---
title: Resources
url: 'https://robot.mbhs.edu/resources'
markdown: 'https://robot.mbhs.edu/resources.md'
date: '2026-07-10'
description: 'Resources for FRC Team 449, the Blair Robot Project — public GitHub repositories and technical whitepapers.'
---

# Resources

## Code and tools

Explore Team 449's public [GitHub repositories](https://github.com/blair-robot-project) for our robot code and tools.

Explore our [Electronics Parts Reference](https://docs.google.com/spreadsheets/d/1IpaLFMFgdSNxcpry_hkP5m_wsyTGMwhZ-DhQY5H5RsU/edit?usp=drivesdk).

## Whitepapers

- [Flywheel Shot Analysis: Correction and Extension](https://www.chiefdelphi.com/t/flywheel-shot-analysis-correction-and-extension/520270), [PDF](https://robot.mbhs.edu/media/whitepapers/2026/flywheel-calculations-latest.pdf) (Rafi Pedersen, 2026)
- [Introducing Prior Ridge: Regularization for FRC Rating](https://www.chiefdelphi.com/t/introducing-prior-ridge-regularization-for-frc-rating/519531) (Data Science Team, 2026)
- [PSA: Your Motor Curves Are Still Wrong (A Correction To A Whitepaper About Current Limits)](https://www.chiefdelphi.com/t/psa-your-motor-curves-are-still-wrong-a-correction-to-a-whitepaper-about-current-limits/504706) (Rafi Pedersen, 2025)
- [Trapezoidal-Exponential Motion Profiling](https://www.chiefdelphi.com/t/whitepaper-trapezoidal-exponential-motion-profiling/443468) (Rafi Pedersen, 2023)
- [Two Jointed Arm Dynamics](https://www.chiefdelphi.com/t/whitepaper-two-jointed-arm-dynamics/423060) (Rafi Pedersen, 2023)
- [Swerve Drive Skew and Second Order Kinematics](https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964) (Rafi Pedersen, 2022)
- [Drivetrain Simulation using Characterization Constants](https://www.chiefdelphi.com/t/drivetrain-simulation-using-characterization-constants/369088) (Rafi Pedersen, 2020)
- [Presenting the YamlBot Framework and Team 449’s Steamworks Code](https://www.chiefdelphi.com/t/presenting-the-yamlbot-framework-and-team-449s-steamworks-code/160276) (Programming Team, 2017)
- [FRC Drivetrain Characterization](https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915) (Noah Gleason and Eli Barnett, 2017). 
    - Cited in WPILib's [official FRC documentation](https://docs.wpilib.org/en/2020/docs/software/wpilib-tools/robot-characterization/introduction.html) as the reference for the motor feedforward equation behind the robot characterization toolsuite, the predecessor of today's [SysId](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/system-identification/introduction.html) tool.

---

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