Code remains a key part for our robot this year, and our programming team has provided this year’s robot with many key features. Firstly, hall effect sensors, light sensors and encoders mounted across the robot are used to ease driver control complexity. For example, the driver has the ability to press a button to intake the ball and let the robot decide when to stop the intake rollers. Also, there are limits set to the actuation of motors based on the current state of Hall effect sensors on the intake and climber. Another key piece of code written is our PID controller written for the flywheel. In order to have a consistent RPM, code was written to check the value from the flywheel encoder and adjust the motor output in relation to it. Secondly, a pipeline was set up in RoboRealm in order to identify and isolate the high goal reflective tape and broadcast the coordinates on NetworkTables. These coordinates were then used to provide an auto-align to target feature to the drivers as well as a distance to target value. This value can be used to set the RPM of the shooter flywheels based on the distance. Lastly, the greatest challenge in terms of coding was to put all of those components together to form the autonomous mode. In this mode, complicated motion profiles are performed with the help of PID, using sensors such as the encoders and gyroscope to function. This code allows the robot to autonomously score a high goal starting from either the neutral zone or as a spy bot.