Photon Tracer X1 Line Follower
Ultra-fast line tracking rover tuned with sub-millisecond ADC telemetry for precision apex trajectory, dynamic active braking, and zero lateral overshoot.
740 g (Line Racer)
STM32F401 ARM Cortex-M4
LiPo 2S 7.4V (1300mAh)
1000Hz Hardware PID Loop
Interactive Robot Explorer
Tap any numbered hotspot to inspect subsystem specs, interface protocols, and design justifications.
ESP32-S3 Microcontroller
Runs a real-time 1000Hz PID loop on Core 0 while Core 1 executes ESP-NOW wireless telemetry packet streams.
Dual-core Xtensa architecture separates critical motor timing from RF broadcasts, eliminating latency jitter.
Bill of Materials Directory
ESP32-S3-WROOM-1
Dual-core compute engine with floating point hardware acceleration for high-frequency PID computations.
Pololu QTRX-HD-15RC
High-resolution infrared reflectance sensor board with 8mm LED-phototransistor emitter spacing.
Faulhaber 1717T Coreless
Ultra-low rotor inertia coreless DC motor with planetary metallic reduction gear assembly.
Turnigy Nano-Tech 2S 850mAh
45C-90C burst lithium-polymer cell with XT30 gold connector and JST-XH balance monitoring leads.
Mogul Titan LF-V3 Motherboard
Custom 4-layer 1.6mm FR4 PCB with dedicated internal ground plane and ENIG gold surface finish.
CNC 3K Twill Carbon Chassis
1.5mm high-modulus matte carbon fiber lower deck milled on Lab 204's CNC router.
Engineered by MOGUL TEAM
Generational Development Timeline
Breadboard prototype on an acrylic base plate. Proved initial centroid control theory. Top speed 1.4 m/s.
Milled aluminum skeleton with a 2-layer PCB. Won regional qualifications. Reached 2.6 m/s top speed.
Custom 4-layer PCB, magnetic downforce skirt, high-traction silicone wheels. Benchmark 4.2 m/s.
Competition History & Podiums
RobotChallenge 2026
Placed 3rd internationally out of 48 elite teams. Completed the 60m maze line track in 14.8 seconds.
Pacific NW Invitational
Undefeated in 6 elimination brackets. Set an all-time tournament sprint record of 9.42s on the Olympic test oval.
Tri-County High-Speed Sprint
Averaged 1.84 m/s over 3 laps with zero course departures or penalties. Best technical notebook award.
National STEM Olympiad
Finished 2nd overall following a photo-finish tie-breaker round. Telemetry logging commended by judges.
Testing & Improvement Lab Logs
Corner Oscillation & Track Ejection
Ambient Sunlight Noise Rejection
LiPo Voltage Sag Compensation
Robot in Action & Lab Media
Honors Awarded to Photon Tracer
Pacific NW Invitational Gold
Recognized as the quickest high school autonomous chassis in the Western United States bracket.
1.84 m/s Average Lap Benchmark
Highest measured course velocity average logged in the 2025-2026 Tri-County Circuit.
Best Engineering Notebook
Awarded for rigorous mathematical modeling of the PID filter and DMA ADC implementation.
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