Code and tools
Explore Team 449's public GitHub repositories for our robot code and tools.
Whitepapers
- Flywheel Shot Analysis: Correction and
Extension, PDF (Rafi Pedersen, 2026)
- Introducing Prior Ridge: Regularization for FRC Rating (Data Science Team, 2026)
- PSA: Your Motor Curves Are Still Wrong (A Correction To A Whitepaper About Current Limits) (Rafi Pedersen, 2025)
- Trapezoidal-Exponential Motion Profiling (Rafi Pedersen, 2023)
- Two Jointed Arm Dynamics (Rafi Pedersen, 2023)
- Swerve Drive Skew and Second Order Kinematics (Rafi Pedersen, 2022)
- Drivetrain Simulation using Characterization Constants (Rafi Pedersen, 2020)
- Presenting the YamlBot Framework and Team 449’s Steamworks Code (Programming Team, 2017)
- FRC Drivetrain Characterization (Noah Gleason and Eli Barnett, 2017).
- Cited in WPILib's official FRC documentation as the reference for the motor feedforward equation behind the robot characterization toolsuite, the predecessor of today's SysId tool.
