2019 was a revolutionary year for Team 100. We completely restructured our robot code to use a more sophisticated and reliable system. My job was to lead the team through these major changes and ensure that our robot would be competitive.
We restructured our robot code around PID Controls and Finite State Machines. While in past years, all control was done manually by our operators. However, with the new system, we migrated to a button board that intelligently identified the fastest transition between any possible states.