Gray Matter Workshop
A curriculum covering command-based architecture, PID and motion profiling, swerve drive, vision, and logging. Built around a companion GitHub repository so every concept maps to real, runnable code.
Move a single-jointed arm to exact angles — the motor checks a sensor and corrects itself (closed-loop control), with extra push to fight gravity.
Spin a wheel at an exact speed and keep it there for consistent shooting — velocity PID plus a feedforward that predicts the voltage needed.
Drive any direction while rotating (holonomic), steer relative to the field instead of the robot, and track position in real time.
Detect AprilTags, fuse vision pose with odometry, and drive autonomously to scoring positions.
