Tuna Gül

Systems

NightVision (FRC 7839) Archive

The vision coprocessor of FRC 7839, the team I co-founded in high school: a terminal UI on a small screen, an Arduino control panel, and the link to the robot.

Role
UI, control panel and integration
Period
2020
Team
FRC 7839 Night Fury, Beşiktaş Atatürk Anadolu Lisesi
Stack
Raspberry Pi · Python · OpenCV · Arduino
Impact
The team's vision system in 2020

Illustration of a vision coprocessor: a camera with an LED ring wired to a small screen, where a half-hexagon reflective target glows in a dark frame with its detected contour, corner points and a centroid crosshair.

What I did

I co-founded FRC 7839 Night Fury in high school and was on the team from 2019 to 2022. For NightVision, the team's Raspberry Pi vision coprocessor, I built a terminal UI on a 5-inch screen driven by an Arduino control panel with knobs, buttons and LEDs, and the NetworkTables link to the robot's roboRIO. A teammate wrote most of the target-detection algorithm. The project came with a setup guide in Turkish for new members.

Gallery

Wiring of the Arduino control panel.
Wiring of the Arduino control panel.

Related

Timeline ribbon of FIRST robotics seasons from 2019 to 2026: a thin pale band flows into a second team's band, and in autumn 2025 a third band rises off it. Beads mark official events, tinted rings mark awards, orange dots mark the 2025 regional win and the national FTC title, two tapered columns mark the world championships in 2025 and 2026, and a large slate dot marks the award won there.

FIRST robotics Won

I co-founded FRC 7839 in high school, then after graduating we started 9029. Now I lead FTC Zağanos, FTC Türkiye Champions with the Reach Award in Houston.
Illustration of the method with simulated readings: six Hall sensors on a ring, a distance circle around each, the pairwise intersections nearest the magnet's path, and their average marking the magnet and the shaft angle.

Hall-sensor absolute encoder Archive

An attempt at a cheap absolute encoder for our FRC robot. A ring of Hall sensors around a magnet, and the circle geometry to find the magnet, worked out by hand in C.
Building cross-section with four elevator shafts, the cars at their floors and passengers queued at the landings, fed by a small floor-versus-time trace of the last minute, from a small dispatch simulation.

Elevator dispatch simulator Won

A building and elevator simulator in Rust, written in a hackathon week with one teammate, with cascaded PID control for every car. Our team took 1st place at Boğaziçi AI UpForAChallenge.