ev2026

Science Olympiad Electric Vehicle, 2025–26. 3rd place, NY States.

Drive a target distance in a target time and stop on the line. Two motors and a gyro, with no encoders. Speed comes from timing and feedforward, and the gyro keeps it straight.

Control

• Motion profile: trapezoidal; cruise speed solved from distance, time, and max acceleration, with a velocity cap
• Speed: open-loop per-wheel feedforward (measured deadband + duty per m/s; left and right calibrated separately)
• Heading: gyro bias averaged over 200 samples at startup, yaw rate integrated, PD heading hold with clamped correction
• Stop: 80 ms reverse pulse at 30% duty, then cut
• Battery: motor output capped by battery voltage
• State machine: idle → running → braking → stopped, with LED status (red calibrating, blue ready, green running, yellow braking)

Use

Set TARGET_DISTANCE_M and TARGET_TIME_S at the top of ev2026.ino, flash, and press go. Built on the TektiteRotEv library.