
    QRCode qrcode;
    uint8_t qrcodeData[qrcode_getBufferSize(3)];
    qrcode_initText(&qrcode, qrcodeData, 3, 0, buf);

    // clear display before drawing qrcode and message
    display.clearDisplay();
    
    // for each byte / pixel that is in the encoded byte array, generate a 
    // rectangle of the proper size at the proper location
    for (uint8_t y = 0; y < qrcode.size; y++) {
        // Each horizontal module
        for (uint8_t x = 0; x < qrcode.size; x++) {
        if(qrcode_getModule(&qrcode, x, y)) {
            display.fillRect(42+(x*1.5), 18+(y*1.5), 2, 2, SSD1306_WHITE);
        }
        }
    }

    // draws "Scan me for Rewards!" message at the top of the screen
    display.setTextSize(1); 
    display.setTextColor(WHITE);
    display.setCursor(31, 0);
    display.println("Scan me for");
    display.setCursor(42, 7);
    display.println("Rewards!");
    display.display(); 

    // wait 20 seconds so that the user has time to scan the qrcode
    delay(20000);
    }
}

// function to draw image from byte array
void drawIcon(void) {
    display.drawBitmap(0,0,icon, 128, 64, 1);
    display.display();
}
                        
                    

Games4SocialImpact Game Jam, 2nd Place

HailToTheChief, Lead Artist and Developer (2020)

                        
//Political Literacy Game made in Swing/JFrame
public static void main(final String[] args) {
    SwingUtilities.invokeLater(new Runnable() {
        @Override
        public void run() {
            StartView start = new StartView();
            frame = new JFrame("Hail To The Chief");
            frame.setContentPane(start);
            frame.pack();
            frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
            frame.setVisible(true);
        }
    });
} 
                        
                    

FIRST Robotics Competition Team, TechFire 225

Lead Programmer, Robot: Fire&Ice (2019)

                        
// Computer Vision Vector Detection IMPLEMENTED FOR AUTONOMOUS NAVIGATION
public double getAngleError(){
    double angle;
    sendRequest(CHECKSUM_GETMAINFEATURES);
    if (vectorDetected){
        if (localCache[9] < localCache[11]){
            angle = (constants.x1_offset - localCache[8]) * constants.degrees_per_unit;
            System.out.println("x1: " + localCache[8]);
        }
        else {
            angle = (constants.x1_offset - localCache[10]) * constants.degrees_per_unit;
            System.out.println("x1: " + localCache[10]);
        }
        return -angle;  
    }
    else {
        return -225.0;
    }
}

// TrapezoidalMotionProfile + State machine IMPLEMENTED FOR ELEVATOR CONTROL
public void holdPosition() {
    holdPosition = elevatorMotor.getEncoder().getPosition();
    currentMode = Mode.HOLD;
}

public void goToGoal(double goal) {
    profileOffset = elevatorMotor.getEncoder().getPosition();
    profile = new TrapezoidalMotionProfile(goal-profileOffset, constants.ElevatorMaxVelocity, constants.ElevatorMaxAccel);
    
    profileTimer.reset();
    profileTimer.start();
    currentMode = Mode.PROFILE;
}
                        
                    

FIRST Robotics Competition Team, TechFire 225

Lead Programmer, Robot: SpitFire (2018)

                        
// Sigmoid function IMPLEMENTED FOR ARM CONTROL
public double computeSigmoid(double setpoint) {
    double actual = fourbar.getSelectedSensorPosition(0);
    double error = setpoint - actual;
    //sigmoidGain constant does not work here, output becomes too low
    double output = (Math.tanh((error)*constants.armSigmoidGain));
    output = clamp(output, -1, 1);
    //System.out.println("Error Arm: "+error);
    //System.out.println("Output Arm: "+output);
    if (output > 0){
        //Negative output because negative output is up on the arm
        return -output+constants.armAntiGravity;
    }
    return -output;
}

// TrapezoidalMotionProfile IMPLEMENTED FOR ELEVATOR CONTROL
public void setPreset(Preset preset){
	this.preset = preset;
	if ( preset == Preset.GROUND_HIGH ) {
		profileStartLocation = getHeightInches();

		//System.out.println("starting from "+profileStartLocation);
		//System.out.println("going to "+constants.groundSet);
		//System.out.println("need to go to "+(constants.groundSet-profileStartLocation));
        runningProfile = new TrapezoidalMotionProfile(constants.groundSet-profileStartLocation, 
        constants.elevatorVelocityLimit, constants.elevatorVelocityLimit);
		profileTimer.reset();
		profileTimer.start();
	}
}